Steering control method and device for vehicle, vehicle and electronic device

Abstract

The application discloses a kind of steering control method, device, vehicle and electronic device of vehicle, it is related to vehicle technical field.Therein, the method comprises: obtaining the speed of vehicle;In response to the speed meets preset condition, the steering wheel angle of vehicle is obtained;According to the speed and steering wheel angle, the steering control mode of vehicle is determined, wherein, steering control mode is used to adjust the brake torque and motor driving torque of vehicle;According to steering control mode, vehicle is controlled to steer.The present application solves the technical problem that the steering of vehicle is controlled by a single control algorithm in the related art, resulting in slow response speed, poor flexibility and poor stability.

Description

TECHNICAL FIELD

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

[0002] With the rapid development of new energy vehicle technology, the number and types of vehicle chassis integrated devices are increasing, such as rear wheel steering systems, brake control systems, motor drive systems, etc., especially the function of the rear wheel steering system of the vehicle, which is used to increase the flexibility and stability of the vehicle when turning. Therefore, it is necessary to control the steering of the vehicle.

[0003] At present, the steering of the vehicle is controlled by a single control algorithm, and the mass center side slip angle of the vehicle tends to zero, but this method will cause the yaw response of the vehicle to be relatively slow, the flexibility to be poor, and the stability to be poor.

[0004] In view of the above problems, no effective solution has been proposed so far. SUMMARY

[0005] The embodiments of the present application provide a steering control method and device of a vehicle, a vehicle and an electronic device, to at least solve the technical problem that the response speed is slow, the flexibility is poor, and the stability is poor when the steering of the vehicle is controlled by a single control algorithm in the related art.

[0006] According to one of the embodiments of the present application, a steering control method of a vehicle is provided, comprising: obtaining a vehicle speed of the vehicle; in response to the vehicle speed satisfying a preset condition, obtaining a steering wheel angle of the vehicle; determining a steering control mode of the vehicle according to the vehicle speed and the steering wheel angle, wherein the steering control mode is used to adjust a brake torque and a motor drive torque of the vehicle; and controlling the vehicle to steer according to the steering control mode.

[0007] Optionally, determining the steering control mode of the vehicle according to the vehicle speed and the steering wheel angle comprises: in response to the vehicle speed being less than or equal to a first speed and the steering wheel angle meeting a first steering angle condition, determining a first steering control mode, wherein the first steering angle condition is used to indicate that the steering wheel angle is a first angle within a preset time period; and in response to the vehicle speed being greater than or equal to a second speed and the steering wheel angle meeting a second steering angle condition, determining a second steering control mode, wherein the second steering angle condition is used to indicate that the steering wheel angle is greater than a second angle.

[0008] Optionally, the controlling the vehicle to turn according to the turning control mode comprises: determining an initial brake torque and an initial motor drive torque according to a first turning control mode; determining a wheel speed of the vehicle based on the initial brake torque, and determining a slip ratio of the vehicle based on the initial motor drive torque; determining a target brake torque based on the wheel speed, and determining a target motor drive torque based on the slip ratio; and controlling the vehicle to turn according to the target brake torque and the target motor drive torque.

[0009] Optionally, the determining the target brake torque based on the wheel speed, and the determining the target motor drive torque based on the slip ratio comprises: in response to the wheel speed being greater than a first threshold, increasing the initial brake torque according to a first adjustment mode to determine the target brake torque; and in response to the slip ratio being a preset value, increasing the initial motor drive torque according to a second adjustment mode to determine the target motor drive torque.

[0010] Optionally, the controlling the vehicle to turn according to the turning control mode comprises: adjusting the brake torque and the motor drive torque according to a second turning control mode to determine a yaw moment of the vehicle; determining a yaw acceleration based on the yaw moment, wherein the yaw acceleration is less than a first acceleration, and a duration of the yaw acceleration is less than a preset time; and controlling the vehicle to turn based on the yaw acceleration.

[0011] Optionally, the method further comprises: in response to the yaw acceleration reaching a second acceleration, stopping the controlling the vehicle to turn according to the second turning control mode.

[0012] Optionally, the method further comprises: in response to the vehicle speed being less than or equal to a first speed and the steering wheel angle not meeting a first angle condition, controlling the vehicle to turn according to a rear wheel turning ratio of the vehicle.

[0013] According to an embodiment of the present application, a turning control device of a vehicle is provided, comprising: a first obtaining module, configured to obtain a vehicle speed of the vehicle; a second obtaining module, configured to obtain a steering wheel angle of the vehicle in response to the vehicle speed meeting a preset condition; a determining module, configured to determine a turning control mode of the vehicle according to the vehicle speed and the steering wheel angle, wherein the turning control mode is used to adjust a brake torque and a motor drive torque of the vehicle; and a controlling module, configured to control the vehicle to turn according to the turning control mode.

