Vehicle wheel steering control method, device, equipment and medium

Abstract

The application discloses a kind of wheel steering control method, device, equipment and medium, it is related to wheel steering technical field.The method comprises: obtaining steering request message;The check code in steering request message is checked;In the case where check passes, the request steering, request corner and request speed obtained by the steering request message analysis are calculated according to the first message generation algorithm, and the first steering control message is obtained;Using second message generation algorithm, the first steering control message is checked;Wherein, second message generation algorithm is the backup algorithm of first message generation algorithm;In the case where first steering control message check passes, first steering control message is sent to wheel steering system, to make wheel steering system control wheel steering.This embodiment of the application technical scheme can control wheel steering with correct steering, corner and speed, improve the stability and safety of wheel steering.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle steering, in particular to a wheel steering control method, device, equipment and medium. BACKGROUND

[0002] More and more vehicles are equipped with rear wheel steering function at present, which is used to improve the stability of the vehicle when changing lanes at high speed, reduce the turning radius of the vehicle when turning at low speed, and improve the driving experience of the driver.

[0003] In the prior art, the steering angle is calculated according to the vehicle state signal and the steering angle is executed to control the rear wheel steering. If the calculated steering angle is wrong, the steering is controlled by the wrong information, which has the risk of abnormal steering of the wheels and endangers road safety. SUMMARY

[0004] The present application provides a wheel steering control method, device, equipment and medium to improve the stability and safety of wheel steering.

[0005] In a first aspect, the present application provides a wheel steering control method, which comprises:

[0006] obtaining a steering request message;

[0007] checking the check code in the steering request message;

[0008] calculating the request steering, request turning angle and request speed obtained by analyzing the steering request message according to the first message generation algorithm to obtain a first steering control message in the case of passing the check;

[0009] checking the first steering control message by using a second message generation algorithm; wherein the second message generation algorithm is a backup algorithm of the first message generation algorithm;

[0010] sending the first steering control message to the wheel steering system to control the wheel steering system to steer the wheels in the case of passing the check of the first steering control message.

[0011] In a second aspect, the present application also provides a wheel steering control device, which comprises:

[0012] a request message obtaining module for obtaining a steering request message;

[0013] a request message checking module for checking the check code in the steering request message;

[0014] a control message obtaining module for calculating the request steering, request turning angle and request speed obtained by analyzing the steering request message according to the first message generation algorithm to obtain a first steering control message in the case of passing the check;

[0015] The control message checking module is configured to check the first steering control message by using a second message generation algorithm, wherein the second message generation algorithm is a backup algorithm of the first message generation algorithm.

[0016] The control message sending module is configured to send the first steering control message to the wheel steering system to control the wheel steering system to steer the wheels if the first steering control message passes the check.

[0017] In a third aspect, the embodiments of the present application further provide a vehicle system, which comprises an arbitration module and a vehicle steering system; the arbitration module implements the wheel steering control method as described in the first aspect; the arbitration module and the vehicle steering system are in communication connection;

[0018] The arbitration module sends the generated first steering control message to the wheel steering system.

[0019] The wheel steering system controls the corresponding wheels to steer according to the first steering control message.

[0020] In a fourth aspect, the embodiments of the present application further provide a vehicle, which is configured with the vehicle system as described in the third aspect, and the vehicle comprises:

[0021] at least one processor; and

[0022] a memory in communication connection with the at least one processor; wherein

[0023] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the wheel steering control method of any of the embodiments of the present application.

[0024] According to another aspect of the present application, a computer readable storage medium is provided, which stores computer instructions for enabling a processor to implement the wheel steering control method of any of the embodiments of the present application when executed by the processor.

[0025] The technical scheme of the embodiment of the present application comprises the following steps: obtaining a steering request message; checking a check code in the steering request message; in the case that the check is passed, calculating a request steering, a request steering angle and a request steering speed obtained by analyzing the steering request message according to a first message generation algorithm to obtain a first steering control message; checking the first steering control message by using a second message generation algorithm; wherein the second message generation algorithm is a backup algorithm of the first message generation algorithm; in the case that the first steering control message is checked, sending the first steering control message to a wheel steering system to control the wheel steering system to steer the wheels. The technical scheme of the embodiment of the present application checks the check code in the steering request message, thereby improving the accuracy of the steering information, the steering angle information and the steering speed information in the obtained steering request message; the second message generation algorithm is used to check the first steering control message, thereby improving the accuracy of the steering information, the steering angle information and the steering speed information in the generated first steering control message. Through the above two steps of checking, the stability and safety of controlling the wheel steering are further improved.

[0026] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the present application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0028] Figure 1A is a flow chart of a wheel steering control method according to the first embodiment of the present application;

[0029] Figure 1B is a schematic diagram of a steering request arbitration module according to the first embodiment of the present application;

[0030] Figure 2 is a flow chart of a wheel steering control method according to the second embodiment of the present application;

[0031] Figure 3 is a flow chart of a wheel steering control method according to the third embodiment of the present application;

[0032] Figure 4 is a structural diagram of a wheel steering control device according to the fourth embodiment of the present application;

[0033] Figure 5is a structural schematic diagram of a vehicle system provided according to an embodiment of the present application;

[0034] Figure 6 is a structural schematic diagram of a vehicle implementing a wheel steering control method of an embodiment of the present application. DETAILED DESCRIPTION

[0035] In order to enable persons skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by persons skilled in the art without creative labor should fall within the protection scope of the present application.

