Vehicle steering control methods, devices, storage media, processors and electronic devices

Abstract

This invention discloses a vehicle steering control method, device, storage medium, processor, and electronic device. The method includes: acquiring vehicle steering input information, wherein the vehicle steering input information includes multiple steering parameters corresponding to the target vehicle; determining a vehicle center-of-gravity sideslip angle function based on a two-degree-of-freedom model of the vehicle, and obtaining a rear wheel yaw angle function based on the vehicle center-of-gravity sideslip angle function, wherein the vehicle center-of-gravity sideslip angle function represents the relationship between the vehicle center-of-gravity sideslip angle and the multiple steering parameters, and the rear wheel yaw angle function represents the relationship between the rear wheel yaw angle and the multiple steering parameters; obtaining a target value of yaw moment using the vehicle steering input information and the rear wheel yaw angle function; determining a target value of inner rear wheel braking force based on the target value of yaw moment, and controlling the target vehicle's steering using the target value of inner rear wheel braking force. This invention solves the technical problem of low vehicle steering sensitivity in related technologies.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and more specifically, to a vehicle steering control method, apparatus, storage medium, processor, and electronic device. Background Technology

[0002] Currently, long-wheelbase vehicles have poor handling. For example, passenger cars with a wheelbase exceeding 2900mm have inherent disadvantages in handling due to their larger overall vehicle mass and greater moment of inertia. This can easily lead to the vehicle being cumbersome and inflexible, especially in terms of slow steering response and insufficient yaw gain (i.e., steering sensitivity).

[0003] There is currently no effective solution to the above problems. Summary of the Invention

[0004] This invention provides a vehicle steering control method, apparatus, storage medium, processor, and electronic device to at least solve the technical problem of low vehicle steering sensitivity in related technologies.

[0005] According to one embodiment of the present invention, a vehicle steering control method is provided, comprising: acquiring vehicle steering input information, wherein the vehicle steering input information includes multiple steering parameters corresponding to a target vehicle; determining a vehicle center of gravity sideslip angle function based on a two-degree-of-freedom model of the vehicle, and obtaining a rear wheel yaw angle function based on the vehicle center of gravity sideslip angle function, wherein the vehicle center of gravity sideslip angle function is used to represent the relationship between the vehicle center of gravity sideslip angle and the multiple steering parameters, and the rear wheel yaw angle function is used to represent the relationship between the rear wheel yaw angle and the multiple steering parameters; obtaining a yaw moment target value using the vehicle steering input information and the rear wheel yaw angle function; determining an inner rear wheel braking force target value based on the yaw moment target value, and controlling the target vehicle to steer using the inner rear wheel braking force target value.

[0006] Optionally, the vehicle steering input information includes: vehicle center of gravity sideslip angle, front axle equivalent sideslip stiffness, rear axle equivalent sideslip stiffness, distance from center of gravity to rear axle, distance from center of gravity to front axle, vehicle yaw angle, longitudinal vehicle speed, vehicle mass, front wheel deflection angle, and rear wheel deflection angle.

[0007] Optionally, obtaining the target yaw moment value using vehicle steering input information and rear wheel deflection angle function includes: acquiring the target steering angle response speed and the first gain coefficient; and obtaining the target yaw moment value using vehicle steering input information, rear wheel deflection angle function, target steering angle response speed, and the first gain coefficient.

[0008] Optionally, determining the target value of the inner rear wheel braking force based on the target value of the yaw moment includes: obtaining the longitudinal distance and lateral distance from the center of mass to the center of the inner rear wheel; and determining the target value of the inner rear wheel braking force based on the longitudinal distance, lateral distance, and the target value of the yaw moment.

[0009] Optionally, controlling the steering of the target vehicle using the inner rear wheel braking force target value includes: determining the target gradient based on the inner rear wheel braking force target value, the second gain coefficient, the rear wheel deflection angle, and the target steering angle response speed; and controlling the inner rear wheel braking force target value to decrease during the steering process of the target vehicle according to the target gradient.