[0014] Optionally, the determining module is further configured to: in response to the vehicle speed being less than or equal to a first speed and the steering wheel angle meeting a first angle condition, determine a first turning control mode, wherein the first angle condition is used to indicate that the steering wheel angle is a first angle within a preset time period; and in response to the vehicle speed being greater than or equal to a second speed and the steering wheel angle meeting a second angle condition, determine a second turning control mode, wherein the second angle condition is used to indicate that the steering wheel angle is greater than a second angle.

[0015] Optionally, the control module is further configured to determine an initial braking torque and an initial motor drive torque according to a first steering control method; determine the wheel speed of the vehicle based on the initial braking torque, and determine the slip ratio of the vehicle based on the initial motor drive torque; determine a target braking torque based on the wheel speed, and determine a target motor drive torque based on the slip ratio; and control the vehicle to steer according to the target braking torque and the target motor drive torque.

[0016] Optionally, the control module is further configured to, in response to a wheel speed greater than a first threshold, increase the initial braking torque according to a first adjustment method to determine a target braking torque; and, in response to a slip ratio of a preset value, increase the initial motor drive torque according to a second adjustment method to determine a target motor drive torque.

[0017] Optionally, the control module is also used to adjust the braking torque and motor drive torque according to the second steering control method to determine the yaw moment of the vehicle; determine the yaw acceleration based on the yaw moment, wherein the yaw acceleration is less than the first acceleration and the duration of the yaw acceleration is less than a preset time; and control the vehicle to steer based on the yaw acceleration.

[0018] Optionally, the control module is also configured to stop steering the vehicle according to the second steering control method in response to the yaw acceleration reaching the second acceleration.

[0019] Optionally, the control module is also configured to control the vehicle to steer according to the rear wheel steering ratio in response to a vehicle speed less than or equal to a first speed and a steering wheel angle not meeting the first steering angle condition.

[0020] According to one embodiment of this application, a vehicle is also provided, which is used to perform the vehicle steering control method described in any of the above claims.

[0021] According to one embodiment of the present invention, a computer-readable storage medium is also provided, wherein the storage medium stores a computer program, wherein the computer program is configured to execute the vehicle steering control method described above when run on a computer or processor.

[0022] 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 in any of the preceding claims.

[0023] In this embodiment of the invention, by acquiring the vehicle speed, in response to the vehicle speed meeting preset conditions, the vehicle's steering wheel angle is acquired, and the vehicle's steering control mode is determined based on the vehicle speed and steering wheel angle. The steering control mode is used to adjust the vehicle's braking torque and motor drive torque, and then the vehicle is steered according to the steering control mode. This enables comprehensive control of the vehicle's longitudinal and lateral movements, resulting in fast response speed, good flexibility, and high stability. This solves the technical problem of related technologies that control vehicle steering through a single control algorithm, leading to slow response speed, poor flexibility, and poor stability. Attached Figure Description

[0024] 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:

[0025] Figure 1 This is a flowchart of a vehicle steering control method according to one embodiment of the present invention;

[0026] Figure 2 This is a flowchart of a vehicle steering control method according to one embodiment of the present invention;

[0027] Figure 3 This is a basic schematic diagram of a vehicle steering control method according to one embodiment of the present invention;

[0028] Figure 4 This is a schematic diagram of a vehicle steering control method according to one embodiment of the present invention;

[0029] Figure 5 This is a structural block diagram of a vehicle steering control device according to one embodiment of the present invention. Detailed Implementation

[0030] For ease of understanding, some concepts related to the embodiments of the present invention are explained by way of example for reference.

[0031] As shown below:

[0032] Tire slippage: refers to the phenomenon where, when a vehicle is in motion, the tires slide relative to the ground due to insufficient road surface friction or excessive vehicle speed, resulting in a slippage rate for the vehicle.

[0033] Slip ratio: This refers to the ratio of the relative sliding speed between the wheel and the road surface to the wheel's rotational speed. It is an important parameter for measuring a vehicle's traction and braking performance, playing a crucial role in improving cornering stability and preventing sideslip. When this value is too high, it indicates that the tires have begun to slip, and attention should be paid to controlling the driving speed or adjusting the driving posture; conversely, when this value is too low, it may affect driving performance and safety. In this embodiment of the invention, the target motor drive torque can be determined based on the slip ratio value, but this embodiment of the invention is not limited to this.

[0034] 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. 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.

[0035] 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.

[0036] According to one embodiment of the present invention, an embodiment of a vehicle steering control method 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.

[0037] This method embodiment can be executed in an electronic device, similar control device, or system that includes a memory and a processor. Taking an electronic device as an example, the electronic device may include one or more processors and a memory for storing data. Optionally, the electronic device may also include a communication device for communication functions and a display device. Those skilled in the art will understand that the above structural description is merely illustrative and does not limit the structure of the electronic device. For example, the electronic device may include more or fewer components than described above, or have a different configuration than described above.

