Vehicle rear wheel steering control method and device, storage medium and electronic device

Abstract

The application discloses a vehicle rear wheel steering control method and device, a storage medium and an electronic device. The method comprises the following steps: acquiring vehicle steering input information; determining a vehicle mass center side slip angle function based on a two-degree-of-freedom model of the vehicle, and determining a vehicle yaw angle function according to a front wheel steering dynamic gain coefficient, an equivalent yaw damping coefficient and an equivalent yaw inertia; determining a rear wheel deflection angle by using the vehicle mass center side slip angle function, the vehicle yaw angle function and the vehicle steering input information; and controlling the rear wheel deflection angle based on a target steering control mode. The application solves the technical problem of low vehicle response speed and poor operation stability of a long-wheelbase vehicle during vehicle steering in the related art.

Description

Technical Field

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

[0002] The handling stability of long-wheelbase passenger vehicles has attracted widespread attention, and the automotive industry has been searching for solutions to improve the handling of these vehicles to meet the demands for a superior driving experience. Currently, long-wheelbase passenger vehicles equipped with steer-by-wire front and rear steering systems have higher overall mass and greater moment of inertia, requiring more force to steer, resulting in relatively slow steering response and significant yaw overshoot, leading to poor handling stability. Therefore, improving the handling stability of long-wheelbase luxury passenger vehicles to make them more agile and easier to drive is of great importance.

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

[0004] This invention provides a method, apparatus, storage medium, and electronic device for controlling the rear wheel steering of a vehicle, in order to at least solve the technical problems of low vehicle response speed and poor operational stability when long-wheelbase vehicles are steering in related technologies.

[0005] According to one aspect of the present invention, a method for controlling the rear wheel steering of a vehicle 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 determining a vehicle yaw angle function based on a front wheel steering dynamic gain coefficient, an equivalent yaw damping coefficient, and an equivalent yaw inertia, 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 vehicle yaw angle function is used to represent the relationship between the vehicle yaw angle and the front wheel steering dynamic gain coefficient, the equivalent yaw damping coefficient, and the equivalent yaw inertia; determining a rear wheel deflection angle using the vehicle center-of-gravity sideslip angle function, the vehicle yaw angle function, and the vehicle steering input information; and controlling the rear wheel deflection angle based on a target steering control method.

[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, controlling the rear wheel yaw angle based on the target steering control method includes: controlling the rear wheel yaw angle using a yaw tracking control method.

[0008] Optionally, controlling the rear wheel deflection angle based on the target steering control method includes: controlling the rear wheel deflection angle using an anti-saturation control method.

[0009] Optionally, controlling the rear wheel deflection angle based on the target steering control method includes: controlling the rear wheel deflection angle using a vehicle speed modulation control method.

[0010] Optionally, controlling the rear wheel deflection angle based on the target steering control method includes controlling the rear wheel deflection angle by using a rear wheel speed limiting method.

[0011] According to another aspect of the present invention, a vehicle rear-wheel 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 determining a vehicle yaw angle function based on a front-wheel steering dynamic gain coefficient, an equivalent yaw damping coefficient, and an equivalent yaw inertia, wherein the vehicle center-of-gravity sideslip angle function represents the relationship between the vehicle center-of-gravity sideslip angle and multiple steering parameters, and the vehicle yaw angle function represents the relationship between the vehicle yaw angle and the front-wheel steering dynamic gain coefficient, the equivalent yaw damping coefficient, and the equivalent yaw inertia; a second determination module for determining a rear-wheel deflection angle using the vehicle center-of-gravity sideslip angle function, the vehicle yaw angle function, and the vehicle steering input information; and a control module for controlling the rear-wheel deflection angle based on a target steering control method.

[0012] 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.

[0013] Optionally, the control module is also used to control the rear wheel deflection angle using yaw tracking control.

[0014] Optionally, the control module is also used to control the rear wheel deflection angle using an anti-saturation control method.

[0015] Optionally, the control module is also used to control the rear wheel deflection angle using a vehicle speed modulation control method.

[0016] Optionally, the control module is also used to control the rear wheel deflection angle by using a rear wheel speed limiting method.

