Vehicle steering control method, device, vehicle and storage medium

Abstract

The present application provides a control method, device, vehicle and storage medium for vehicle steering. When the automatic U-turn mode is turned on, the vehicle controller obtains the auxiliary parameters of the vehicle according to the pre-activation signal input by the user, and generates the target direction, rotation angle, feedforward torque, target wheel speed, and then sends a steering instruction to the motor controller. The motor controller responds according to the feedforward torque, obtains a response signal, and sends it to the vehicle controller. Based on the response signal, the vehicle controller obtains the swing angle sensor information and the lateral longitudinal acceleration information to calculate the wheel rotation angle and sends it to the motor controller. The motor controller performs self-closed loop control based on the target direction, target wheel speed, wheel rotation angle, rotation angle and auxiliary parameters to control the vehicle to complete the steering. Automatic U-turn and zero turning radius steering of the vehicle are realized, making the vehicle steering more flexible, accurate and efficient, and reducing the rotation error, achieving millisecond-level drive control.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a vehicle steering control method, device, vehicle, and storage medium. Background Art

[0002] Steering performance is a key aspect of vehicle performance. The performance of the steering system directly impacts the vehicle's handling stability, playing a crucial role in ensuring safe driving, reducing traffic accidents, protecting the driver's personal safety, and improving their working conditions. How to rationally design a steering system to ensure optimal handling performance remains a key concern today.

[0003] In the prior art, the most primitive operation for automobile steering is for the driver to turn the steering wheel to achieve the steering of the car. However, the most primitive steering system has a large turning radius when controlling the vehicle steering. In order to adapt to narrow roads, the wheels are steered by setting a preset angle to reduce the turning radius. However, this method cannot make flexible changes in complex road scenes, and the operation is frequent, resulting in unstable vehicle speed control and a poor user experience.

[0004] In summary, how to achieve zero turning radius steering for vehicles more flexibly, accurately and efficiently is a difficult problem that needs to be solved urgently in this field. Summary of the Invention

[0005] The present application provides a vehicle steering control method, device, vehicle and storage medium to solve the problem of how to achieve vehicle zero turning radius steering more flexibly, accurately and efficiently.

[0006] In a first aspect, the present application provides a vehicle steering control method, applied to a motor controller, comprising:

[0007] receiving a steering command sent by a vehicle controller, the steering command including a target direction, a rotation angle, a feedforward torque, a target wheel speed, and auxiliary parameters, the auxiliary parameters being used to assist the motor controller in responding to the steering command;

[0008] responding to the feedforward torque according to the target direction, the target wheel speed, and the auxiliary parameter to obtain a response signal;

[0009] Sending the response signal to the vehicle controller;

[0010] receiving a wheel rotation angle sent by the vehicle controller, where the wheel rotation angle is calculated by the vehicle controller according to the response signal;

[0011] According to the target direction, the target wheel speed, the wheel rotation angle, the rotation angle and the auxiliary parameters, a self-closed loop control is performed to control the vehicle to complete the steering.

[0012] In combination with the first aspect, in some embodiments, performing self-closed-loop control based on the target direction, the target wheel speed, the wheel rotation angle, the rotation angle, and the auxiliary parameter to control the vehicle to complete steering includes:

[0013] Calculating a motor speed and a target rotation angle according to the target wheel speed, the wheel rotation angle, and the rotation angle;

[0014] Calculating a target torque according to the target direction, the motor speed, the target rotation angle, and the auxiliary parameters;

[0015] The vehicle is controlled to complete steering according to the target torque, the motor speed and the target rotation angle.

[0016] In combination with the first aspect, in some embodiments, the method further includes:

[0017] Obtaining self-fault information and sending it to the vehicle controller, the self-fault information including overtemperature or overload;

[0018] receiving a termination instruction sent by the vehicle controller, wherein the termination instruction is used to instruct the motor controller to end controlling the vehicle to perform steering;

[0019] According to the termination instruction, the vehicle is controlled to terminate the turning.

[0020] In a second aspect, the present application provides a vehicle steering control method, which is applied to a vehicle controller, comprising:

[0021] When the automatic U-turn mode is turned on, obtaining a pre-activation signal input by a user, wherein the pre-activation signal includes a rotation direction signal, a rotation angle signal, a brake pedal signal, an accelerator pedal signal, and a gear position signal;

[0022] acquiring auxiliary parameters of the vehicle according to the pre-activation signal, wherein the auxiliary parameters are used to assist the motor controller in responding to the steering command;

[0023] Obtaining a target direction, a rotation angle, a feedforward torque, and a target wheel speed according to the rotation direction signal, the brake pedal signal, the accelerator pedal signal, and the gear position signal, wherein the feedforward torque is used to instruct the motor controller to start controlling the vehicle to perform steering work;

[0024] The steering instruction is sent to the motor controller, where the steering instruction includes the target direction, the rotation angle, the feedforward torque, the target wheel speed, and the auxiliary parameter.