[0038] A processor may include one or more processing units. For example, a processor may include a central processing unit (CPU), a graphics processing unit (GPU), a digital signal processing (DSP) chip, a microcontroller unit (MCU), a field-programmable gate array (FPGA), a neural network processing unit (NPU), a tensor processing unit (TPU), or an artificial intelligence (AI) processor. Different processing units may be independent components or integrated into one or more processors. In some instances, electronic devices may also include one or more processors.

[0039] The memory can be used to store computer programs, such as the computer program corresponding to the vehicle steering control method in this embodiment of the invention. The processor implements the vehicle steering control method by running the computer program stored in the memory. The memory may include high-speed random access memory and 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 electronic devices 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.

[0040] Communication devices are used to receive or send data via a network. Specific examples of such networks may include wireless networks provided by the mobile terminal's communication provider. In one example, the communication 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 communication device may be a radio frequency (RF) module used for wireless communication with the Internet.

[0041] The display device can be, for example, a touchscreen liquid crystal display (LCD) and a touch display (also referred to as a "touchscreen" or "touch screen"). This LCD allows the user to interact with the user interface of the mobile terminal. In some embodiments, the mobile terminal has a graphical user interface (GUI), which allows the user to interact with the GUI by touching and / or gesturing 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, a call interface, 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.

[0042] This embodiment provides a steering control method for a vehicle operating with electronic devices. 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 process includes the following steps:

[0043] Step S10: Obtain the vehicle speed;

[0044] This step can be understood as obtaining the vehicle speed during the current driving process. It is understood that the steering requirements of the vehicle may be different at different speeds. For example, at high speeds, the time for steering is shorter and the required steering diameter is larger, while at low speeds, the time for steering is longer and the required steering diameter is smaller. This embodiment of the invention does not limit this.

[0045] Optionally, the vehicle speed during the current driving process can be obtained through vehicle body sensors, and this embodiment of the invention is not limited thereto. For example, the vehicle speed during the current driving process can be obtained through a speed sensor in the vehicle.

[0046] Step S11: In response to the vehicle speed meeting the preset conditions, obtain the vehicle's steering wheel angle;

[0047] The preset conditions can be understood as conditions used to control the steering of the vehicle. Optionally, a vehicle speed threshold can be set according to the actual situation, and the vehicle speed threshold can be used as the preset conditions. This embodiment of the invention does not limit this.

[0048] This step can be understood as follows: when the vehicle speed meets the preset conditions, it means that the vehicle speed meets the conditions for controlling the vehicle's steering, and the steering wheel angle of the vehicle is obtained.

[0049] Optionally, the steering wheel angle of the vehicle can be obtained through vehicle body sensors, and this embodiment of the invention is not limited thereto. For example, the steering wheel angular velocity of the vehicle can be obtained through a steering wheel angular velocity sensor, thereby determining the steering wheel angle, and this embodiment of the invention is not limited thereto.

[0050] Step S12: Determine the vehicle's steering control method based on vehicle speed and steering wheel angle;

[0051] Among them, the steering control method is used to adjust the vehicle's braking torque and the motor drive torque.

[0052] This step can be understood as determining the vehicle's braking torque and motor drive torque based on the vehicle speed and steering wheel angle.

[0053] Optionally, different steering control methods can be determined based on different vehicle speeds and steering wheel settings, and this embodiment of the invention does not impose any limitations.

[0054] It is understood that a vehicle's steering system generally consists of a chassis domain controller, a motor module, a rear-wheel steering module, and a brake-by-wire module. The chassis domain controller is responsible for sending and receiving vehicle-related signals and calculating the rear wheel angle, braking torque, and motor torque based on the vehicle's status. These signals are then sent to the respective actuators via private messages. For example, the chassis domain controller can be adjusted according to different vehicle speeds and steering wheel positions to regulate the vehicle's braking torque and motor drive torque. This invention is an embodiment and not intended to limit the scope of the invention.

[0055] Step S13: Control the vehicle to steer according to the steering control method.

[0056] This step can be understood as controlling the vehicle's steering by adjusting the braking torque and motor drive torque.

[0057] Optionally, the vehicle's steering can be controlled by the vehicle's overall controller in a manner that adjusts the vehicle's braking torque and motor drive torque; this embodiment of the invention is not limited to this. Specifically, the vehicle's steering can be controlled by controlling its torque.

[0058] Through the above steps, the vehicle's braking torque and motor drive torque are adjusted based on the vehicle speed and steering wheel angle. The vehicle is then steered according to these adjustments, thereby enabling comprehensive control of the vehicle's longitudinal and lateral movements. This results in fast response, good flexibility, and high stability.

[0059] Through the above steps, by acquiring the vehicle speed, and in response to the vehicle speed meeting preset conditions, the vehicle's steering wheel angle is acquired. Based on the vehicle speed and steering wheel angle, the vehicle's steering control method is determined. The steering control method is used to adjust the vehicle's braking torque and motor drive torque. The vehicle is then steered according to the steering control method, thereby comprehensively controlling the vehicle's longitudinal and lateral movements. This results in fast response speed, good flexibility, and high stability, thus solving the technical problem of related technologies that control vehicle steering through a single control algorithm, leading to slow response speed, poor flexibility, and poor stability.