[0010] Optionally, the vehicle steering control method further includes reducing the target value of the inner rear wheel braking force to zero in response to the target vehicle completing a vehicle steering maneuver.

[0011] According to one embodiment of the present invention, a vehicle steering control device is also provided, comprising: an acquisition module for acquiring vehicle steering input information, wherein the vehicle steering input information includes multiple steering parameters corresponding to a target vehicle; a first determination module for determining a vehicle center-of-gravity sideslip angle function based on a two-degree-of-freedom model of the vehicle, and obtaining a rear wheel yaw angle function based on the vehicle center-of-gravity sideslip angle function, wherein the vehicle center-of-gravity sideslip angle function is used to represent the relationship between the vehicle center-of-gravity sideslip angle and multiple steering parameters, and the rear wheel yaw angle function is used to represent the relationship between the rear wheel yaw angle and multiple steering parameters; a processing module for obtaining a yaw moment target value using the vehicle steering input information and the rear wheel yaw angle function; and a second determination module for determining an inner rear wheel braking force target value based on the yaw moment target value, and controlling the target vehicle to steer using the inner rear wheel braking force target value.

[0012] Optionally, the processing module is also used to obtain the target steering angle response speed and the first gain coefficient; and to obtain the target value of the yaw moment using the vehicle steering input information, the rear wheel deflection angle function, the target steering angle response speed and the first gain coefficient.

[0013] Optionally, the second determining module is also used to obtain the longitudinal distance and lateral distance from the center of mass to the center of the inner rear wheel; and to determine the target value of the braking force of the inner rear wheel based on the longitudinal distance, lateral distance and target value of yaw moment.

[0014] Optionally, the second determining module is further configured to determine the target gradient based on the target value of the inner rear wheel braking force, the second gain coefficient, the rear wheel deflection angle, and the target steering angle response speed; and control the target value of the inner rear wheel braking force to be reduced during the steering process of the target vehicle according to the target gradient.

[0015] Optionally, the second determining module is also used to control the target value of the inner rear wheel braking force to decrease to zero in response to the target vehicle completing vehicle steering.

[0016] According to one embodiment of the present invention, a non-volatile storage medium is also provided, wherein a computer program is stored in the storage medium, and the computer program is configured to execute the vehicle steering control method described above when running.

[0017] According to one embodiment of the present invention, a processor is also provided, the processor being configured to run a program, wherein the program is configured to execute the vehicle steering control method described in any of the preceding claims when running.

[0018] According to one embodiment of the present invention, an electronic device is also provided, including a memory and a processor, wherein the memory stores a computer program and the processor is configured to run the computer program to perform the vehicle steering control method described above.

[0019] In this embodiment of the invention, by acquiring vehicle steering input information, the vehicle's center of gravity sideslip angle function is determined based on the vehicle's two-degree-of-freedom model, and the rear wheel deflection angle function is obtained based on the vehicle's center of gravity sideslip angle function. Subsequently, the yaw moment target value is obtained using the vehicle steering input information and the rear wheel deflection angle function. Finally, the inner rear wheel braking force target value is determined based on the yaw moment target value, and the inner rear wheel braking force target value is used to control the target vehicle to steer, thereby achieving the purpose of controlling the vehicle to steer quickly. This achieves the technical effect of improving the vehicle's steering sensitivity, and thus solves the technical problem of low vehicle steering sensitivity in related technologies. Attached Figure Description

[0020] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0021] Figure 1 This is a flowchart of a vehicle steering control method according to one embodiment of the present invention;

[0022] Figure 2 This is a structural block diagram of a vehicle steering control device according to one embodiment of the present invention. Detailed Implementation

[0023] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0024] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0025] According to an embodiment of the present invention, a method embodiment for vehicle steering control is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0026] This method embodiment can be executed in an electronic device or similar computing device that includes memory and a processor in a vehicle. Taking an electronic device running in a vehicle as an example, the vehicle's electronic device may include one or more processors (processors may include, but are not limited to, central processing units (CPUs), graphics processing units (GPUs), digital signal processing (DSP) chips, microcontroller units (MCUs), field-programmable gate arrays (FPGAs), neural network processors (NPUs), tensor processors (TPUs), artificial intelligence (AI) type processors, etc.) and memory for storing data. Optionally, the above-described vehicle electronic device may also include transmission devices, input / output devices, and display devices for communication functions. Those skilled in the art will understand that the above structural description is merely illustrative and does not limit the structure of the vehicle's electronic device. For example, the vehicle's electronic device may also include more or fewer components than described above, or have a different configuration than described above.