[0036] It should be noted that the terms "first", "second", and the like in the specification and claims of the present application and the above-described drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or a chronological sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product, or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but can include other steps or units that are not clearly listed or inherent to these processes, methods, products, or devices.

[0037] In the technical solutions of the embodiments of the present application, the acquisition, storage, and application of the steering request message and the like involved all comply with the relevant legal regulations and do not violate public order and good customs.

[0038] Embodiment One

[0039] Figure 1A A flowchart of a wheel steering control method provided for the first embodiment of the present application. The embodiments of the present application can be applicable to the case of controlling wheel steering, and the method can be executed by a wheel steering control device, which can be realized in the form of hardware and / or software, and can be configured in a vehicle.

[0040] Referring to Figure 1A The wheel steering control method shown includes:

[0041] S101, acquiring a steering request message.

[0042] In this embodiment, the steering request message can be a message recording a wheel steering request. The wheel steering request is a request issued by some control system in the vehicle system after judgment that the wheel steering needs to be controlled. The steering request usually includes the wheel that needs to be steered, the direction and angle of the wheel rotation, etc.

[0043] In an optional embodiment, the steering request is acquired by: acquiring the activation state of the wheel control function and the available state of the wheel control function interface; and acquiring the steering request message according to the activation state of the wheel control function and the available state of the wheel control function interface.

[0044] The wheel control function can include but is not limited to an IBC (Integrated Power Brake) function and an intelligent control function. The intelligent control function can be a function of intelligently controlling the wheel, and can include but is not limited to at least one of an intelligent driving function and an intelligent parking function. The wheel control function interface is an interface of the wheel control function, and can include but is not limited to an IBC function interface and an intelligent control function interface. The intelligent control function interface can include but is not limited to at least one of an intelligent driving function interface and an intelligent parking function interface.

[0045] In a specific embodiment, when the activation state of the IBC function is all inactive, or the available state of the IBC function interface is all unavailable, no steering request message is acquired; when the activation state of the IBC is activated and the available state of the IBC function interface is available: if the activation state of the intelligent control function is activated and the available state corresponding to the intelligent control function is available, the steering request message is acquired from the intelligent control function interface; otherwise, the steering request message is acquired from the IBC function interface. Optionally, Figure 1B is a schematic diagram of a steering request arbitration module. As shown in Figure 1BAs shown, it comprises a steering request arbitration module, an IBC module, an intelligent driving module, an intelligent parking module and a wheel steering system. The IBC module is configured with IBC function; the intelligent driving module is configured with intelligent driving function, and the intelligent parking module is configured with intelligent parking function. The steering request arbitration module is configured with IBC function interface, intelligent driving function interface and intelligent parking function interface. When the steering request arbitration module receives an activation request of the wheel control function, it detects whether the activation state of the wheel control function is changed from inactivation to activation according to the available state of the wheel control function interface. Specifically, in the case that the available state of the IBC function interface is unavailable, the activation request of the wheel control function is not responded, that is, the activation state of any wheel control function is not changed from inactivation to activation; in the case that only the available state of the IBC function interface is available, the activation request of the IBC function received is responded, and the activation state of the IBC function is changed from inactivation to activation; in the case that the available state of the IBC function interface and the available state of the intelligent control function interface are both available, the activation request of the intelligent control function is responded, and the activation state of the intelligent driving function is changed from inactivation to activation.

[0046] The wheel control functions include an IBC function, an intelligent driving function, and an intelligent parking function. The wheel control function interfaces include an IBC function interface, an intelligent driving function interface, and an intelligent parking function interface. When the activation states of the IBC functions are all inactivated, or the available states of the IBC function interfaces are all unavailable, the steering request message is not acquired; when only the activation state of the IBC function is activated, and the available state of the IBC function interface is available, the steering request message is acquired from the IBC function interface; when the activation states of the IBC functions and the intelligent driving function are both activated, and the available states of the IBC function interface and the intelligent driving function interface are both available, the steering request message is acquired from the intelligent driving function interface; when the activation states of the IBC functions and the intelligent parking function are both activated, and the available states of the IBC function interface and the intelligent parking function interface are both available, the steering request message is acquired from the intelligent parking function interface; when the activation states of the IBC functions and the intelligent driving function are activated, and the available states of the IBC function interface, the intelligent driving function interface, and the intelligent parking function interface are all available, the activation state of the intelligent parking function is changed from inactivated to activated, and the steering request message is still acquired from the intelligent driving function interface; when the activation states of the IBC functions and the intelligent parking function are activated, and the available states of the IBC function interface, the intelligent driving function interface, and the intelligent parking function interface are all available, the activation state of the intelligent driving function is changed from inactivated to activated, and the steering request message is still acquired from the intelligent parking function interface.

[0047] It can be understood that, by using the above technical solutions, the steering request message of the intelligent control function is received when the intelligent control function is activated and the interface is available; otherwise, the steering request message of the IBC function is received, which can avoid the situation that the wheel steering is abnormal due to the reception of the wheel control request sent by multiple wheel steering functions.