[0060] Optionally, in step S12, determining the vehicle's steering control method based on vehicle speed and steering wheel angle may include the following steps:

[0061] Step S120: In response to the vehicle speed being less than or equal to the first speed and the steering wheel angle meeting the first steering angle condition, determine the first steering control mode;

[0062] The first turning angle condition is used to indicate that the steering wheel turning angle is the first angle within a preset time period.

[0063] The first speed can be understood as the maximum speed threshold used to indicate that the vehicle is traveling at a low speed, for example, it can be 20 km / h. This embodiment of the invention does not limit this. When the vehicle speed is less than or equal to the first speed, for example, less than 20 km / h, it indicates that the vehicle is currently traveling at a low speed. This embodiment of the invention does not limit this.

[0064] The preset time period can be understood as the duration of the current steering wheel angle, for example, it can be 0.5 seconds, but this embodiment of the invention does not limit it. The first angle can be understood as the maximum steering angle of the vehicle's steering wheel, but this embodiment of the invention does not limit it.

[0065] This step can be understood as determining a first steering control mode when the vehicle speed is less than or equal to the maximum speed threshold indicating low-speed driving, and the steering wheel angle meets the condition of being a first angle within a preset time period. For example, when the vehicle speed is less than or equal to 20 km / h, and the steering wheel angle is the maximum steering angle of the vehicle's steering wheel for 0.5 seconds, the first steering control mode is determined. This embodiment of the invention is not limited to this.

[0066] Step S121: In response to the vehicle speed being greater than or equal to the second speed and the steering wheel angle meeting the second steering angle condition, determine the second steering control mode.

[0067] The second turning angle condition is used to indicate that the steering wheel turning angle is greater than the second angle.

[0068] The first speed can be understood as the minimum speed threshold used to indicate that the vehicle is traveling at high speed, for example, it can be 80 km / h. This embodiment of the invention does not limit this. When the vehicle speed is greater than or equal to the first speed, for example, less than 80 km / h, it indicates that the vehicle is currently traveling at high speed. This embodiment of the invention does not limit this.

[0069] The second angle can be understood as the minimum angle at which the vehicle steering wheel is turning, for example, it can be 0 degrees. This embodiment of the invention does not limit this. That is, when it is greater than this minimum angle, for example, when it is greater than 0 degrees, it indicates that the vehicle steering wheel is turning. This embodiment of the invention does not limit this.

[0070] This step can be understood as determining the second steering control method when the vehicle speed is greater than or equal to the minimum speed threshold indicating that the vehicle is traveling at high speed, and the steering wheel angle meets the minimum angle indicating that the vehicle's steering wheel is turning. For example, when the vehicle speed is greater than or equal to 80 km / h, and the steering wheel angle is greater than 0 degrees, the second steering control method is determined. This embodiment of the invention is not limited to this.

[0071] Optionally, step S120 may further include the following execution steps:

[0072] In step S1200, in response to the vehicle speed being less than or equal to the first speed and the steering wheel angle not meeting the first steering angle condition, the vehicle is steered according to the rear wheel steering ratio.

[0073] This step can be understood as follows: when the vehicle speed is less than or equal to the maximum speed threshold indicating low-speed driving, and the steering wheel angle does not meet the requirement of being at the first angle within a preset time period, the vehicle is steered according to the rear wheel steering ratio. For example, when the vehicle speed is less than or equal to 20 km / h, and the steering wheel angle is the maximum steering angle of the vehicle's steering wheel for less than 0.5 seconds, the vehicle is steered according to the rear wheel steering ratio. This embodiment of the invention does not impose limitations.

[0074] Optionally, in step S13, controlling the vehicle to steer according to the steering control method may include the following execution steps:

[0075] Step S130: Determine the initial braking torque and the initial motor drive torque according to the first steering control method;

[0076] It is understandable that vehicle steering requires braking force and electric motor driving force to complete. The initial braking torque can be understood as the braking torque required when the vehicle needs a larger turning radius, and the initial electric motor driving torque can be understood as the electric motor driving torque required when the vehicle needs a larger turning radius.

[0077] This step can be understood as determining the braking torque and motor drive torque required when the vehicle needs a larger turning radius, based on the first steering control method.

[0078] Optionally, the vehicle's chassis domain can issue control braking torque and motor drive torque commands according to the first steering control method, thereby calculating the braking torque and motor drive torque required when the vehicle has a larger turning radius requirement, that is, determining the initial braking torque and initial motor drive torque. This embodiment of the invention is not limited to this.