[0025] In conjunction with the second aspect, in some embodiments, the method further includes:

[0026] receiving a response signal sent by the motor controller;

[0027] acquiring swing angle sensor information and lateral longitudinal acceleration information according to the response signal;

[0028] Calculating a wheel rotation angle based on the swing angle sensor information and the lateral longitudinal acceleration information;

[0029] The wheel rotation angle is sent to the motor controller.

[0030] In conjunction with the second aspect, in some embodiments, the method further includes:

[0031] Receiving self-fault information sent by the motor controller, the self-fault information including overtemperature or overload;

[0032] A termination instruction is generated according to the self-fault information and sent to the motor controller, wherein the termination instruction is used to instruct the motor controller to end controlling the vehicle to perform steering work.

[0033] In conjunction with the second aspect, in some embodiments, before receiving the pre-activation signal sent by the user, the method further includes:

[0034] receiving an automatic U-turn start signal input by the user;

[0035] The automatic U-turn mode is started according to the automatic U-turn start signal.

[0036] In a third aspect, the present application provides a vehicle steering control device, comprising:

[0037] A first receiving module is configured to receive a steering command sent by a vehicle controller, wherein the steering command includes a target direction, a rotation angle, a feedforward torque, a target wheel speed, and auxiliary parameters, wherein the auxiliary parameters are used to assist the motor controller in responding to the steering command;

[0038] a response module, configured to respond to the feedforward torque according to the target direction, the target wheel speed, and the auxiliary parameter to obtain a response signal;

[0039] A sending module, configured to send the response signal to the vehicle controller;

[0040] a second receiving module, configured to receive a wheel rotation angle sent by the vehicle controller, wherein the wheel rotation angle is calculated by the vehicle controller according to the response signal;

[0041] The first control module is used to perform self-closed-loop control according to the target direction, the target wheel speed, the wheel rotation angle, the rotation angle and the auxiliary parameters to control the vehicle to complete the steering.

[0042] In conjunction with the third aspect, in some embodiments, the first control module includes:

[0043] a first calculation unit, configured to calculate a motor speed and a target rotation angle according to the target wheel speed, the wheel rotation angle, and the rotation angle;

[0044] a second calculation unit, configured to calculate a target torque according to the target direction, the motor speed, the target rotation angle, and the auxiliary parameter;

[0045] A control unit is used to control the vehicle to complete steering according to the target torque, the motor speed and the target rotation angle.

[0046] In conjunction with the third aspect, in some embodiments, the apparatus further includes:

[0047] An acquisition module, configured to acquire self-fault information and send it to the vehicle controller, wherein the self-fault information includes overtemperature or overload;

[0048] a third receiving module, configured to receive a termination instruction sent by the vehicle controller, wherein the termination instruction is used to instruct the motor controller to end controlling the vehicle to perform steering;

[0049] The second control module is used to control the vehicle to terminate the turning according to the termination instruction.

[0050] In a fourth aspect, the present application provides a vehicle steering control device, comprising:

[0051] a first acquisition module, configured to acquire a pre-activation signal input by a user when the automatic U-turn mode is turned on, the pre-activation signal including a rotation direction signal, a rotation angle signal, a brake pedal signal, an accelerator pedal signal, and a gear position signal;

[0052] a second acquisition module, configured to acquire auxiliary parameters of the vehicle according to the pre-activation signal, wherein the auxiliary parameters are used to assist the motor controller in responding to the steering instruction;

[0053] a generating module, configured to obtain a target direction, a rotation angle, a feedforward torque, and a target wheel speed based on the rotation direction signal, the brake pedal signal, the accelerator pedal signal, and the gear position signal, wherein the feedforward torque is used to instruct the motor controller to start controlling the vehicle to perform steering work;

[0054] The first sending module is configured to send the steering instruction to the motor controller, where the steering instruction includes the target direction, the rotation angle, the feedforward torque, the target wheel speed, and the auxiliary parameters.

[0055] In conjunction with the fourth aspect, in some embodiments, the apparatus further includes:

[0056] A first receiving module, configured to receive a response signal sent by the motor controller;

[0057] a third acquisition module, configured to acquire swing angle sensor information and lateral longitudinal acceleration information according to the response signal;

[0058] a calculation module, configured to calculate a wheel rotation angle based on the swing angle sensor information and the lateral longitudinal acceleration information;

[0059] The second sending module is used to send the wheel rotation angle to the motor controller.

[0060] In conjunction with the fourth aspect, in some embodiments, the apparatus further includes:

[0061] A second receiving module is used to receive the automatic U-turn start signal input by the user;

[0062] The mode activation module is used to activate the automatic U-turn mode according to the automatic U-turn activation signal.

[0063] In a fifth aspect, the present application provides a vehicle, comprising: a vehicle body, a storage unit disposed in the vehicle body, an electronic control unit, and a display screen;

[0064] The storage unit stores computer-executable instructions;

[0065] The electronic control unit executes the computer-executable instructions stored in the storage unit to implement the method described in any one of the above aspects.

[0066] In a sixth aspect, the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the vehicle steering control method described in any one of the above items.