[0017] 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. The vehicle's yaw angle function is then determined based on the front wheel steering dynamic gain coefficient, equivalent yaw damping coefficient, and equivalent yaw inertia. Subsequently, the rear wheel deflection angle is determined using the vehicle's center of gravity sideslip angle function, the vehicle yaw angle function, and the vehicle steering input information. Finally, the rear wheel deflection angle is controlled based on the target steering control method, achieving the goal of suppressing yaw overshoot. This results in improved vehicle response speed and operational stability, thereby solving the technical problems of low vehicle response speed and poor operational stability in long-wheelbase vehicles during steering in related technologies. Attached Figure Description

[0018] 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:

[0019] Figure 1 This is a flowchart of a vehicle rear wheel steering control method according to one embodiment of the present invention;

[0020] Figure 2 This is a schematic diagram of a vehicle rear wheel steering control method according to one embodiment of the present invention;

[0021] Figure 3 This is a structural block diagram of a vehicle rear wheel steering control device according to one embodiment of the present invention. Detailed Implementation

[0022] 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.

[0023] 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.

[0024] According to an embodiment of the present invention, a method embodiment for controlling the rear wheel steering of a vehicle 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.

[0025] 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 include more or fewer components than described above, or have a different configuration than described above.

[0026] The memory can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the vehicle rear-wheel 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 rear-wheel 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.

[0027] 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.

[0028] 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.

[0029] Figure 1 This is a flowchart of a vehicle rear-wheel steering control method according to one embodiment of the present invention, such as... Figure 1 As shown, the method includes the following steps:

[0030] Step S12: Obtain vehicle steering input information, wherein the vehicle steering input information includes multiple steering parameters corresponding to the target vehicle;

[0031] Optionally, vehicle steering input information may include: vehicle center of gravity sideslip angle. β Front axle equivalent lateral stiffness Csf Rear axle equivalent lateral 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 speed v Overall vehicle quality m Front wheel yaw angle δf and rear wheel yaw angle δr .

[0032] 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.

[0033] 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.

[0034] 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.

[0035] 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.

[0036] Step S14: Determine the vehicle's center of gravity sideslip angle function based on the vehicle's two-degree-of-freedom model, and determine the vehicle's yaw angle function based on the front wheel steering dynamic gain coefficient, equivalent yaw damping coefficient, and equivalent yaw inertia. 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 vehicle's yaw angle function is used to represent the relationship between the vehicle's yaw angle and the front wheel steering dynamic gain coefficient, equivalent yaw damping coefficient, and equivalent yaw inertia.

[0037] 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.

[0038] The above vehicle center of gravity sideslip angle function can be expressed as shown in formula (1):

[0039] (1)

[0040] in, express β The differential, express Ψ The differential.

[0041] consider Ψ The process of establishing the model involves using the PT2 model to construct the entire vehicle. Ψ The response model yields the vehicle yaw angle function, as shown in formula (2):

[0042] (2)

[0043] Where k is the front wheel steering dynamic gain coefficient, a is the equivalent yaw damping coefficient, b is the equivalent yaw inertia, and s is the Lagrange operator.

[0044] Step S16: Determine the rear wheel deflection angle using the vehicle's center of gravity sideslip angle function, vehicle yaw angle function, and vehicle steering input information;

[0045] Combining formula (1) and formula (2), let β and its derivative equal to 0, as shown in formula (3):

[0046] (3)

[0047] make , Ignoring smaller values, the rear wheel deflection angle is obtained as shown in formula (4):

[0048] (4)

[0049] The above formula is the principle of all-wheel steering control that takes into account the vehicle's yaw inertia and yaw damping. Based on formula (4), an algorithm is constructed, and reasonable k, a, and b are given to achieve the purpose of compensating for the vehicle's inertia, improving the vehicle's response speed, and suppressing yaw overshoot.

[0050] Step S18: Control the rear wheel deflection angle based on the target steering control method.

[0051] Through steps S12 to S18, vehicle steering input information is acquired, and then the vehicle's center of gravity sideslip angle function is determined based on the vehicle's two-degree-of-freedom model. The vehicle's yaw angle function is determined based on the front wheel steering dynamic gain coefficient, equivalent yaw damping coefficient, and equivalent yaw inertia. Subsequently, the rear wheel deflection angle is determined using the vehicle's center of gravity sideslip angle function, vehicle yaw angle function, and vehicle steering input information. Finally, the rear wheel deflection angle is controlled based on the target steering control method, thereby suppressing yaw overshoot and achieving the technical effect of improving vehicle response speed and operational stability. This solves the technical problems of low vehicle response speed and poor operational stability of long-wheelbase vehicles when steering in related technologies.