[0048] S102, the check code in the steering request message is checked.

[0049] Specifically, the check code in the steering request message can be checked by using a certain algorithm.

[0050] S103, when the check is passed, the first steering control message is obtained by calculating the request steering, the request steering angle, and the request steering speed obtained by analyzing the steering request message according to the first message generation algorithm.

[0051] In this embodiment, the request steering can be a direction in which the wheel is requested to steer, for example, can be a left direction or a right direction, etc. The request steering angle can be an angle in which the wheel is requested to steer. The request steering speed can be a speed in which the wheel is requested to steer. The first steering control message is a message recording the wheel steering control instruction generated by using the first message generation algorithm. The first message generation algorithm can be an algorithm for generating a message recording the wheel steering control instruction.

[0052] Specifically, the steering request message is parsed by using the message parsing algorithm to obtain the request steering, the request steering angle and the request steering speed in the steering request message; the request steering, the request steering angle and the request steering speed parsed from the steering request message are calculated according to the first message generation algorithm to obtain the first steering control message.

[0053] In an optional embodiment, if the verification fails, the steering request message that fails the verification is discarded, and alarm information of the error of the steering request message is generated to remind the driver to handle.

[0054] S104 verifies the first steering control message by using the second message generation algorithm; wherein the second message generation algorithm is a backup algorithm of the first message generation algorithm.

[0055] In an optional embodiment, the first message generation algorithm is executed by using the first core, and the second message generation algorithm is executed by using the second core. It can be understood that by using the above technical solution, the first message generation algorithm and the second message generation algorithm can be independent of each other, different memory resources and calculation resources can be allocated to the first message generation algorithm and the second message generation algorithm, and the efficiency and stability of the first message generation algorithm and the efficiency and stability of the verification of the first control message are improved.

[0056] S105, in the case that the first steering control message passes the verification, the first steering control message is sent to the wheel steering system to control the wheel steering system to control the wheel to steer.

[0057] In this embodiment, the wheel steering system can be a system directly controlling the wheel to steer. The present application does not limit the wheel steering system, for example, the wheel steering system can be a RWS (Rear Wheel Steering, rear wheel steering) system, an AFS system (Active Front Steering, front wheel steering) and a 4WS (Four-wheel Steering System, four-wheel steering system) system, etc.

[0058] In an optional embodiment, in the case that the first steering control message fails the verification, the first steering control message that fails the verification is discarded, and alarm information of the error of the first steering control message is generated to remind the driver to handle.

[0059] In an optional embodiment, in the case that the first steering control message passes the verification, a second message generation algorithm is used to generate a secondary check code of the first steering control message; the secondary check code is inserted into a preset position of the first steering control message to form a new first steering control message, and the new first steering control message is sent to the wheel steering system, so that the wheel steering system uses the control message verification algorithm to verify the new first steering control message, and in the case that the new first steering control message passes the verification, the wheel is controlled to steer according to the new first steering control message.

[0060] It can be understood that the above technical solution can ensure the accuracy of the steering information, the angle information and the speed information in the new first steering control message received by the wheel steering system, and further improve the stability and safety of the wheel steering control.

[0061] The embodiment of the present application obtains a steering request message; verifies a check code in the steering request message; in the case that the verification passes, calculates a request steering, a request angle and a request speed obtained by analyzing the steering request message according to a first message generation algorithm to obtain a first steering control message; uses a second message generation algorithm to verify the first steering control message; wherein the second message generation algorithm is a backup algorithm of the first message generation algorithm; in the case that the first steering control message passes the verification, sends the first steering control message to the wheel steering system to control the wheel to steer. The technical solution of the embodiment of the present application verifies the check code in the steering request message, improves the accuracy of the steering information, the angle information and the speed information in the obtained steering request message; uses the second message generation algorithm to verify the first steering control message, improves the accuracy of the steering information, the angle information and the speed information in the generated first steering control message; through the above two verifications, the unexpected steering, the steering in the wrong direction, the steering in the wrong angle and the steering delay of the wheel can be prevented, and the stability and safety of the wheel steering control are further improved. The embodiment of the present application also improves the universality of the wheel steering control method, which is applicable to any vehicle type, and the functional safety level of the vehicle implementing the wheel steering control method in the embodiment of the present application is up to ASIL-D (Automotive Safety Integrity Level D, automotive safety integrity level D) level.

[0062] Embodiment two

[0063] Figure 2 A flowchart of a wheel steering control method provided by the embodiment two of the present application. The embodiment of the present application optimizes and improves the verification operation of the first steering control message on the basis of the above-mentioned embodiment.

[0064] Further, the "verifying the first steering control message by using the second message generation algorithm" is further specified as "calculating the second steering control message according to the second message generation algorithm based on the steering request, the steering angle request and the steering speed request; and determining that the first steering control message is verified if the second steering control message is consistent with the first steering control message", so as to improve the verification operation of the first steering control message.

[0065] It should be noted that the parts not described in detail in the embodiments of the present application can refer to the descriptions of other embodiments.

[0066] Referring to Figure 2 The wheel steering control method shown in the figure comprises:

[0067] S201, obtaining a steering request message.