[0027] The memory can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the vehicle steering control method in this embodiment of the invention. The processor executes various functional applications and data processing by running the computer program stored in the memory, thereby realizing the aforementioned vehicle steering control method. The memory may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory may further include memory remotely located relative to the processor, and these remote memories can be connected to the mobile terminal via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0028] The transmission device is used to receive or send data via a network. Specific examples of the network described above may include a wireless network provided by the mobile terminal's communication provider. In one example, the transmission device includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the transmission device may be a Radio Frequency (RF) module, used for wireless communication with the Internet.

[0029] Display devices can be, for example, touchscreen liquid crystal displays (LCDs) and touch displays (also referred to as "touchscreens" or "touch displays"). The LCD allows users to interact with the user interface of the mobile terminal. In some embodiments, the mobile terminal has a graphical user interface (GUI), which allows users to interact with the GUI through finger contact and / or gestures on a touch-sensitive surface. Optional human-computer interaction functions include: creating web pages, drawing, word processing, creating electronic documents, playing games, video conferencing, instant messaging, sending and receiving emails, call interfaces, playing digital video, playing digital music, and / or web browsing, etc. Executable instructions for performing the above human-computer interaction functions are configured / stored in one or more processor-executable computer program products or readable storage media.

[0030] Figure 1 This is a flowchart of a vehicle steering control method according to one embodiment of the present invention, such as... Figure 1 As shown, the method includes the following steps:

[0031] Step S12: Obtain vehicle steering input information, wherein the vehicle steering input information includes multiple steering parameters corresponding to the target vehicle.

[0032] In step S12 above, vehicle steering input information can be obtained.

[0033] Specifically, the aforementioned vehicle steering input information includes multiple steering parameters corresponding to the target vehicle.

[0034] Optionally, the vehicle steering input information may include: vehicle center of gravity sideslip angle β, front axle equivalent sideslip stiffness Csf, rear axle equivalent sideslip stiffness Csr, distance from center of gravity to rear axle lr, distance from center of gravity to front axle lf, vehicle yaw angle Ψ, longitudinal vehicle speed v, vehicle mass m, front wheel deflection angle δf, and rear wheel deflection angle δr.

[0035] Specifically, the vehicle's sideslip angle refers to the angle of deflection of the vehicle's center of gravity relative to its longitudinal axis. During vehicle operation, the vehicle's center of gravity is typically located at the center of its longitudinal axis. However, when the vehicle turns or accelerates laterally, the center of gravity deflects laterally due to inertia. Generally, the larger the sideslip angle, the greater the vehicle's tilt angle during cornering, and the vehicle's tilt angle affects its stability and handling.

[0036] Front axle equivalent lateral stiffness refers to the anti-roll capability of a vehicle's front axle during lateral movement. It is an indicator used to describe the rigidity characteristics of the front axle when a vehicle is cornering or accelerating laterally. Higher front axle equivalent lateral stiffness can improve vehicle handling and stability, making steering more accurate and responsive.

[0037] The equivalent lateral stiffness of the rear axle refers to the anti-roll capability exhibited by the rear axle during lateral movement. During vehicle operation, when the vehicle turns or accelerates laterally, lateral forces are applied, causing the vehicle to roll. The equivalent lateral stiffness of the rear axle represents its response to lateral forces; that is, the ratio of the roll angle produced by the rear axle to the lateral force under its action.

[0038] Yaw angle refers to the angle at which a vehicle tilts when it turns or moves laterally. When a vehicle moves laterally, due to inertia, the body tilts or sways at an angle called the yaw angle. The size of the yaw angle depends on several factors, including the vehicle's design, suspension system, body structure, and steering system. A higher yaw angle means that the vehicle tilts more when turning or moving laterally. Yaw angle has a certain impact on vehicle handling and stability; a larger yaw angle may affect vehicle stability, reduce handling performance, and may increase the risk of skidding and loss of control.