[0067] The present application provides a vehicle steering control method, device, vehicle, and storage medium. When the automatic U-turn mode is enabled, the vehicle controller obtains a pre-activation signal input by the user, obtains the vehicle's auxiliary parameters based on the pre-activation signal, and then obtains the target direction, rotation angle, feedforward torque, and target wheel speed based on the rotation direction signal, brake pedal signal, accelerator pedal signal, and gear position signal, and sends a steering command to the motor controller. The motor controller responds to the feedforward torque based on the target direction, target wheel speed, and auxiliary parameters, obtains a response signal, and sends the response signal to the vehicle controller. The vehicle controller obtains the swing angle sensor information and lateral longitudinal acceleration information based on the response signal, then calculates the wheel rotation angle and sends it to the motor controller. The motor controller performs self-closed-loop control based on the target direction, target wheel speed, wheel rotation angle, rotation angle, and auxiliary parameters to control the vehicle to complete the turn. Through the above method, the vehicle achieves automatic U-turn and zero turning radius steering, making vehicle steering more flexible, accurate, and efficient, while reducing rotation errors and achieving millisecond-level drive control. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0069] Figure 1 This is a diagram of an application scenario of the vehicle steering control method provided in an embodiment of the present application;

[0070] Figure 2 A flowchart of a first embodiment of a method for controlling vehicle steering according to an embodiment of the present application;

[0071] Figure 3 A schematic diagram of the architecture of a vehicle steering control method provided in an embodiment of the present application;

[0072] Figure 4 A schematic diagram of the principle flow of a vehicle steering control method provided in an embodiment of the present application;

[0073] Figure 5 A flow chart of a second embodiment of a method for controlling vehicle steering according to an embodiment of the present application;

[0074] Figure 6 A flowchart of a third embodiment of a method for controlling vehicle steering according to an embodiment of the present application;

[0075] Figure 7 A flowchart of a fourth embodiment of a method for controlling vehicle steering according to an embodiment of the present application;

[0076] Figure 8 A schematic structural diagram of a first embodiment of a vehicle steering control device provided in an embodiment of the present application;

[0077] Figure 9 A schematic structural diagram of a second embodiment of a vehicle steering control device provided in an embodiment of the present application;

[0078] Figure 10 A schematic structural diagram of a third embodiment of a vehicle steering control device provided in an embodiment of the present application;

[0079] Figure 11 A schematic structural diagram of a fourth embodiment of a vehicle steering control device provided in an embodiment of the present application;

[0080] Figure 12 A schematic structural diagram of a fifth embodiment of a vehicle steering control device provided in an embodiment of the present application;

[0081] Figure 13 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application.

[0082] The above drawings illustrate specific embodiments of the present application, which will be described in more detail below. These drawings and the textual description are not intended to limit the scope of the present application in any way, but rather to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0083] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0084] Steering performance is one of the key performance characteristics of a vehicle. The performance of the steering system directly affects the vehicle's handling stability, playing a vital role in ensuring safe driving, reducing traffic accidents, protecting the driver's personal safety, and improving the driver's working conditions. How to rationally design a steering system to ensure good handling performance remains a key issue today. The most primitive steering system involves the driver turning the steering wheel. However, this system has a large turning radius when controlling the vehicle's steering. To adapt to narrow roads, this system reduces the turning radius by setting the wheels to a preset angle. However, this method lacks flexibility in complex road scenarios and requires frequent operation, resulting in unstable speed control and a poor user experience.

[0085] In response to the above problems, the present application provides a method, device, vehicle and storage medium for controlling vehicle steering, which realizes more flexible, accurate and efficient vehicle zero turning radius steering. Specifically, for vehicle steering, the driver usually operates the steering wheel to control the rotation of the wheels, thereby realizing the steering of the car. However, the most primitive steering system has a large turning radius in the process of controlling vehicle steering. In order to adapt to narrow roads, the wheels are steered by setting a preset angle to reduce the turning radius. However, this method cannot make flexible changes in complex road scenes, and the operation is frequent, resulting in unstable vehicle speed control and poor user experience. In view of these problems, the inventor studied whether it is possible to collect vehicle data in real time through remote intelligent operation of the vehicle by the user, and transmit the data to the motor controller, which realizes self-closed-loop control according to the user's needs, thereby realizing the vehicle's zero turning radius steering. Based on this, the technical solution of the present application is proposed.

[0086] Figure 1 This is an application scenario diagram of the vehicle steering control method provided in the embodiment of the present application, such as Figure 1 As shown, this scenario includes at least one vehicle to be turned, wherein the vehicle is equipped with a vehicle controller and a motor controller. The vehicle controller can realize real-time collection and processing of vehicle data, and the motor controller can realize control of the vehicle motor, thereby realizing zero turning radius steering of the vehicle. The vehicle controller and the motor controller can realize data communication through the CAN bus.

[0087] This application does not specifically limit the type and shape of the vehicle, nor the type and shape of the configured vehicle controller and motor controller.