[0068] S202, verifying the check code in the steering request message.

[0069] Optionally, the verification of the check code in the steering request message comprises: obtaining the steering request data in the steering request message and the check code in the steering request message according to the message position information; wherein the check code in the steering request message is generated according to the message verification algorithm and the steering request data; generating the target check code of the steering request data by using the message verification algorithm; if the comparison result between the check code in the steering request message and the target check code is consistent, the verification is passed; if the comparison result between the check code in the steering request message and the target check code is inconsistent, the verification is failed.

[0070] The steering request data can include but is not limited to the steering request data, the steering angle request data and the steering speed request data, etc. The message position information can be the position information of the check code in the message. The message verification algorithm can be used to generate the check code according to the steering request message.

[0071] Specifically, the check code is intercepted from the steering request message according to the position in the message represented by the message position information; and the steering request data is the steering request message data except the check code; the target check code of the steering request data is generated by using the message verification algorithm; if the comparison result between the check code in the steering request message and the target check code is consistent, the verification is passed; if the comparison result between the check code in the steering request message and the target check code is inconsistent, the verification is failed.

[0072] It can be understood that by using the above technical solution, the check code in the steering request message is verified by using the target check code, which improves the accuracy of the steering request, the steering angle request and the steering speed request in the obtained steering request message, and further improves the stability and safety of the control of the wheel steering.

[0073] S203, in the case of passing the verification, the request steering, the request steering angle and the request steering speed obtained by parsing the steering request message according to the first message generation algorithm are calculated to obtain the first steering control message.

[0074] S204, the request steering, the request steering angle and the request steering speed are calculated according to the second message generation algorithm to obtain the second steering control message.

[0075] In the embodiment, the second steering control message is the message recording the steering control instruction of the wheel generated by using the second message generation algorithm.

[0076] S205, in the case of the second steering control message being consistent with the first steering control message, it is determined that the first steering control message passes the verification; wherein the second message generation algorithm is the backup algorithm of the first message generation algorithm.

[0077] Optionally, in the case of the second steering control message being consistent with the first steering control message, it is determined that the first steering control message passes the verification, comprising: in the case of the second steering control message being consistent with the first steering control message, the control steering, the control steering angle and the control steering speed are parsed from the first steering control message; the first comparison result between the request steering and the control steering, the second comparison result between the request steering angle and the control steering angle, and the third comparison result between the request steering speed and the control steering speed are determined; in the case of the first comparison result, the second comparison result and the third comparison result being consistent, it is determined that the first steering control message passes the verification.

[0078] The control steering can be the direction of controlling the steering of the wheel. The control steering angle can be the angle of controlling the steering of the wheel. The control steering speed can be the speed of controlling the steering of the wheel.

[0079] It can be understood that by using the above technical solution, the control steering, the control steering angle and the control steering speed in the first steering control message can be respectively the request steering, the request steering angle and the request steering speed in the steering request message, so as to ensure that the wheel steering system can control the wheel to steer correctly, and improve the stability and safety of controlling the steering of the wheel.

[0080] Optionally, in the case of the second steering control message being inconsistent with the first steering control message, the first steering control message is discarded, and the alarm information of the error of the first steering control message is generated to remind the driver to handle.

[0081] S206, in the case of the first steering control message passing the verification, the first steering control message is sent to the wheel steering system to make the wheel steering system control the wheel to steer.

[0082] The embodiment of the application calculates the request steering, the request steering angle and the request steering speed according to the second message generation algorithm to obtain a second steering control message; and in the case that the second steering control message is consistent with the first steering control message, it is determined that the first steering control message passes the check. The technical scheme of the embodiment of the application improves the accuracy of the generation of the first steering control message, and further improves the stability and safety of the control of the steering of the vehicle wheel.

[0083] Embodiment three

[0084] Figure 3 A flow chart of a vehicle wheel steering control method provided by the embodiment three of the application. The embodiment of the application is additionally optimized on the basis of the above-mentioned embodiments.

[0085] Further, the "obtaining the real steering, the real steering angle and the real steering speed of the vehicle wheel controlled by the vehicle wheel steering system; determining the steering angle difference between the real steering angle and the request steering angle, and the steering speed difference between the real steering speed and the request steering speed; determining the steering delay as the ratio between the request steering angle and the steering speed difference; in the case that the vehicle wheel meets the abnormal steering condition according to the difference between the real steering and the request steering, the steering angle difference, the steering speed difference and the steering delay, generating an abnormal repair control message according to the current angle of the vehicle wheel, and sending the abnormal repair control message to the vehicle wheel steering system to make the vehicle wheel steering system control the vehicle wheel to repair the steering abnormality" is additionally added to perfect the check operation of the first steering control message.

[0086] It should be noted that the parts not described in detail in the embodiments of the application can refer to the descriptions of other embodiments.

[0087] Referring to Figure 3 The vehicle wheel steering control method shown in the figure comprises:

[0088] S301, obtaining a steering request message.

[0089] S302, checking the check code in the steering request message.

[0090] S203, in the case that the check passes, calculating the request steering, the request steering angle and the request steering speed obtained by analyzing the steering request message according to the first message generation algorithm to obtain a first steering control message.