[0079] Step S131: Determine the wheel speed of the vehicle based on the initial braking torque, and determine the slip ratio of the vehicle based on the initial motor drive torque;

[0080] Wheel speed can be understood as the speed at which the wheels rotate during vehicle operation, while slip ratio can be understood as the ratio of the relative sliding speed between the wheel and the road surface to the wheel rotation speed, used to measure the vehicle's traction and braking performance.

[0081] This step can be understood as determining the wheel rotation speed during vehicle operation based on the braking torque required when the vehicle has a larger turning radius, and determining the ratio of the relative sliding speed between the wheel and the road surface to the wheel rotation speed based on the motor drive torque required when the vehicle has a larger turning radius.

[0082] Step S132: Determine the target braking torque based on wheel speed and the target motor drive torque based on slip ratio;

[0083] The target braking torque can be understood as the braking torque that enables the vehicle to minimize the turning diameter and complete the steering. The target motor drive torque can be understood as the motor drive torque that enables the vehicle to minimize the turning diameter and complete the steering.

[0084] Understandably, the goal is to determine the braking torque and motor drive torque that allow the vehicle to minimize the turning diameter and complete the steering, thereby satisfying the vehicle's steering requirements while also determining the braking torque and motor drive torque that provide the best driving experience and minimize steering abruptness.

[0085] Step S133: Control the vehicle to steer based on the target braking torque and the target motor drive torque.

[0086] This step can be understood as controlling the vehicle's steering based on the braking torque and motor drive torque that allow the vehicle to minimize the turning diameter and complete the steering, thereby meeting the vehicle's steering needs while improving the driving experience and reducing steering abruptness.

[0087] Optionally, in step S132, determining the target braking torque based on wheel speed and the target motor drive torque based on slip ratio may include the following execution steps:

[0088] Step S1320: In response to the wheel speed being greater than the first threshold, the initial braking torque is increased according to the first adjustment method, and the target braking torque is determined;

[0089] The first threshold can be understood as the minimum threshold used to indicate that the tire is close to locking up. For example, it can be 0.1 mm / s. This embodiment of the invention does not limit this. That is, if the wheel speed is greater than the minimum threshold, it means that the tire is not close to locking up.

[0090] This step can be understood as follows: when the wheel speed is greater than the minimum threshold indicating that the tire is not close to locking, it means that the tire is close to locking. At this time, the braking torque required when the vehicle has a larger turning radius is increased according to the first adjustment method, and the target braking torque is determined.

[0091] For example, when a vehicle is turning, if the wheel speed of the left front and rear wheels is greater than 0.1 mm / s, it indicates that the left front and rear wheels are not close to locking up. The braking torque required when the left front and rear wheels need a larger turning radius is increased according to the first adjustment method. This embodiment of the invention does not limit this.

[0092] Step S1321: In response to the slip ratio being a preset value, the initial motor drive torque is increased according to the second adjustment method to determine the target motor drive torque.

[0093] The preset value can be understood as a slip ratio threshold that can minimize the turning diameter. For example, it can be 0. This embodiment of the invention does not limit this. That is, the slip ratio is the slip ratio threshold, which means that the turning diameter can be minimized.

[0094] This step can be understood as follows: when the slip ratio is the threshold that can minimize the turning diameter, it means that the turning diameter can be minimized to the maximum extent. At this time, the motor drive torque required when the vehicle has a larger turning radius is increased according to the second adjustment method, and the target motor drive torque is determined.

[0095] For example, when the vehicle is turning, if the slip ratio of the right wheel is 0, it means that the turning diameter can be reduced to the maximum extent. According to the second adjustment method, the motor drive torque required when the left front and rear wheels have a larger turning radius is increased. This embodiment of the invention is not limited.

[0096] Optionally, the vehicle's slip ratio can be calculated using a mathematical formula, and this embodiment of the invention is not limited to this. For example, the vehicle speed can be denoted as u, and the wheel speed as u0. c The slip ratio S of the vehicle can be determined by mathematical formula, and the specific calculation process is shown in the following formula (1):

[0097] S=(u-uc) / u*100% (1)

[0098] The vehicle's slip ratio is thus determined, and the embodiments of the present invention are not limited thereto.

[0099] Figure 2 This is a flowchart illustrating a vehicle steering control method according to one embodiment of the present invention, as shown below. Figure 2 The diagram illustrates the specific implementation process of the above steps. Figure 2 The vehicle steering control method in the program first determines whether the vehicle speed is less than or equal to 20 km / h. If the vehicle speed is less than or equal to 20 km / h, it determines whether the steering wheel angle is at its limit and whether the duration is greater than or equal to 0.5 seconds. If the steering wheel angle limit is not met and the duration is greater than or equal to 0.5 seconds, rear wheel steering ratio control is implemented. If the steering wheel angle limit is met and the duration is greater than or equal to 0.5 seconds, the braking torque is determined, and it is determined whether the vehicle wheel speed is less than or equal to 0.1 mm / s. If the vehicle wheel speed is less than or equal to 0.1 mm / s, the braking torque remains unchanged; otherwise, the braking torque is adjusted. Simultaneously, the motor drive torque is determined, and it is determined whether the vehicle slip ratio is greater than 0. If the vehicle slip ratio is greater than 0, the motor drive torque remains unchanged; otherwise, the motor drive torque is adjusted.