[0088] The following specific embodiments describe in detail the technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0089] Figure 2 This is a flow chart of a first embodiment of a method for controlling vehicle steering according to an embodiment of the present application. Figure 3 This is a schematic diagram of the architecture of the vehicle steering control method provided in an embodiment of the present application. Figure 4 The schematic diagram of the principle flow of the vehicle steering control method provided in the embodiment of the present application, combined with Figure 2 , Figure 3 and Figure 4 The steering control method provided in the embodiment of the present application is analyzed, and the method specifically includes:

[0090] S101: When the automatic U-turn mode is turned on, a pre-activation signal input by a user is obtained.

[0091] In this step, in order to enable the vehicle to automatically turn around and steer, when the automatic turning mode is turned on, the vehicle controller obtains a pre-activation signal from the user, wherein the pre-activation signal includes a rotation direction signal, a rotation angle signal, a brake pedal signal, an accelerator pedal signal and a gear signal.

[0092] Specifically, the vehicle controller can prompt the user to input a pre-activation signal through the vehicle display screen. The user can set the rotation direction by toggling the lever set on the main driver's seat, thereby generating a rotation direction signal, wherein the rotation direction is clockwise or counterclockwise. Furthermore, the user sets the required rotation angle through the display screen according to the actual scene requirements to generate a rotation angle signal. The user generates a brake pedal signal by releasing the brake pedal. The user generates an accelerator pedal signal by releasing the accelerator pedal or pressing the accelerator pedal. The user generates a gear signal by adjusting the gear to the forward gear or the reverse gear. Among them, the above matters operated through the display screen can be operated by the user through the smart terminal. This application does not specifically limit the specific operation method.

[0093] S102: Acquire auxiliary parameters of the vehicle according to the pre-activation signal.

[0094] In this step, after receiving the activation signal from the user, the vehicle controller prepares data for the vehicle's automatic U-turn. To adapt to different scenarios and provide greater flexibility during the U-turn process, the vehicle's auxiliary parameters are obtained based on the pre-activation signal. These auxiliary parameters include IMU sensor status, hydraulic braking force, wheel-end torque limit, tank U-turn enable status, wheel control mode, road surface conditions, driving mode, and so on. These auxiliary parameters are all obtained by the vehicle controller from sensors or hardware devices configured on the vehicle, and the specific parameters within the auxiliary parameters can be freely configured based on user needs and scenario requirements.

[0095] S103: Obtain a target direction, a rotation angle, a feedforward torque, and a target wheel speed according to the rotation direction signal, the brake pedal signal, the accelerator pedal signal, and the gear position signal.

[0096] In this step, after receiving a pre-activation signal from the user, the vehicle controller generates information based on the pre-activation signal to enable automatic vehicle maneuvers. Based on the user's input rotation direction signal, brake pedal signal, accelerator pedal signal, and gear position signal, the target direction, rotation angle, feedforward torque, and target wheel speed required to achieve the automatic maneuver are generated.

[0097] In a specific embodiment, after receiving the rotation direction signal input by the user, if the rotation direction signal indicates a counterclockwise turn, the direction of the yaw force required by the entire vehicle is counterclockwise, that is, at this time, the system side calculates that the driving torque of the two left motors of the four motors is negative torque, working in the third quadrant; the driving torque of the two right motors is positive torque, working in the first quadrant, thereby obtaining the target direction and feedforward torque.

[0098] Five two-dimensional tables of control targets were created, with the accelerator pedal opening as the X-axis and wheel speed / rotational speed / torque / yaw rate / wheel side load as the Y-axis. Initial values ​​for the five control targets were entered in simulation, and ultimately, calibration on a real vehicle was required to determine the optimal control ratio for each factor, ultimately yielding the target wheel speed. Regardless of the control speed, the brake pedal can be used to decelerate and pause the vehicle.

[0099] S104: Send a steering instruction to the motor controller.

[0100] In this step, after the vehicle controller generates a steering instruction, it sends the steering instruction to the motor controller, where the steering instruction includes the target direction, rotation angle, feedforward torque, target wheel speed and auxiliary parameters.

[0101] S105: Respond to the feedforward torque according to the target direction, target wheel speed and auxiliary parameters to obtain a response signal.

[0102] In this step, after receiving the steering command from the vehicle controller, the motor controller checks whether its own conditions can meet the target direction and target wheel speed in the steering command. If they do, it enters the active state and controls the wheels to steer according to the feedforward torque based on the target direction and target wheel speed, obtaining a response signal.

[0103] S106: Send the response signal to the vehicle controller.

[0104] In this step, the motor controller responds to the feedforward torque according to the target direction, target wheel speed and auxiliary parameters in the steering command, and after obtaining the response signal, sends the response signal to the vehicle controller.

[0105] S107: Obtaining the swing angle sensor information and the lateral longitudinal acceleration information according to the response signal.