[0091] S304, checking the first steering control message by using a second message generation algorithm; wherein the second message generation algorithm is a backup algorithm of the first message generation algorithm.

[0092] S305, in the case that the first steering control message passes the check, sending the first steering control message to the vehicle wheel steering system to make the vehicle wheel steering system control the vehicle wheel to steer.

[0093] S306, acquire real steering, real steering angle and real steering speed of the wheel controlled by the wheel steering system.

[0094] In this embodiment, the real steering can be the direction in which the wheel actually steers. The real steering angle can be the angle in which the wheel actually steers. The real steering speed can be the speed in which the wheel actually steers.

[0095] S307, determine the steering angle difference between the real steering angle and the requested steering angle, and the steering speed difference between the real steering speed and the requested steering speed.

[0096] S308, determine the ratio between the requested steering angle and the steering speed difference as the steering delay.

[0097] In this embodiment, the steering delay can be the time length between the time required for the wheel to rotate to the requested steering angle at the real steering speed and the time required for the wheel to rotate to the requested steering angle at the requested steering speed.

[0098] S309, in the case that the wheel meets the abnormal steering condition according to the difference between the real steering and the requested steering, the steering angle difference, the steering speed difference and the steering delay, generate an abnormal repair control message according to the current angle of the wheel, and send the abnormal repair control message to the wheel steering system, so that the wheel steering system controls the wheel to repair the steering abnormality.

[0099] In this embodiment, the current angle of the wheel can be the angle between the direction in which the wheel is currently located and the direction in which the vehicle body is located. The abnormal repair control message can be a message for controlling the wheel to repair the steering abnormality.

[0100] In an optional embodiment, the abnormal steering condition includes at least one of the following: the real steering is not equal to the requested steering, or the steering angle difference is greater than a steering angle threshold, or the steering speed difference is greater than a steering speed threshold, or the steering delay is greater than a delay threshold. It should be noted that the steering angle threshold, the steering speed threshold and the steering delay can be set by the technician according to the actual demand or practical experience, and the present application does not limit this.

[0101] Optionally, generating the abnormal repair control message according to the current angle of the wheel includes: if the current angle of the wheel is greater than or equal to a preset angle threshold, taking a default steering control message as the abnormal repair control message; if the current angle of the wheel is less than the preset angle threshold, taking the opposite direction of the requested steering as the abnormal repair steering, taking the requested steering angle as the abnormal repair steering angle, and taking the requested steering speed as the abnormal repair steering speed, and generating the abnormal repair control message according to the target message generation algorithm, the abnormal repair steering, the abnormal repair steering angle and the abnormal repair steering speed.

[0102] It should be noted that the preset angle threshold and the default steering control message can be set by the technician according to the actual demand or practical experience, and the present application does not limit this. In a specific embodiment, the control turning angle in the default steering control message is 0 degrees.

[0103] It can be understood that by using the above technical solution, the abnormal repair control message can be flexibly determined according to the current angle of the wheel, thereby improving the accuracy and stability of the repair of the abnormal steering of the wheel.

[0104] The embodiment of the present application determines the angle difference between the real turning angle and the request turning angle, and the speed difference between the real speed and the request speed; determines the steering delay as the ratio between the request turning angle and the speed difference; in the case that the wheel meets the abnormal steering condition according to the difference between the real turning and the request turning, the angle difference, the speed difference and the steering delay, generates an abnormal repair control message according to the current angle of the wheel, and sends the abnormal repair control message to the wheel steering system, so that the wheel steering system controls the wheel to repair the steering abnormality. The technical scheme of the embodiment of the present application can determine whether the wheel steering is abnormal, and in the case that the wheel steering is abnormal, generate an abnormal repair control message according to the current angle of the wheel, realize the repair of the abnormal steering of the wheel, and improve the stability and safety of the vehicle.

[0105] Embodiment four

[0106] Figure 4 A structural schematic diagram of a wheel steering control device provided by the fourth embodiment of the present application. The embodiment of the present application can be applied to the case of controlling the wheel steering, the device can execute the wheel steering control method, the device can be realized in the form of hardware and / or software, and the device can be configured in the vehicle.

[0107] Referring to Figure 4 The vehicle steering control device shown in the figure comprises a request message acquisition module 401, a request message verification module 402, a control message acquisition module 403, a control message verification module 404 and a control message sending module 405, wherein,

[0108] The request message acquisition module 401 is used to acquire the steering request message;

[0109] The request message verification module 402 is used to verify the check code in the steering request message;

[0110] The control message acquisition module 403 is used to calculate the request turning, the request turning angle and the request speed obtained by analyzing the steering request message according to the first message generation algorithm to obtain the first steering control message in the case of verification passing;

[0111] The control message checking module 404 is configured to check the first steering control message by using a second message generation algorithm, wherein the second message generation algorithm is a backup algorithm of the first message generation algorithm.

[0112] The control message sending module 405 is configured to send the first steering control message to the wheel steering system to control the wheel steering system to steer the wheels in the case that the first steering control message passes the check.