[0039] Step S14: Determine the vehicle center of gravity sideslip angle function based on the vehicle's two-degree-of-freedom model, and obtain the rear wheel yaw angle function based on the vehicle center of gravity sideslip angle function. The vehicle center of gravity sideslip angle function is used to represent the relationship between the vehicle center of gravity sideslip angle and multiple steering parameters, and the rear wheel yaw angle function is used to represent the relationship between the rear wheel yaw angle and multiple steering parameters.

[0040] In step S14 above, after obtaining the vehicle steering input information, the vehicle center of gravity sideslip angle function can be determined based on the vehicle two-degree-of-freedom model, and the rear wheel deflection angle function can be obtained based on the vehicle center of gravity sideslip angle function.

[0041] Specifically, the vehicle center of gravity sideslip angle function is used to represent the relationship between the vehicle center of gravity sideslip angle and multiple steering parameters, and the rear wheel yaw angle function is used to represent the relationship between the rear wheel yaw angle and multiple steering parameters.

[0042] The above vehicle center of gravity sideslip angle function can be expressed as shown in formula (1):

[0043]

[0044] in, Denotes the differential of β. This represents the differential of Ψ.

[0045] Setting β and its derivative in formula (1) to 0, we can obtain the rear wheel deflection angle function, as shown in formula (2):

[0046]

[0047] Step S16: Obtain the target value of yaw moment using vehicle steering input information and rear wheel deflection angle function.

[0048] In step S16 above, the target value of yaw moment can be obtained using the vehicle steering input information and the rear wheel deflection angle function.

[0049] Due to the influence of tire relaxation characteristics, the target generated by δf and δr There is a lag, therefore, we can take advantage of the fact that the longitudinal force of the tire is established much faster than the lateral force, and consider using direct yaw moment to establish the target.

[0050] Step S18: Determine the target value of the inner rear wheel braking force based on the target value of the yaw moment, and use the target value of the inner rear wheel braking force to control the target vehicle to steer.

[0051] In step S18 above, after obtaining the target value of the yaw moment, the target value of the inner rear wheel braking force can be determined based on the target value of the yaw moment, and the target value of the inner rear wheel braking force can be used to control the target vehicle to steer.

[0052] Specifically, the target value of yaw moment can be distributed to the inner rear wheel of the steering wheel. In the case of turning left, the inner rear wheel is the left rear wheel, and vice versa. Thus, the target value of the braking force of the inner rear wheel can be used to control the steering of the target vehicle.

[0053] Based on steps S12 to S18 above, by acquiring vehicle steering input information, the vehicle's center of gravity sideslip angle function is determined based on the vehicle's two-degree-of-freedom model, and the rear wheel deflection angle function is obtained based on the vehicle's center of gravity sideslip angle function. Subsequently, the yaw moment target value is obtained using the vehicle steering input information and the rear wheel deflection angle function. Finally, the inner rear wheel braking force target value is determined based on the yaw moment target value, and the inner rear wheel braking force target value is used to control the target vehicle to steer, thereby achieving the purpose of controlling the vehicle to steer quickly. This achieves the technical effect of improving the vehicle's steering sensitivity, and thus solves the technical problem of low vehicle steering sensitivity in related technologies.

[0054] Optionally, in step S16, obtaining the target value of the yaw moment using the vehicle steering input information and the rear wheel deflection angle function includes:

[0055] Step S161: Obtain the target corner response speed and the first gain coefficient.

[0056] In step S161 above, when obtaining the target value of the yaw moment using the vehicle steering input information and the rear wheel deflection angle function, the target steering angle response speed can be obtained first. And the first gain coefficient k.

[0057] Step S162: The target value of yaw moment is obtained by using the vehicle steering input information, the rear wheel deflection angle function, the target steering angle response speed, and the first gain coefficient.