[0100] Optionally, in step S13, controlling the vehicle to steer according to the steering control method may include the following execution steps:

[0101] Step S134: Adjust the braking torque and motor drive torque according to the second steering control method to determine the vehicle's yaw moment;

[0102] The yaw moment of a vehicle can be understood as the torque that causes the vehicle to sway laterally when it completes a steering action. It can be understood that the yaw response is slow to build up. If the vehicle has already completed the steering action before the driver has any steering feeling, it will lead to a poor driving experience. In other words, the shorter the yaw response time of the vehicle, the higher the steering sensitivity of the vehicle.

[0103] This step can be understood as adjusting the braking torque and motor drive torque according to the second steering control method to determine the torque that indicates the lateral sway of the vehicle when it completes the steering action.

[0104] Step S136: Determine the yaw acceleration based on the yaw moment;

[0105] Among them, the yaw acceleration is less than the first acceleration, and the duration of the yaw acceleration is less than the preset time.

[0106] Yaw acceleration can be understood as the acceleration formed when a vehicle is turning, by adjusting the braking force or driving force of the left and right wheels to quickly establish a yaw moment.

[0107] The first acceleration can be understood as the maximum acceleration threshold used to effectively improve the vehicle's steering sensitivity, for example, it can be 0.1g, but this embodiment of the invention is not limited thereto. That is, if the yaw acceleration is less than this acceleration threshold, the vehicle's steering sensitivity can be effectively improved.

[0108] The preset time can be understood as the maximum time threshold for effectively improving vehicle steering sensitivity, for example, it can be 200ms, but this embodiment of the invention does not limit it. That is, if the duration of yaw acceleration is less than this maximum time threshold, the vehicle steering sensitivity can be effectively improved.

[0109] This step can be understood as determining the yaw moment based on the vehicle's steering process by quickly establishing the yaw moment by adjusting the magnitude of the braking force or driving force of the left and right wheels. The resulting acceleration is less than the maximum acceleration threshold that effectively improves the vehicle's steering sensitivity, and the duration of the yaw acceleration effectively improves the maximum time threshold that improves the vehicle's steering sensitivity.

[0110] Step S137: Control the vehicle to steer based on yaw acceleration.

[0111] This step can be understood as controlling the vehicle's steering by rapidly establishing yaw moment and generating acceleration during the steering process by adjusting the braking or driving forces of the left and right wheels. This reduces yaw response time at high speeds and improves the driver's yaw response feel.

[0112] Optionally, step S13 may also include the following execution steps:

[0113] In step S138, in response to the yaw acceleration reaching the second acceleration, stop controlling the vehicle to steer according to the second steering control method.

[0114] The second acceleration can be understood as an acceleration threshold used to indicate that the vehicle's steering has the ability to improve the vehicle's steering sensitivity. Optionally, the acceleration threshold can be set according to the actual situation, and the embodiments of the present invention are not limited thereto.

[0115] This step can be understood as follows: when the yaw acceleration reaches the acceleration threshold that can improve the vehicle's steering sensitivity, it means that the current vehicle has high steering sensitivity and the driver's driving experience is better.

[0116] Optionally, the vehicle can be steered by a chassis domain controller, and this embodiment of the invention is not limited thereto. For example, when the vehicle is traveling at high speed and turning left, the rear turn follows the steering wheel angle for normal steering. Simultaneously, the chassis domain controls the left braking force or increases the right driving force to generate a clockwise yaw moment until the yaw rate reaches the target value, i.e., the second acceleration. Then, steering according to the second steering control method is stopped, and this embodiment of the invention is not limited thereto.

[0117] Figure 3 This is a basic schematic diagram of a vehicle steering control method according to one embodiment of the present invention, such as... Figure 3 The diagram illustrates the specific implementation process of the above steps. Figure 3 It includes a chassis domain processor, which is used to send and receive vehicle-related signals and calculate the rear wheel angle, braking torque value, and motor torque value according to the vehicle status. The processor then sends the signals to each actuator via a private CAN message.

[0118] Figure 3 The basic principle of the vehicle steering control method is to acquire vehicle status information, including steering wheel angle, acceleration sensor, vehicle mode, and vehicle speed, through the chassis domain processor. The chassis domain processor receives the vehicle status information and calculates the rear wheel angle, braking torque value, and motor torque value based on the vehicle status information. The signals are then sent to each actuator through a private CAN message to control the vehicle steering.