[0106] In this step, the vehicle controller is equivalent to the vehicle's on-board computer, which can realize data collection, calculation and processing. After receiving the response signal sent by the motor controller, in order to improve flexibility, realize the rotation angle required by the user, and reduce the rotation deviation in the actual scene, the swing angle sensor information and lateral longitudinal acceleration information are obtained according to the response signal. Among them, the swing angle sensor information and lateral longitudinal acceleration information are both obtained from the relevant sensors configured on the vehicle itself through the CAN bus.

[0107] S108: Calculate the wheel rotation angle based on the swing angle sensor information and the lateral longitudinal acceleration information.

[0108] In this step, after obtaining the swing angle sensor information and the lateral longitudinal acceleration information, the wheel rotation angle is calculated based on the swing angle sensor information and the lateral longitudinal acceleration information.

[0109] S109: Send the wheel rotation angle to the motor controller.

[0110] In this step, after the vehicle controller calculates the wheel rotation angle, in order to make the motor controller have a larger rotation deviation during the vehicle steering control process, the wheel rotation angle is sent to the motor controller via the CAN bus.

[0111] S110: Perform self-closed-loop control based on the target direction, target wheel speed, wheel rotation angle, rotation angle and auxiliary parameters to control the vehicle to complete the steering.

[0112] In this step, after the motor controller receives the wheel rotation angle sent by the vehicle controller, in order to adapt to the actual scenario and provide flexibility, it performs self-closed-loop control based on the target direction, target wheel speed, wheel rotation angle, rotation angle and auxiliary parameters.

[0113] Specifically, the motor speed and target rotation angle are calculated based on the target wheel speed, wheel rotation angle and rotation angle, and then the target torque is calculated based on the target direction, motor speed, target rotation angle and auxiliary parameters. Finally, the vehicle is controlled to complete the steering based on the target torque, motor speed and target rotation angle.

[0114] The vehicle steering control method provided in this embodiment, when the automatic U-turn mode is enabled, receives a pre-activation signal input by the user. Based on the pre-activation signal, it obtains the vehicle's auxiliary parameters. Then, based on the rotation direction signal, brake pedal signal, accelerator pedal signal, and gear position signal, it obtains the target direction, rotation angle, feedforward torque, and target wheel speed, and sends a steering command to the motor controller. The motor controller responds to the feedforward torque based on the target direction, target wheel speed, and auxiliary parameters, obtains a response signal, and sends the response signal to the vehicle controller. Based on the response signal, the vehicle controller obtains information from the swing angle sensor and lateral longitudinal acceleration information, then calculates the wheel rotation angle and sends it to the motor controller. The motor controller performs self-closed-loop control based on the target direction, target wheel speed, wheel rotation angle, rotation angle, and auxiliary parameters to control the vehicle to complete the turn. Through the above method, the vehicle achieves automatic U-turn and zero-turn radius steering, making vehicle steering more flexible, precise, and efficient, while reducing rotation errors and achieving millisecond-level drive control.

[0115] Figure 5 This is a flow chart of a second embodiment of the vehicle steering control method provided in the present application, as shown in FIG. Figure 5 As shown, based on the above embodiment, combined with Figure 4 Analysis, step S110 includes:

[0116] S1101: Calculate the motor speed and target rotation angle based on the target wheel speed, wheel rotation angle, and rotation angle.

[0117] In this step, after receiving the steering command from the vehicle controller, the motor controller begins steering the vehicle according to the steering command. However, to adapt to actual scenarios, the motor controller can calculate the target rotation angle based on the user-set rotation angle and wheel rotation angle. The target rotation angle represents the angle required to meet the user's requirements. The target wheel speed is then converted into a motor speed control signal, and the motor speed is obtained using a resolver sensor based on the motor speed control signal. It is worth noting that the motor speed can change in real time based on the actual scenario, auxiliary parameters, and user needs.

[0118] S1102: Calculate the target torque based on the target direction, motor speed, target rotation angle, and auxiliary parameters.

[0119] In this step, the feedforward torque sent by the vehicle controller to the motor controller in the early stage is to instruct the motor controller to start controlling the vehicle to perform steering work. In order to adapt to actual scenarios and user needs, the target torque is calculated based on the target direction, motor speed, target rotation angle and road conditions in the auxiliary parameters. Different road conditions will result in different friction forces on the wheels. In order to reduce rotation deviation and improve rotation accuracy, independent torque analysis of different motors is required. Therefore, the calculated target torque is different torque data for multiple motors.

[0120] S1103: Control the vehicle to complete steering according to the target torque, motor speed, and target rotation angle.

[0121] In this step, after the motor controller calculates the target torque, motor speed and target rotation angle based on the aforementioned data, it controls the wheel motor to convert the target torque into current and then into kinetic energy, realizing the actual torque according to the motor speed and target rotation angle.

[0122] It is worth noting that the motor controller can receive instructions sent by the vehicle controller in real time, and can also calculate the target torque, motor speed and target rotation angle in real time according to the instructions to control the vehicle to complete the steering work. This method can achieve the purpose of precise control, so that the control can reach the millisecond level, improve the control accuracy, and improve the rotation accuracy for in-place rotation, so that the offset of the whole vehicle can be controlled at the centimeter level.