[0052] Optionally, in step S14, controlling the rear wheel deflection angle based on the target steering control method includes: controlling the rear wheel deflection angle using a yaw tracking control method.

[0053] Specifically, the purpose of yaw tracking control is to make the vehicle's yaw rate track the desired steady-state yaw rate according to the characteristics of a first-order inertial element. Considering the requirements for agility, vehicle parameters, and actuator capabilities, a first-order inertial element with a time constant of 0.05 is currently selected. That is, the vehicle's yaw dynamics are required to satisfy the following formula (5):

[0054] (5)

[0055] in, The yaw rate is angular velocity. The derivative of the yaw rate. For reference yaw rate.

[0056] Therefore, design sliding modulus By controlling s to 0, this condition can be met. That is, the vehicle's yaw dynamics conform to the characteristics of an inertial element, and its steady-state value is the value designed in the desired steady-state yaw rate diagram (MAP). A PI controller is used to control s.

[0057] Optionally, in step S14, controlling the rear wheel deflection angle based on the target steering control method includes: controlling the rear wheel deflection angle using an anti-saturation control method.

[0058] Anti-saturation control addresses the condition where the front wheel sideslip angle is saturated. In this condition, reducing the rear wheel steering angle will further reduce the steady-state yaw rate, thus causing control divergence when using a yaw tracking controller. When the front wheel steering angle is large and the sideslip angle is saturated, increasing the rear wheel steering angle has limited impact on the yaw rate, barely reducing the steady-state yaw rate. Therefore, the control strategy in this condition is to continue using yaw tracking control in transient control (high frequency) while adding anti-saturation control in steady-state (low frequency). The combined effect of these two control methods is to ensure agility in yaw tracking during transients, and to gradually increase the rear wheel steering angle in steady-state, minimizing the sideslip angle while ensuring a minimal reduction in yaw rate.

[0059] The anti-saturation control uses integral control, has low-pass characteristics, and can be activated when the lateral force on the front wheels is saturated.

[0060] Optionally, in step S14, controlling the rear wheel deflection angle based on the target steering control method includes: controlling the rear wheel deflection angle using a vehicle speed modulation control method.

[0061] The vehicle speed modulation module coordinates low-speed and high-speed control. It determines the ratio between the two speeds using a speed-related sigmoid function, thereby achieving a smooth transition between them and ultimately outputting the rear wheel deflection angle. It is the rear wheel deflection angle at low speed. and high-speed rear wheel deflection angle The weighted average is shown in the following formula (6):

[0062] (6)

[0063] Among them, the proportionality coefficient , This refers to the longitudinal vehicle speed.

[0064] Optionally, in step S14, controlling the rear wheel deflection angle based on the target steering control method includes controlling the rear wheel deflection angle using a rear wheel speed limiting method.

[0065] Considering the characteristics of the actuator, it is necessary to limit the speed and angle of the rear wheel steering angle output by the controller to prevent actuator jamming or other malfunctions. This can be achieved by using... Figure 2 The structure shown can limit both the angle and the rotational speed, and it incorporates closed-loop proportional control to eliminate steady-state errors. Figure 2 The input data for the structure shown is the initial rear wheel deflection angle, and the output data is the corrected target rear wheel deflection angle.

[0066] This application proposes a steerable all-wheel steering dynamic control method and principle that considers the vehicle's inertia. By constructing a vehicle response transfer function and combining it with the principle of vehicle steering dynamics, a target steering angle of the all-wheel steering system is constructed under a given steering wheel input, thereby achieving the purpose of compensating for the vehicle's inertia, improving the vehicle's response speed, and suppressing yaw overshoot.

[0067] 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.

[0068] This embodiment also provides a vehicle rear-wheel 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.