[0113] The embodiment of the application obtains the steering request message through the request message, checks the check code in the steering request message through the request message checking module, calculates the request steering, request angle and request speed obtained by analyzing the steering request message according to the first message generation algorithm to obtain the first steering control message in the case that the check passes through the control message obtaining module, checks the first steering control message by using the second message generation algorithm through the control message checking module, wherein the second message generation algorithm is a backup algorithm of the first message generation algorithm, and sends the first steering control message to the wheel steering system to control the wheel steering system to steer the wheels in the case that the first steering control message passes the check through the control message sending module. The technical scheme of the embodiment of the application checks the check code in the steering request message, improves the accuracy of the steering information, angle information and speed information in the obtained steering request message, checks the first steering control message by using the second message generation algorithm, and improves the accuracy of the steering information, angle information and speed information in the generated first steering control message. Through the above two checks, the stability and safety of the wheel steering control are further improved.

[0114] Optionally, the control message checking module 404 comprises:

[0115] The second message obtaining unit is configured to calculate the second steering control message according to the request steering, request angle and request speed by using the second message generation algorithm;

[0116] The control message checking unit is configured to determine that the first steering control message passes the check in the case that the second steering control message is consistent with the first steering control message.

[0117] Optionally, the control message checking unit is specifically configured to:

[0118] In the case that the second steering control message is consistent with the first steering control message, the control message checking unit is configured to analyze the control steering, control angle and control speed from the first steering control message.

[0119] determining a first comparison result between the requested steering and the controlled steering, a second comparison result between the requested steering angle and the controlled steering angle, and a third comparison result between the requested steering speed and the controlled steering speed;

[0120] In a case where the first comparison result, the second comparison result and the third comparison result are consistent, it is determined that the first steering control message is verified.

[0121] Optionally, the apparatus further comprises:

[0122] a real steering angle acquisition module configured to acquire a real steering, a real steering angle and a real steering speed of the wheel steering system controlling the wheels;

[0123] a steering angle difference acquisition module configured to determine a steering angle difference between the real steering angle and the requested steering angle, and a steering speed difference between the real steering speed and the requested steering speed;

[0124] a steering delay determination module configured to determine a ratio between the requested steering angle and the steering speed difference as a steering delay;

[0125] an abnormal message generation module configured to, in a case where the wheel satisfies an abnormal steering condition according to a difference between the real steering and the requested steering, the steering angle difference, the steering speed difference and the steering delay, generate an abnormal repair control message according to a current angle of the wheel, and send the abnormal repair control message to the wheel steering system, so as to control the wheel steering system to repair the steering abnormality.

[0126] Optionally, the abnormal message generation module is specifically configured to:

[0127] if the current angle of the wheel is greater than or equal to a preset angle threshold, a default steering control message is taken as the abnormal repair control message;

[0128] if the current angle of the wheel is less than the preset angle threshold, a reverse direction of the requested steering is taken as an abnormal repair steering, a requested steering angle is taken as an abnormal repair steering angle, and a requested steering speed is taken as an abnormal repair steering speed, and an abnormal repair control message is generated according to a target message generation algorithm, the abnormal repair steering, the abnormal repair steering angle and the abnormal repair steering speed.

[0129] Optionally, the request message verification module 402 is specifically configured to:

[0130] acquire steering request data in the steering request message and a verification code in the steering request message according to the message position information, wherein the verification code in the steering request message is generated according to a message verification algorithm and the steering request data;

[0131] generate a target verification code of the steering request data by using the message verification algorithm;

[0132] If the comparison result between the check code in the steering request message and the target check code is consistent, the check is passed.

[0133] If the comparison result between the check code in the steering request message and the target check code is inconsistent, the check is failed.

[0134] Optionally, in the apparatus, the first message generation algorithm is executed by the first core, and the second message generation algorithm is executed by the second core.

[0135] The wheel steering control apparatus provided by the embodiments of the present application can execute the wheel steering control method provided by any of the embodiments of the present application, and has the corresponding function modules and beneficial effects of executing the wheel steering control method.

[0136] Embodiment five

[0137] Figure 5 A structural schematic diagram of a vehicle system provided by embodiment five of the present application. The embodiments of the present application can be applied to the case of controlling wheel steering. The apparatus can execute the wheel steering control method. The apparatus can be realized in the form of hardware and / or software. The system can be configured in a vehicle.

[0138] Referring to Figure 5 The vehicle system shown in the figure comprises an arbitration module 501 and a wheel steering system 502. The arbitration module 501 is used to implement the wheel steering control method provided by any of the embodiments of the present application. The arbitration module 501 and the wheel steering system 502 are in communication connection. Among them,

[0139] The arbitration module 501 is used to acquire a steering request message, check the check code in the steering request message, calculate the request steering, request steering angle and request steering speed obtained by analyzing the steering request message according to the first message generation algorithm in the case of passing the check, obtain the first steering control message, check the first steering control message by using the second message generation algorithm, wherein the second message generation algorithm is the backup algorithm of the first message generation algorithm, and send the first steering control message to the wheel steering system in the case of passing the check of the first steering control message, so as to control the wheel steering system to control the wheel to steer.

[0140] The wheel steering system 502 is used to control the corresponding wheel to steer according to the first steering control message.