[0119] Figure 4 This is a schematic diagram of a vehicle steering control method according to one embodiment of the present invention, as shown below. Figure 4 The diagram illustrates the specific implementation process of the above steps. Figure 4This can be understood as a schematic diagram of the vehicle's architecture. The four brakes represent the brakes at the four tire positions, and the arrows indicate the vehicle's direction of travel. The vehicle chassis contains a chassis domain controller, motors, and a rear-wheel steering system. The chassis domain processor is used to send and receive vehicle-related signals and calculates the rear wheel angle, braking torque, and motor torque based on the vehicle's status. These signals are then sent to the various actuators via a private CAN message. The motors provide the necessary torque to control the vehicle's steering, and the rear-wheel steering system controls the steering of the rear wheels.

[0120] Figure 4 When the vehicle architecture is running, it sends and receives vehicle-related signals through the chassis domain processor, calculates the rear wheel angle, braking torque value, and motor torque value based on the vehicle status, and sends the signals to each actuator through private CAN messages. The rear wheel steering is controlled through the motor and rear wheel steering system, thereby controlling the vehicle steering.

[0121] 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.

[0122] 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.

[0123] Figure 5 This is a structural block diagram of a vehicle steering control device according to one embodiment of the present invention, such as... Figure 5As shown, a vehicle steering control device 500 is used as an example. The device includes: a first acquisition module 501, which is used to acquire the vehicle speed; a second acquisition module 502, which is used to acquire the vehicle steering wheel angle in response to the vehicle speed meeting a preset condition; a determination module 503, which is used to determine the vehicle steering control mode based on the vehicle speed and the steering wheel angle, wherein the steering control mode is used to adjust the vehicle's braking torque and motor drive torque; and a control module 504, which is used to control the vehicle to steer according to the steering control mode.

[0124] Optionally, the determining module 503 is further configured to determine a first steering control mode in response to a vehicle speed less than or equal to a first speed and a steering wheel angle meeting a first steering angle condition, wherein the first steering angle condition indicates that the steering wheel angle is a first angle within a preset time period; and to determine a second steering control mode in response to a vehicle speed greater than or equal to a second speed and a steering wheel angle meeting a second steering angle condition, wherein the second steering angle condition indicates that the steering wheel angle is greater than a second angle.

[0125] Optionally, the control module 504 is further configured to determine an initial braking torque and an initial motor drive torque according to a first steering control method; determine the wheel speed of the vehicle based on the initial braking torque and the slip ratio of the vehicle based on the initial motor drive torque; determine a target braking torque based on the wheel speed and a target motor drive torque based on the slip ratio; and control the vehicle to steer according to the target braking torque and the target motor drive torque.

[0126] Optionally, the control module 504 is further configured to, in response to a wheel speed greater than a first threshold, increase the initial braking torque according to a first adjustment method to determine a target braking torque; and, in response to a slip ratio of a preset value, increase the initial motor drive torque according to a second adjustment method to determine a target motor drive torque.

[0127] Optionally, the control module 504 is further configured to adjust the braking torque and motor drive torque according to the second steering control method to determine the yaw moment of the vehicle; determine the yaw acceleration based on the yaw moment, wherein the yaw acceleration is less than the first acceleration and the duration of the yaw acceleration is less than a preset time; and control the vehicle to steer based on the yaw acceleration.

[0128] Optionally, the control module 504 is also configured to stop steering the vehicle according to the second steering control method in response to the yaw acceleration reaching the second acceleration.

[0129] Optionally, the control module 504 is also configured to control the vehicle to steer according to the rear wheel steering ratio in response to a vehicle speed less than or equal to a first speed and a steering wheel angle not meeting the first steering angle condition. It should be noted that the above modules can be implemented in software or hardware. For the latter, implementation can be achieved in the following ways, but is 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.

[0130] Embodiments of this application also provide a vehicle for performing the steps in any of the above method embodiments.

[0131] Optionally, in this embodiment, the vehicle may be configured to store a computer program for performing the following steps:

[0132] Step S1: Obtain the vehicle speed;

[0133] Step S2: In response to the vehicle speed meeting the preset conditions, obtain the vehicle's steering wheel angle;

[0134] Step S3: Determine the vehicle's steering control method based on vehicle speed and steering wheel angle;

[0135] Step S4: Control the vehicle to steer according to the steering control method.

[0136] Embodiments of the present invention also provide a computer-readable storage medium storing a computer program, wherein the computer program is configured to perform the steps in any of the above method embodiments when run on a computer or processor.

[0137] Optionally, in this embodiment, the computer-readable storage medium may be configured to store a computer program for performing the following steps:

[0138] Step S1: Obtain the vehicle speed;

[0139] Step S2: In response to the vehicle speed meeting the preset conditions, obtain the vehicle's steering wheel angle;

[0140] Step S3: Determine the vehicle's steering control method based on vehicle speed and steering wheel angle;

[0141] Step S4: Control the vehicle to steer according to the steering control method.

[0142] Optionally, in this embodiment, the computer-readable 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.

[0143] 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.