[0058] In step S162 above, after obtaining the target steering angle response speed and the first gain coefficient, the target value of the yaw moment can be obtained using the vehicle steering input information, the rear wheel deflection angle function, the target steering angle response speed, and the first gain coefficient.

[0059] Specifically, the target steering angle response speed mentioned above can be the response speed of the rear wheel steering actuator to the target steering angle, and then the target yaw moment value can be obtained according to formula (3):

[0060]

[0061] Where Mz is the target value of the yaw moment. is the response speed of the rear wheel steering actuator to the target steering angle, and k is the gain coefficient.

[0062] Based on the above steps S161 to S162, by obtaining the target steering angle response speed and the first gain coefficient, and then using the vehicle steering input information, the rear wheel deflection angle function, the target steering angle response speed and the first gain coefficient, the yaw moment target value can be obtained, so as to determine the inner rear wheel braking force target value based on the yaw moment target value.

[0063] Optionally, in step S18 above, determining the target value of the inner rear wheel braking force based on the target value of the yaw moment includes:

[0064] Step S181: Obtain the longitudinal distance and lateral distance from the center of mass to the center of the inner rear wheel.

[0065] In step S181 above, when determining the target value of the braking force of the inner rear wheel based on the target value of the yaw moment, the longitudinal distance x from the center of mass to the center of the inner rear wheel and the lateral distance y from the center of mass to the center of the inner rear wheel can be obtained first.

[0066] Step S182: Determine the target value of the inner rear wheel braking force based on the longitudinal distance, lateral distance, and target value of the yaw moment.

[0067] In step S182 above, after obtaining the longitudinal distance and lateral distance from the center of mass to the center of the inner rear wheel, the target value of the braking force Fb of the inner rear wheel can be determined based on the longitudinal distance, lateral distance and the target value of the yaw moment.

[0068] Specifically, the target value of the inner rear wheel braking force can be determined according to formula (4):

[0069]

[0070] Where Fb is the target value of the inner rear wheel braking force, Mz is the target value of the yaw moment, x is the longitudinal distance from the center of mass to the center of the inner rear wheel, and y is the lateral distance from the center of the inner rear wheel.

[0071] Based on the above steps S181 to S182, by obtaining the longitudinal distance and lateral distance from the center of mass to the center of the inner rear wheel, and then determining the target value of the inner rear wheel braking force based on the longitudinal distance, lateral distance and yaw moment target value, the target value of the inner rear wheel braking force can be used to control the vehicle steering, thereby improving the vehicle steering sensitivity.

[0072] Optionally, in step S18 above, controlling the target vehicle's steering using the target value of the inner rear wheel braking force includes:

[0073] Step S183: Determine the target gradient based on the target value of the inner rear wheel braking force, the second gain coefficient, the rear wheel deflection angle, and the target steering angle response speed.

[0074] In step S183 above, when controlling the target vehicle to steer using the inner rear wheel braking force target value, the target gradient can be determined first based on the inner rear wheel braking force target value, the second gain coefficient, the rear wheel deflection angle and the target steering angle response speed.

[0075] Specifically, the second gain coefficient mentioned above is p, and the target gradient is q, where the target gradient can be used to control the reduction of the inner rear wheel braking force target value during the steering process of the target vehicle.

[0076] The target gradient q can be determined according to formula (5):

[0077]

[0078] Where q is the target gradient, p is the second gain coefficient, Fb is the target value of the inner rear wheel braking force, and δr is the rear wheel deflection angle. This refers to the response speed of the rear wheel steering actuator to the target steering angle.

[0079] Step S184: Reduce the target value of the inner rear wheel braking force during the steering process of the target vehicle according to the target gradient control.

[0080] In step S184 above, after determining the target gradient based on the inner rear wheel braking force target value, the second gain coefficient, the rear wheel deflection angle and the target steering angle response speed, the inner rear wheel braking force target value can be reduced during the steering process of the target vehicle according to the target gradient.

[0081] Specifically, during the establishment of δr, the target value Fb of the inner rear wheel braking force can be gradually removed with gradient q.