[0123] The vehicle steering control method provided in this embodiment calculates the motor speed and target rotation angle based on the target wheel speed, wheel rotation angle, and rotation angle. The target torque is then calculated based on the target direction, motor speed, target rotation angle, and auxiliary parameters. Finally, the vehicle is controlled to complete the steering based on the target torque, motor speed, and target rotation angle. This method achieves precise control down to the millisecond level, improving control accuracy and rotational precision for pivoting in place. This allows for centimeter-level vehicle deviation control and enhances the flexibility of the vehicle's automatic steering function.

[0124] Figure 6 This is a flow chart of a third embodiment of the vehicle steering control method provided in the present application, as shown in FIG. Figure 6 As shown, based on the above embodiment, combined with Figure 4 Analysis shows that the vehicle steering control method provided in this application also includes:

[0125] S111: Obtain the fault information of the vehicle and send it to the vehicle controller.

[0126] In this step, in order to improve the flexibility of automatic turning, the motor controller obtains its own fault information in real time and sends it to the vehicle controller, where the self-fault information includes overtemperature or overload.

[0127] S112: Generate a termination instruction based on its own fault information and send it to the motor controller.

[0128] In this step, after the vehicle controller receives its own fault information sent by the motor controller through the above steps, since the motor controller has a fault, it means that the motor controller cannot normally control the vehicle to complete the steering work. In order to avoid damage to the vehicle's hardware, a termination instruction is generated based on its own fault information and sent to the motor controller. The termination instruction is used to instruct the motor controller to end controlling the vehicle to perform steering work.

[0129] S113: According to the termination instruction, the vehicle is controlled to terminate the steering.

[0130] In this step, after receiving the termination instruction sent by the vehicle controller, the motor controller controls the vehicle to terminate steering according to the termination instruction in order to avoid damage to its own equipment.

[0131] Optionally, in order to achieve controllability during the vehicle's automatic U-turn process, the steering can be terminated according to the user's instructions. Specifically, when the vehicle controller receives a signal from the user stepping on the brake pedal, it will send a pause instruction to the motor controller. At this time, the motor controller will pause the vehicle steering according to the pause instruction. When the user releases the brake pedal, the vehicle steering can continue. The user can also send a pause or termination instruction to the vehicle controller through the vehicle display or smart terminal to achieve the pause or termination of the vehicle steering.

[0132] In the vehicle steering control method provided in this embodiment, the motor controller acquires its own fault information and transmits it to the vehicle controller. Based on this fault information, the vehicle controller generates a termination command and transmits it to the motor controller. The motor controller then controls the vehicle to terminate the steering according to the termination command. By monitoring the motor controller's own information in real time, the vehicle's automatic zero-turn radius U-turn is made more flexible and controllable.

[0133] Figure 7 This is a flow chart of a fourth embodiment of the vehicle steering control method provided in the present application, as shown in FIG. Figure 7 As shown, based on the above embodiment, combined with Figure 4 Analysis shows that the vehicle steering control method provided in this application also includes:

[0134] S114: Receive an automatic U-turn start signal input by a user.

[0135] In this step, in order to enable the user to remotely and intelligently control the vehicle to perform steering operations, the user sends an automatic turn-around start signal to the vehicle controller, and the vehicle controller receives the automatic turn-around start signal input by the user.

[0136] Specifically, the user can input the automatic U-turn start signal through the display screen inside the vehicle, for example, by clicking the automatic U-turn start button on the touch screen, which will generate the automatic U-turn start signal. The user can also generate the automatic U-turn start signal by remotely controlling the vehicle through a smart terminal. The smart terminal is any electronic device that can remotely communicate with the vehicle, such as a smartphone or laptop. This application does not specifically limit the type of smart terminal. The automatic U-turn start signal is transmitted to the vehicle controller via the CAN bus or the cloud.

[0137] S115: The automatic U-turn mode is started according to the automatic U-turn start signal.

[0138] In this step, after the vehicle controller receives the automatic U-turn start signal sent by the user, the automatic U-turn mode is turned on according to the automatic U-turn start signal, and the automatic U-turn function of the vehicle is activated.

[0139] The vehicle steering control method provided in this embodiment receives an automatic U-turn start signal input by the user, and starts the automatic U-turn mode according to the automatic U-turn start signal, thus getting rid of the traditional driver operating the steering wheel to perform steering operations, making the vehicle functions more intelligent.

[0140] In a specific embodiment, the vehicle steering control method provided in the embodiment of the present application can also implement obstacle avoidance in actual scenarios. Specifically:

[0141] Users can enable the assisted obstacle avoidance function through the vehicle display or smart terminal. When this function is enabled, the vehicle controller obtains image information collected by the vehicle's radar and camera in real time. During the vehicle's steering process, the vehicle controller can automatically determine the obstacles around the vehicle. When any radar captures obstacle information or the camera captures obstacle information, the distance and size of the obstacle are determined, and divided into the first, second and third levels, which are specifically expressed as follows:

[0142] Level 1: When the obstacle is less than 0.3 meters away from the vehicle, it is considered a close obstacle and the system will automatically stop quickly and issue a system prompt to avoid damage;

[0143] Level 2: When the obstacle is between 0.3m and 0.75m away from the vehicle, it is considered a medium-distance obstacle and the system will automatically stop slowly while providing a system prompt to avoid damage.