[0144] Optionally, in this embodiment, the processor in the above-described electronic device may be configured to run a computer program to perform the following steps:

[0145] Step S1: Obtain the vehicle speed;

[0146] Step S2: In response to the vehicle speed meeting the preset conditions, obtain the vehicle's steering wheel angle;

[0147] Step S3: Determine the vehicle's steering control method based on vehicle speed and steering wheel angle;

[0148] Step S4: Control the vehicle to steer according to the steering control method.

[0149] 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.

[0150] 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.

[0151] 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.

[0152] 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.

[0153] 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.

[0154] 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.

[0155] 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.

[0156] 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 steering control method of a vehicle, characterized by, The method comprises: acquiring a vehicle speed of a vehicle; in response to the vehicle speed satisfying a preset condition, acquiring a steering wheel angle of the vehicle; determining a steering control mode of the vehicle according to the vehicle speed and the steering wheel angle, wherein the steering control mode is used to adjust a braking torque and a motor driving torque of the vehicle; controlling the vehicle to steer according to the steering control mode; wherein the determining the steering control mode of the vehicle according to the vehicle speed and the steering wheel angle comprises: in response to the vehicle speed being less than or equal to a first speed and the steering wheel angle meeting a first angle condition, determining a first steering control mode, wherein the first angle condition is used to indicate that the steering wheel angle is a first angle within a preset time period; and in response to the vehicle speed being greater than or equal to a second speed and the steering wheel angle meeting a second angle condition, determining a second steering control mode, wherein the second angle condition is used to indicate that the steering wheel angle is greater than a second angle; the controlling the vehicle to steer according to the steering control mode comprises: determining an initial braking torque and an initial motor driving torque according to the first steering control mode; determining a wheel speed of the vehicle based on the initial braking torque, and determining a slip rate of the vehicle based on the initial motor driving torque; determining a target braking torque based on the wheel speed, and determining a target motor driving torque based on the slip rate; and controlling the vehicle to steer according to the target braking torque and the target motor driving torque; the controlling the vehicle to steer according to the steering control mode comprises: adjusting the braking torque and the motor driving torque according to the second steering control mode, determining a yaw moment of the vehicle; determining a yaw acceleration based on the yaw moment, wherein the yaw acceleration is less than a first acceleration, and a duration of the yaw acceleration is less than a preset time; and controlling the vehicle to steer based on the yaw acceleration.

2. The method of claim 1, wherein, the determining the target braking torque based on the wheel speed, and the determining the target motor driving torque based on the slip rate comprise: in response to the wheel speed being greater than a first threshold, increasing the initial braking torque according to a first adjustment mode to determine the target braking torque; in response to the slip rate being a preset value, increasing the initial motor driving torque according to a second adjustment mode to determine the target motor driving torque.

3. The method of claim 1, wherein, The method further comprises: in response to the yaw acceleration reaching a second acceleration, stopping controlling the vehicle to steer according to the second steering control mode.

4. The method of claim 1, wherein, The method further comprises: in response to the vehicle speed being less than or equal to the first speed and the steering wheel angle not meeting the first angle condition, controlling the vehicle to steer according to a rear wheel steering ratio of the vehicle.

5. A steering control device of a vehicle characterized by comprising: The method comprises: a first acquisition module, configured to acquire a vehicle speed of a vehicle; a second acquisition module, configured to acquire a steering wheel angle of the vehicle in response to the vehicle speed satisfying a preset condition; determining a steering control mode of the vehicle according to the vehicle speed and the steering wheel angle, wherein the steering control mode is used to adjust a braking torque and a motor driving torque of the vehicle; controlling the vehicle to steer according to the steering control mode; wherein the determining module is further configured to determine a first steering control mode in response to the vehicle speed being less than or equal to a first speed and the steering wheel angle meeting a first steering angle condition, wherein the first steering angle condition is used to indicate that the steering wheel angle is a first angle within a preset time period; and determine a second steering control mode in response to the vehicle speed being greater than or equal to a second speed and the steering wheel angle meeting a second steering angle condition, wherein the second steering angle condition is used to indicate that the steering wheel angle is greater than a second angle; the control module is further configured to determine an initial braking torque and an initial motor driving torque according to the first steering control mode; determine a wheel speed of the vehicle based on the initial braking torque, and determine a slip rate of the vehicle based on the initial motor driving torque; determine a target braking torque based on the wheel speed, and determine a target motor driving torque based on the slip rate; and control the vehicle to steer according to the target braking torque and the target motor driving torque; the control module is further configured to adjust the braking torque and the motor driving torque according to the second steering control mode, determine a yaw moment of the vehicle; determine a yaw acceleration based on the yaw moment, wherein the yaw acceleration is less than a first acceleration, and a duration of the yaw acceleration is less than a preset time; and control the vehicle to steer based on the yaw acceleration.

6. A vehicle characterized by comprising: The vehicle is configured to perform the vehicle steering control method in any one of claims 1 to 4. 7.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 execute the computer program to perform the vehicle steering control method in any one of claims 1 to 4.

Images