[0082] Based on steps S183 to S184 above, the target gradient is determined by the inner rear wheel braking force target value, the second gain coefficient, the rear wheel deflection angle, and the target steering angle response speed. Then, the inner rear wheel braking force target value is reduced during the steering process of the target vehicle according to the target gradient. During the establishment of the rear wheel deflection angle, the braking force on the wheel side can be gradually removed. The rear wheel steering system provides the rear wheel steering angle of the whole vehicle, replacing the wheel side braking to maintain the current yaw state of the whole vehicle, thereby improving the steering sensitivity of the vehicle.

[0083] Optionally, the vehicle steering control method also includes:

[0084] In step S19, in response to the target vehicle completing vehicle steering, the target value of the inner rear wheel braking force is reduced to zero.

[0085] In step S19 above, after the target vehicle completes the vehicle steering, the target value of the inner rear wheel braking force is reduced to zero.

[0086] Specifically, when the vehicle completes a turn, all braking force on the inner rear wheels can be removed.

[0087] Based on step S19 above, by responding to the target vehicle completing vehicle steering, the target value of the inner rear wheel braking force is reduced to zero. During vehicle steering, all the braking force of the inner rear wheel can be removed, and the rear wheel steering system can replace the wheel-side braking to maintain the current yaw state of the vehicle by providing the overall rear wheel steering angle, thereby improving the vehicle's steering sensitivity.

[0088] The aforementioned vehicle steering control method, upon driver input, applies single-wheel braking force using the inner wheel's wheel-side braking system, generating a yaw moment. This leverages the characteristic that the tire's longitudinal response is much faster than the establishment of lateral force, increasing yaw acceleration and thus improving the vehicle's overall yaw response speed. Simultaneously, in conjunction with the rear-wheel steering system, this wheel-side braking force is gradually removed during the establishment of the vehicle's yaw rate. The rear-wheel steering system then maintains the current yaw state by providing rear wheel steering angles, replacing the wheel-side braking, thereby improving the vehicle's steering sensitivity.

[0089] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0090] This embodiment also provides a vehicle steering control device for implementing the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that performs a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0091] Figure 2 This is a structural block diagram of a vehicle steering control device according to one embodiment of the present invention, such as... Figure 2As shown, the device includes: an acquisition module 201 for acquiring vehicle steering input information, wherein the vehicle steering input information includes multiple steering parameters corresponding to the target vehicle; a first determination module 202 for determining the vehicle's center of gravity sideslip angle function based on the vehicle's two-degree-of-freedom model, and obtaining the rear wheel yaw angle function based on the vehicle's center of gravity sideslip angle function, wherein the vehicle's center of gravity sideslip angle function is used to represent the relationship between the vehicle's center of gravity sideslip angle and multiple steering parameters, and the rear wheel yaw angle function is used to represent the relationship between the rear wheel yaw angle and multiple steering parameters; a processing module 203 for obtaining a yaw moment target value using the vehicle steering input information and the rear wheel yaw angle function; and a second determination module 204 for determining an inner rear wheel braking force target value based on the yaw moment target value, and controlling the target vehicle to steer using the inner rear wheel braking force target value.

[0092] Optionally, the processing module 203 is also used to obtain the target steering angle response speed and the first gain coefficient; and to obtain the target value of the yaw moment using the vehicle steering input information, the rear wheel deflection angle function, the target steering angle response speed and the first gain coefficient.

[0093] Optionally, the second determining module 204 is also used to obtain the longitudinal distance and lateral distance from the center of mass to the center of the inner rear wheel; and to determine the target value of the braking force of the inner rear wheel based on the longitudinal distance, lateral distance and the target value of the yaw moment.

[0094] Optionally, the second determining module 204 is further configured to determine the target gradient based on the target value of the inner rear wheel braking force, the second gain coefficient, the rear wheel deflection angle, and the target steering angle response speed; and control the target value of the inner rear wheel braking force to be reduced during the steering process of the target vehicle according to the target gradient.

[0095] Optionally, the second determining module 204 is also configured to control the target value of the inner rear wheel braking force to decrease to zero in response to the target vehicle completing vehicle steering.