[0144] Level 3: When the obstacle is between 0.75 meters and 1.5 meters away from the vehicle, it is judged as a long-distance obstacle. The system will automatically downgrade and adopt the slowest rotation speed. It will no longer respond to the acceleration request of the accelerator pedal and issue a system prompt.

[0145] When the obstacle is more than 1.5 meters away from the vehicle, it is not considered an obstacle.

[0146] Optionally, during the assisted obstacle avoidance process, the vehicle's display screen or the user's smart terminal can display obstacle image information in real time. If the judgment level is the first and second levels, there will be voice prompts. The user can clearly recognize the image information around the vehicle body through the display screen, and combined with the obstacle prompt information from the radar, comprehensively judge the obstacle situation around the vehicle body.

[0147] If the user turns off the function of assisting obstacle avoidance level judgment, the image display function can still be used to make subjective obstacle judgments, leaving the user with multiple options and giving the user control.

[0148] Figure 8 This is a structural diagram of a first embodiment of a vehicle steering control device provided in an embodiment of the present application, as shown in FIG. Figure 8 As shown, the vehicle steering control device 200 includes:

[0149] The first receiving module 201 is used to receive the steering instruction sent by the vehicle controller. The steering instruction includes the target direction, rotation angle, feedforward torque, target wheel speed and auxiliary parameters. The auxiliary parameters are used to assist the motor controller in responding to the steering instruction.

[0150] The response module 202 is used to respond to the feedforward torque according to the target direction, target wheel speed and auxiliary parameters to obtain a response signal.

[0151] The sending module 203 is used to send the response signal to the vehicle controller.

[0152] The second receiving module 204 is used to receive the wheel rotation angle sent by the vehicle controller. The rotation angle is calculated by the vehicle controller according to the response signal.

[0153] The first control module 205 is used to perform self-closed loop control according to the target direction, target wheel speed, wheel rotation angle, rotation angle and auxiliary parameters to control the vehicle to complete the steering.

[0154] Figure 9 This is a structural diagram of a second embodiment of a vehicle steering control device provided in an embodiment of the present application, as shown in FIG. Figure 9 As shown, the first control module 205 includes:

[0155] The first calculation unit 2051 is configured to calculate the motor speed and the target rotation angle according to the target wheel speed, the wheel rotation angle and the rotation angle.

[0156] The second calculation unit 2052 is configured to calculate a target torque according to the target direction, the motor speed, the target rotation angle, and the auxiliary parameters.

[0157] The control unit 2053 is used to control the vehicle to complete steering according to the target torque, motor speed and target rotation angle.

[0158] Figure 10 This is a structural diagram of a third embodiment of a vehicle steering control device provided in an embodiment of the present application, as shown in FIG. Figure 10 As shown, the vehicle steering control device 200 further includes:

[0159] The acquisition module 206 is used to acquire its own fault information and send it to the vehicle controller. The self-fault information includes overtemperature or overload.

[0160] The third receiving module 207 is used to receive a termination instruction sent by the vehicle controller, where the termination instruction is used to instruct the motor controller to end controlling the vehicle to perform steering.

[0161] The second control module 208 is configured to control the vehicle to terminate the turning according to the termination instruction.

[0162] The vehicle steering control device provided in this embodiment is used to execute the method on the motor controller side in any of the aforementioned method embodiments. Its implementation principles and technical effects are similar and will not be described in detail here.

[0163] Figure 11 This is a structural diagram of a fourth embodiment of a vehicle steering control device provided in an embodiment of the present application, as shown in FIG. Figure 11 As shown, the vehicle steering control device 300 includes:

[0164] The first acquisition module 301 is used to acquire a pre-activation signal input by a user when the automatic U-turn mode is turned on. The pre-activation signal includes a rotation direction signal, a rotation angle signal, a brake pedal signal, an accelerator pedal signal and a gear position signal.

[0165] The second acquisition module 302 is configured to acquire auxiliary parameters of the vehicle according to the pre-activation signal, where the auxiliary parameters are used to assist the motor controller in responding to the steering instruction.

[0166] The generation module 303 is used to obtain the target direction, rotation angle, feedforward torque, and target wheel speed based on the rotation direction signal, brake pedal signal, accelerator pedal signal, and gear position signal. The feedforward torque is used to instruct the motor controller to start controlling the vehicle to perform steering work.

[0167] The first sending module 304 is configured to send a steering instruction to the motor controller, where the steering instruction includes a target direction, a rotation angle, a feedforward torque, a target wheel speed, and auxiliary parameters.