[0069] Figure 3 This is a structural block diagram of a vehicle rear wheel steering control device according to one embodiment of the present invention, such as... Figure 3 As shown, the device includes:

[0070] The acquisition module 301 is used to acquire vehicle steering input information, wherein the vehicle steering input information includes multiple steering parameters corresponding to the target vehicle;

[0071] The first determining module 302 is used to determine the vehicle's center of gravity sideslip angle function based on the vehicle's two-degree-of-freedom model, and to determine the vehicle's yaw angle function based on the front wheel steering dynamic gain coefficient, the equivalent yaw damping coefficient, and the equivalent yaw inertia. 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 vehicle yaw angle function is used to represent the relationship between the vehicle yaw angle and the front wheel steering dynamic gain coefficient, the equivalent yaw damping coefficient, and the equivalent yaw inertia.

[0072] The second determining module 303 is used to determine the rear wheel deflection angle using the vehicle center of gravity sideslip angle function, the vehicle yaw angle function and the vehicle steering input information;

[0073] Control module 304 is used to control the rear wheel deflection angle based on the target steering control method.

[0074] 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.

[0075] Optionally, the control module 304 is also used to control the rear wheel deflection angle using a yaw tracking control method.

[0076] Optionally, the control module 304 is also used to control the rear wheel deflection angle using an anti-saturation control method.

[0077] Optionally, the control module 304 is also used to control the rear wheel deflection angle using a vehicle speed modulation control method.

[0078] Optionally, the control module 304 is also used to control the rear wheel deflection angle by means of a rear wheel speed limit.

[0079] 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.

[0080] 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.

[0081] Optionally, in this embodiment, the storage medium may be configured to store a computer program for performing the following steps:

[0082] Step S1: Obtain vehicle steering input information, wherein the vehicle steering input information includes multiple steering parameters corresponding to the target vehicle;

[0083] Step S2: Determine the vehicle's center of gravity sideslip angle function based on the vehicle's two-degree-of-freedom model, and determine the vehicle's yaw angle function based on the front wheel steering dynamic gain coefficient, equivalent yaw damping coefficient, and equivalent yaw inertia. 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 vehicle yaw angle function is used to represent the relationship between the vehicle yaw angle and the front wheel steering dynamic gain coefficient, equivalent yaw damping coefficient, and equivalent yaw inertia.

[0084] Step S3: Determine the rear wheel deflection angle using the vehicle's center of gravity sideslip angle function, vehicle yaw angle function, and vehicle steering input information;

[0085] Step S4: Control the rear wheel deflection angle based on the target steering control method.

[0086] 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.

[0087] 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.

[0088] Optionally, in this embodiment, the processor can be configured to perform the following steps via a computer program:

[0089] Step S1: Obtain vehicle steering input information, wherein the vehicle steering input information includes multiple steering parameters corresponding to the target vehicle;

[0090] Step S2: Determine the vehicle's center of gravity sideslip angle function based on the vehicle's two-degree-of-freedom model, and determine the vehicle's yaw angle function based on the front wheel steering dynamic gain coefficient, equivalent yaw damping coefficient, and equivalent yaw inertia. 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 vehicle yaw angle function is used to represent the relationship between the vehicle yaw angle and the front wheel steering dynamic gain coefficient, equivalent yaw damping coefficient, and equivalent yaw inertia.

[0091] Step S3: Determine the rear wheel deflection angle using the vehicle's center of gravity sideslip angle function, vehicle yaw angle function, and vehicle steering input information;

[0092] Step S4: Control the rear wheel deflection angle based on the target steering control method.

[0093] 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.

[0094] 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.

[0095] Optionally, in this embodiment, the processor can be configured to perform the following steps via a computer program:

[0096] Step S1: Obtain vehicle steering input information, wherein the vehicle steering input information includes multiple steering parameters corresponding to the target vehicle;

[0097] Step S2: Determine the vehicle's center of gravity sideslip angle function based on the vehicle's two-degree-of-freedom model, and determine the vehicle's yaw angle function based on the front wheel steering dynamic gain coefficient, equivalent yaw damping coefficient, and equivalent yaw inertia. 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 vehicle yaw angle function is used to represent the relationship between the vehicle yaw angle and the front wheel steering dynamic gain coefficient, equivalent yaw damping coefficient, and equivalent yaw inertia.