[0096] It should be noted that the above modules can be implemented by software or hardware. For the latter, they can be implemented in the following ways, but are not limited to: all the above modules are located in the same processor; or, the above modules are located in different processors in any combination.

[0097] Embodiments of the present invention also provide a non-volatile storage medium storing a computer program, wherein the computer program is configured to execute the steps in any of the above method embodiments when running.

[0098] Optionally, in this embodiment, the storage medium may be configured to store a computer program for performing the following steps:

[0099] Step S1: Obtain vehicle steering input information, wherein the vehicle steering input information includes multiple steering parameters corresponding to the target vehicle;

[0100] Step S2: Determine the vehicle center of gravity sideslip angle function based on the vehicle's two-degree-of-freedom model, and obtain the rear wheel yaw angle function based on the vehicle center of gravity sideslip angle function. The vehicle center of gravity sideslip angle function is used to represent the relationship between the vehicle center of gravity sideslip angle and multiple steering parameters, and the rear wheel yaw angle function is used to represent the relationship between the rear wheel yaw angle and multiple steering parameters.

[0101] Step S3: Obtain the target value of yaw moment using vehicle steering input information and rear wheel deflection angle function;

[0102] Step S4: Determine the target value of the inner rear wheel braking force based on the target value of the yaw moment, and use the target value of the inner rear wheel braking force to control the target vehicle to steer.

[0103] Optionally, in this embodiment, the storage medium may include, but is not limited to, various media capable of storing computer programs, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0104] According to one embodiment of the present invention, a processor is also provided, the processor being used to run a program, wherein the program is configured to execute the steps in any of the above method embodiments when running.

[0105] Optionally, in this embodiment, the processor can be configured to perform the following steps via a computer program:

[0106] Step S1: Obtain vehicle steering input information, wherein the vehicle steering input information includes multiple steering parameters corresponding to the target vehicle;

[0107] Step S2: Determine the vehicle center of gravity sideslip angle function based on the vehicle's two-degree-of-freedom model, and obtain the rear wheel yaw angle function based on the vehicle center of gravity sideslip angle function. The vehicle center of gravity sideslip angle function is used to represent the relationship between the vehicle center of gravity sideslip angle and multiple steering parameters, and the rear wheel yaw angle function is used to represent the relationship between the rear wheel yaw angle and multiple steering parameters.

[0108] Step S3: Obtain the target value of yaw moment using vehicle steering input information and rear wheel deflection angle function;

[0109] Step S4: Determine the target value of the inner rear wheel braking force based on the target value of the yaw moment, and use the target value of the inner rear wheel braking force to control the target vehicle to steer.

[0110] Embodiments of the present invention also provide an electronic device including a memory and a processor, wherein the memory stores a computer program and the processor is configured to run the computer program to perform the steps in any of the above method embodiments.

[0111] Optionally, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor and the input / output device is connected to the processor.

[0112] Optionally, in this embodiment, the processor can be configured to perform the following steps via a computer program:

[0113] Step S1: Obtain vehicle steering input information, wherein the vehicle steering input information includes multiple steering parameters corresponding to the target vehicle;

[0114] Step S2: Determine the vehicle center of gravity sideslip angle function based on the vehicle's two-degree-of-freedom model, and obtain the rear wheel yaw angle function based on the vehicle center of gravity sideslip angle function. The vehicle center of gravity sideslip angle function is used to represent the relationship between the vehicle center of gravity sideslip angle and multiple steering parameters, and the rear wheel yaw angle function is used to represent the relationship between the rear wheel yaw angle and multiple steering parameters.

[0115] Step S3: Obtain the target value of yaw moment using vehicle steering input information and rear wheel deflection angle function;

[0116] Step S4: Determine the target value of the inner rear wheel braking force based on the target value of the yaw moment, and use the target value of the inner rear wheel braking force to control the target vehicle to steer.

[0117] Optionally, specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementations, and will not be repeated here.