[0141] The vehicle system provided by the embodiment of the present application sends the generated first steering control message to the wheel steering system through the arbitration module; the wheel steering system controls the corresponding wheel to steer according to the first steering control message, and the check code in the steering request message can be checked, thereby improving the accuracy of the steering information, the turning angle information and the rotating speed information obtained from the steering request message; the second message generation algorithm is used to check the first steering control message, thereby improving the accuracy of the steering information, the turning angle information and the rotating speed information in the generated first steering control message. Through the above two steps of checking, the stability and safety of controlling the wheel steering are further improved.

[0142] In an optional embodiment, the arbitration module 501 comprises a micro control unit, an electronic control unit, a storage unit and a power supply. For the micro control unit in the arbitration module 501, a lockstep core checking method is used to check whether the output result of the micro control unit is correct; an accumulator is used to check whether the clock frequency of the micro control unit is normal; the execution sequence of the safety software in the micro control unit is monitored to prevent abnormal situations such as lock and runaway of the safety software; a watchdog is used to detect the feeding of the micro control unit, and if the watchdog is not fed before the preset maximum value of the watchdog counter is reached, the electronic control unit is restarted; an ECC (Error-Correcting Code) code is used to protect the interrupt service request in the micro control unit. For the storage unit in the arbitration module, different data storage locations are set to store the same data for data redundancy; the register write permission of the storage unit is protected, and the register write permission of the storage unit is opened only when the watchdog is written with a specific sequence of data; general storage faults are diagnosed to prevent unauthorized access to RAM (Random Access Memory), prevent safety ROM (Read-Only Memory) addressing errors, and prevent the calibration and safety data in the ROM from being damaged. For the power supply in the arbitration module 501, a BIST (Built-In Self-Test) function is used to monitor the overvoltage and undervoltage of the power supply, and when the overvoltage or undervoltage of the power supply is detected, an alarm information is generated and the driver is reminded to handle; a filter circuit is used to filter the interference of the power supply to prevent power oscillation. When powered on, the overvoltage and undervoltage monitoring mechanism is self-checked to prevent it from becoming a latent fault.

[0143] The vehicle system provided by the embodiment of the present application can execute the wheel steering control method provided by any embodiment of the present application, and has the corresponding function modules and beneficial effects of executing the wheel steering control method.

[0144] Embodiment six

[0145] Figure 6A structural diagram of a vehicle 600 that can be used to implement embodiments of the present application is shown.

[0146] As shown in Figure 6 The vehicle 600 includes at least one processor 601 and memory, such as read-only memory (ROM) 602, random access memory (RAM) 603, etc., communicatively connected to the at least one processor 601, where the memory stores computer programs that are executable by the at least one processor. The processor 601 can perform various appropriate actions and processes according to the computer programs stored in the read-only memory (ROM) 602 or loaded into the random access memory (RAM) 603 from the storage unit 608. Various programs and data required for the operation of the vehicle 600 can also be stored in the RAM 603. The processor 601, the ROM 602, and the RAM 603 are connected to each other through a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0147] Various components in the vehicle 600 are connected to the I / O interface 605, including an input unit 606, such as a keyboard, a mouse, etc., an output unit 607, such as various types of displays, speakers, etc., a storage unit 608, such as a magnetic disk, an optical disk, etc., and a communication unit 609, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 609 allows the vehicle 600 to exchange information / data with other devices through a computer network, such as the Internet, and / or various telecommunication networks.

[0148] The processor 601 can be various general and / or special purpose processing components with processing and computing capabilities. Some examples of the processor 601 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 601 performs various methods and processes described above, such as the wheel steering control method.

[0149] In some embodiments, the wheel steering control method can be implemented as a computer program tangibly embodied in a computer readable storage medium, such as the storage unit 608. In some embodiments, part or all of the computer program can be loaded and / or installed onto the vehicle 600 via the ROM 602 and / or the communication unit 609. When the computer program is loaded into the RAM 603 and executed by the processor 601, one or more steps of the wheel steering control method described above can be performed. Alternatively, in other embodiments, the processor 601 can be configured to perform the wheel steering control method by any other appropriate means, such as by means of firmware.

[0150] Various implementations of the systems and techniques described above can be realized in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a complex programmable logic device (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0151] Computer programs used to implement the methods of the application can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the computer program, when executed by the processor of the machine, implements the functions / acts specified in the flowcharts and / or block diagrams. The computer program can be executed entirely on a machine, partially on a machine, partially on a machine as a standalone software package, and partially on a machine or entirely on a remote machine or server.

[0152] In the context of the present application, a computer-readable storage medium can be a tangible medium that can contain or store computer programs for use by or in connection with an instruction execution system, apparatus, or device. The computer-readable storage medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium will include one or more lines of a program of instructions in a transitory signal, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0153] To provide for interaction with a user, the systems and techniques described here can be implemented on a vehicle having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the vehicle. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0154] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), blockchain network, and the Internet.

[0155] The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. A server can be a cloud server, also known as cloud computing server or cloud host, which is a host product in the cloud computing service system, to solve the defects of large management difficulty and weak business scalability in traditional physical host and VPS (Virtual Private Server).