[0098] Step S3: Determine the rear wheel deflection angle using the vehicle's center of gravity sideslip angle function, vehicle yaw angle function, and vehicle steering input information;

[0099] Step S4: Control the rear wheel deflection angle based on the target steering control method.

[0100] 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.

[0101] 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.

[0102] 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.

[0103] 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.

[0104] 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.

[0105] 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.

[0106] 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.

[0107] 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 rear wheel steering control method characterized by, The method comprises: obtaining vehicle steering input information, wherein the vehicle steering input information comprises a plurality of steering parameters corresponding to a target vehicle; determining a vehicle center of mass side slip angle function based on a two-degree-of-freedom vehicle model, and determining a vehicle yaw angle function based on a front wheel steering dynamic gain coefficient, an equivalent yaw damping coefficient, and an equivalent yaw inertia, wherein the vehicle center of mass side slip angle function is used to represent a relationship between a vehicle center of mass side slip angle and the plurality of steering parameters, and the vehicle yaw angle function is used to represent a relationship between a vehicle yaw angle and the front wheel steering dynamic gain coefficient, the equivalent yaw damping coefficient, and the equivalent yaw inertia; determining a rear wheel deflection angle using the vehicle center of mass side slip angle function, the vehicle yaw angle function, and the vehicle steering input information; controlling the rear wheel deflection angle based on a target steering control mode.

2. The vehicle rear wheel steering control method according to claim 1, characterized by, The vehicle steering input information comprises the vehicle center of mass side slip angle, a front axle equivalent side slip stiffness, a rear axle equivalent side slip stiffness, a center of mass to rear axle distance, a center of mass to front axle distance, a vehicle yaw angle, a longitudinal vehicle speed, a total vehicle mass, a front wheel deflection angle, and the rear wheel deflection angle.

3. The vehicle rear wheel steering control method according to claim 1, characterized by, Controlling the rear wheel deflection angle based on a target steering control mode comprises: controlling the rear wheel deflection angle using a yaw tracking control mode.

4. The vehicle rear wheel steering control method according to claim 1, characterized by, Controlling the rear wheel deflection angle based on a target steering control mode comprises: controlling the rear wheel deflection angle using an anti-windup control mode.

5. The vehicle rear wheel steering control method according to claim 1, characterized by, Controlling the rear wheel deflection angle based on a target steering control mode comprises: controlling the rear wheel deflection angle using a vehicle speed modulation control mode.

6. The vehicle rear wheel steering control method according to claim 1, characterized by, Controlling the rear wheel deflection angle based on a target steering control mode comprises: controlling the rear wheel deflection angle using a rear wheel speed limitation mode.

7. A vehicle rear wheel steering control device characterized by comprising: The method comprises: an obtaining module configured to obtain vehicle steering input information, wherein the vehicle steering input information comprises a plurality of steering parameters corresponding to a target vehicle; a first determining module configured to determine a vehicle center of mass side slip angle function based on a two-degree-of-freedom vehicle model, and determine a vehicle yaw angle function based on a front wheel steering dynamic gain coefficient, an equivalent yaw damping coefficient, and an equivalent yaw inertia, wherein the vehicle center of mass side slip angle function is used to represent a relationship between a vehicle center of mass side slip angle and the plurality of steering parameters, and the vehicle yaw angle function is used to represent a relationship between a vehicle yaw angle and the front wheel steering dynamic gain coefficient, the equivalent yaw damping coefficient, and the equivalent yaw inertia; a second determining module configured to determine a rear wheel deflection angle using the vehicle center of mass side slip angle function, the vehicle yaw angle function, and the vehicle steering input information; a control module configured to control the rear wheel deflection angle based on a target steering control mode.

8. A non-volatile storage medium, comprising: The storage medium has a computer program stored therein, wherein the computer program is configured to execute the vehicle rear wheel steering control method described in any one of claims 1 to 6 when running.

9. A processor, comprising: The processor is configured to run a program, wherein the program is configured to execute the vehicle rear wheel steering control method described in any one of claims 1 to 6 when running. 10.An electronic device comprising a memory and a processor, the electronic device characterized by, The memory stores a computer program, and the processor is configured to run the computer program to execute the vehicle rear wheel steering control method in any one of claims 1 to 6.

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