[0118] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0119] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0120] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0121] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0122] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0123] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0124] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A vehicle steering control method, characterized in that, include: Obtain vehicle steering input information, wherein the vehicle steering input information includes multiple steering parameters corresponding to the target vehicle; The vehicle's center of gravity sideslip angle function is determined based on the vehicle's two-degree-of-freedom model, and the rear wheel deflection angle function is obtained based on the vehicle's center of gravity sideslip angle function. The vehicle's center of gravity sideslip angle function is used to represent the relationship between the vehicle's center of gravity sideslip angle and the plurality of steering parameters, and the rear wheel deflection angle function is used to represent the relationship between the rear wheel deflection angle and the plurality of steering parameters. Obtain the target corner response speed and the first gain coefficient; The target value of yaw moment is obtained by using the vehicle steering input information, the rear wheel deflection angle function, the target steering angle response speed, and the first gain coefficient. The target value of the inner rear wheel braking force is determined based on the target value of the yaw moment, and the target value of the inner rear wheel braking force is used to control the vehicle steering. The method of controlling the steering of the target vehicle using the inner rear wheel braking force target value includes: determining a target gradient based on the inner rear wheel braking force target value, a second gain coefficient, the rear wheel deflection angle, and the target steering angle response speed; and controlling the inner rear wheel braking force target value to decrease during the steering process of the target vehicle according to the target gradient.

2. The vehicle steering control method according to claim 1, characterized in that, The vehicle steering input information includes: the vehicle's center of gravity sideslip angle, the front axle equivalent sideslip stiffness, the rear axle equivalent sideslip stiffness, the distance from the center of gravity to the rear axle, the distance from the center of gravity to the front axle, the vehicle yaw angle, the longitudinal speed, the vehicle mass, the front wheel deflection angle, and the rear wheel deflection angle.

3. The vehicle steering control method according to claim 1, characterized in that, Determining the target value of the inner rear wheel braking force based on the target value of the yaw moment includes: Obtain the longitudinal and lateral distances from the center of mass to the center of the inner rear wheel; The target value of the inner rear wheel braking force is determined based on the longitudinal distance, the lateral distance, and the target value of the yaw moment.

4. The vehicle steering control method according to claim 1, characterized in that, The method also includes In response to the target vehicle completing a vehicle steering maneuver, the target value of the inner rear wheel braking force is controlled to be reduced to zero.

5. A vehicle steering control device, characterized in that, include: The acquisition module is used to acquire vehicle steering input information, wherein the vehicle steering input information includes multiple steering parameters corresponding to the target vehicle; The first determining module is used to determine the vehicle center of gravity sideslip angle function based on the vehicle two-degree-of-freedom model, and to obtain the rear wheel deflection angle function based on the vehicle center of gravity sideslip angle function. The vehicle center of gravity sideslip angle function is used to represent the relationship between the vehicle center of gravity sideslip angle and the plurality of steering parameters, and the rear wheel deflection angle function is used to represent the relationship between the rear wheel deflection angle and the plurality of steering parameters. The processing module is used to obtain the target steering angle response speed and the first gain coefficient; and to obtain the target yaw moment value using the vehicle steering input information, the rear wheel deflection angle function, the target steering angle response speed and the first gain coefficient. The second determining module is used to determine the inner rear wheel braking force target value based on the yaw moment target value, and to control the target vehicle to steer using the inner rear wheel braking force target value; The second determining module is further configured to determine a target gradient based on the inner rear wheel braking force target value, the second gain coefficient, the rear wheel deflection angle, and the target steering angle response speed; and control the inner rear wheel braking force target value to decrease during the steering process of the target vehicle according to the target gradient.

6. A non-volatile storage medium, characterized in that, The storage medium stores a computer program, wherein the computer program is configured to execute the vehicle steering control method according to any one of claims 1 to 4 when it is run.

7. A processor, characterized in that, The processor is used to run a program, wherein the program is configured to execute the vehicle steering control method according to any one of claims 1 to 4 when running.

8. An electronic device comprising a memory and a processor, characterized in that, The memory stores a computer program, and the processor is configured to run the computer program to perform the vehicle steering control method according to any one of claims 1 to 4.

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