[0156] It should be understood that the various forms of flow shown above can be re-ordered, added to, or deleted from without departing from the scope of the present application. For example, the steps recited in the present application can be executed in parallel, executed in sequence, or executed in different orders, as long as the desired results of the technical solutions of the present application can be achieved, and the present application is not limited herein.

[0157] The above detailed description does not limit the scope of the application. Various modifications, combinations, sub-combinations and alternatives can be made to the detailed embodiment within the scope of the application. Any modification, equivalent replacement and improvement made without departing from the spirit and principle of the application shall fall within the scope of the application.

Claims

1. A method of controlling wheel steering, characterized by, The method comprises: obtaining a steering request message; checking a check code in the steering request message; in the case of passing the check, calculating a request steering, a request steering angle and a request steering speed obtained by parsing the steering request message according to a first message generation algorithm to obtain a first steering control message; the request steering is a direction in which a wheel is requested to steer, the request steering angle is an angle in which the wheel is requested to steer, and the request steering speed is a speed in which the wheel is requested to steer; checking the first steering control message by using a second message generation algorithm; wherein the second message generation algorithm is a backup algorithm of the first message generation algorithm; in the case of passing the check of the first steering control message, sending the first steering control message to a wheel steering system to control the wheel to steer by the wheel steering system; obtaining a real steering, a real steering angle and a real steering speed controlled by the wheel steering system; determining a steering angle difference between the real steering angle and the request steering angle, and a steering speed difference between the real steering speed and the request steering speed; determining a steering delay between the request steering angle and the steering speed difference; in the case of determining that the wheel meets an abnormal steering condition according to a difference between the real steering and the request steering, the steering angle difference, the steering speed difference and the steering delay, generating an abnormal repair control message according to a current angle of the wheel, and sending the abnormal repair control message to the wheel steering system to control the wheel to repair the abnormal steering by the wheel steering system.

2. The method of claim 1, wherein, The checking the first steering control message by using the second message generation algorithm comprises: calculating the request steering, the request steering angle and the request steering speed according to the second message generation algorithm to obtain a second steering control message; in the case of the second steering control message being consistent with the first steering control message, determining that the first steering control message passes the check.

3. The method of claim 2, wherein, In the case of the second steering control message being consistent with the first steering control message, determining that the first steering control message passes the check comprises: parsing a control steering, a control steering angle and a control steering speed from the first steering control message in the case of the second steering control message being consistent with the first steering control message; determining a first comparison result between the request steering and the control steering, a second comparison result between the request steering angle and the control steering angle, and a third comparison result between the request steering speed and the control steering speed; in the case of the first comparison result, the second comparison result and the third comparison result being consistent, determining that the first steering control message passes the check.

4. The method of claim 1, wherein, The generating the abnormal repair control message according to the current angle of the wheel comprises: if the current angle of the wheel is greater than or equal to a preset angle threshold, taking a default steering control message as the abnormal repair control message. If the current angle of the wheel is less than the preset angle threshold, the opposite direction of the requested steering is taken as the abnormality repair steering, the requested steering angle is taken as the abnormality repair steering angle, and the requested steering speed is taken as the abnormality repair steering speed, and an abnormality repair control message is generated according to the target message generation algorithm, the abnormality repair steering, the abnormality repair steering angle, and the abnormality repair steering speed.

5. The method of claim 1, wherein, The checking of the check code in the steering request message comprises: According to the message position information, the steering request data in the steering request message and the check code in the steering request message are obtained; wherein the check code in the steering request message is generated according to the request message check algorithm and the steering request data; The request message check algorithm is used to generate the target check code of the steering request data; If the comparison result between the check code in the steering request message and the target check code is consistent, the checking is passed; If the comparison result between the check code in the steering request message and the target check code is inconsistent, the checking is failed.

6. The method of claim 1, wherein, The first message generation algorithm is executed by the first core, and the second message generation algorithm is executed by the second core.

7. A vehicle wheel steering control device which is controlled by the vehicle wheel steering control method according to any one of claims 1 to 6, characterized by Comprise: A request message acquisition module is configured to acquire a steering request message; A request message check module is configured to check the check code in the steering request message; A control message acquisition module is configured to, in the case that the checking is passed, calculate the requested steering, the requested steering angle, and the requested steering speed obtained by analyzing the steering request message according to the first message generation algorithm to obtain a first steering control message; A control message check module is configured to check the first steering control message using the second message generation algorithm; wherein the second message generation algorithm is a backup algorithm of the first message generation algorithm; A control message sending module is configured to, in the case that the first steering control message is checked and passed, send the first steering control message to a wheel steering system to control the wheel steering system to control the wheel to steer.

8. A vehicle system comprising an arbitration module and a wheel steering system; the arbitration module implements the wheel steering control method of any one of claims 1-6; the arbitration module and the wheel steering system are in communication connection; The arbitration module sends the generated first steering control message to the wheel steering system; The wheel steering system controls the corresponding wheel to steer according to the first steering control message.

9. A vehicle characterized by comprising: The vehicle configured with the vehicle system of claim 8 comprises: At least one processor; and A memory in communication connection with the at least one processor; wherein The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the wheel steering control method of any one of claims 1-6.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions for enabling the processor to implement the wheel steering control method of any one of claims 1-6 when executed.

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