[0168] Figure 12 This is a structural diagram of a fifth embodiment of a vehicle steering control device provided in an embodiment of the present application, as shown in FIG. Figure 12 As shown, the vehicle steering control device 300 further includes:

[0169] The first receiving module 305 is configured to receive a response signal sent by the motor controller.

[0170] The third acquisition module 306 is configured to acquire the swing angle sensor information and the lateral longitudinal acceleration information according to the response signal.

[0171] The calculation module 307 is used to calculate the wheel rotation angle according to the swing angle sensor information and the lateral longitudinal acceleration information.

[0172] The second sending module 308 is used to send the wheel rotation angle to the motor controller.

[0173] The second receiving module 309 is configured to receive an automatic U-turn start signal input by a user.

[0174] The mode activation module 310 is configured to activate the automatic U-turn mode according to the automatic U-turn activation signal.

[0175] The vehicle steering control device provided in this embodiment is used to execute the method on the vehicle controller side in any of the aforementioned method embodiments. Its implementation principles and technical effects are similar and will not be repeated here.

[0176] Figure 13 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application is shown in FIG. Figure 13 As shown, the vehicle includes: a vehicle body 400, a storage unit 401, an electronic control unit 402, and a display screen 403;

[0177] The storage unit 401 stores computer-executable instructions.

[0178] The electronic control unit 402 executes the computer-implemented instructions stored in the memory to implement the method in any one of the embodiments.

[0179] The display screen 403 is used to display prompt information sent by the vehicle controller to the user.

[0180] An embodiment of the present application further provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the method in any one of the embodiments.

[0181] The computer-readable storage medium mentioned above may be implemented by any type of volatile or non-volatile memory device, or a combination thereof, such as static random access memory, electrically erasable programmable read-only memory, erasable programmable read-only memory, programmable read-only memory, read-only memory, magnetic storage, flash memory, magnetic disk, or optical disk. The computer-readable storage medium may be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0182] Optionally, a readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be an integral part of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (ASIC). Of course, the processor and the readable storage medium can also exist in the device as discrete components.

[0183] An embodiment of the present application also provides a computer program product, which includes a computer program stored in a computer-readable storage medium. At least one processor can read the computer program from the computer-readable storage medium, and when at least one processor executes the computer program, it can implement the technical solution provided by any of the above method embodiments.

[0184] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present application that follow the general principles of the present application and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered as exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

[0185] It should be understood that the present application is not limited to the exact structure described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A method for controlling vehicle steering, characterized in that: Applications in motor controllers, including: receiving a steering command sent by a vehicle controller, the steering command including a target direction, a rotation angle, a feedforward torque, a target wheel speed, and auxiliary parameters, the auxiliary parameters being used to assist the motor controller in responding to the steering command; responding to the feedforward torque according to the target direction, the target wheel speed, and the auxiliary parameter to obtain a response signal; Sending the response signal to the vehicle controller; receiving a wheel rotation angle sent by the vehicle controller, where the wheel rotation angle is calculated by the vehicle controller according to the response signal; According to the target direction, the target wheel speed, the wheel rotation angle, the rotation angle and the auxiliary parameters, a self-closed loop control is performed to control the vehicle to complete the steering.

2. The method according to claim 1, characterized in that The method of performing self-closed-loop control according to the target direction, the target wheel speed, the wheel rotation angle, the rotation angle, and the auxiliary parameter to control the vehicle to complete steering includes: Calculating a motor speed and a target rotation angle according to the target wheel speed, the wheel rotation angle, and the rotation angle; Calculating a target torque according to the target direction, the motor speed, the target rotation angle, and the auxiliary parameters; The vehicle is controlled to complete steering according to the target torque, the motor speed and the target rotation angle.

3. The method according to claim 2, characterized in that The method further comprises: Obtaining self-fault information and sending it to the vehicle controller, the self-fault information including overtemperature or overload; receiving a termination instruction sent by the vehicle controller, wherein the termination instruction is used to instruct the motor controller to end controlling the vehicle to perform steering; According to the termination instruction, the vehicle is controlled to terminate the turning.

4. A method for controlling vehicle steering, characterized in that: Applied to vehicle controllers, including: When the automatic U-turn mode is turned on, obtaining a pre-activation signal input by a user, wherein the pre-activation signal includes a rotation direction signal, a rotation angle signal, a brake pedal signal, an accelerator pedal signal, and a gear position signal; acquiring auxiliary parameters of the vehicle according to the pre-activation signal, wherein the auxiliary parameters are used to assist the motor controller in responding to the steering command; Obtaining a target direction, a rotation angle, a feedforward torque, and a target wheel speed according to the rotation direction signal, the brake pedal signal, the accelerator pedal signal, and the gear position signal, wherein the feedforward torque is used to instruct the motor controller to start controlling the vehicle to perform steering work; The steering instruction is sent to the motor controller, where the steering instruction includes the target direction, the rotation angle, the feedforward torque, the target wheel speed, and the auxiliary parameter.

5. The method according to claim 4, characterized in that The method further comprises: receiving a response signal sent by the motor controller; acquiring swing angle sensor information and lateral longitudinal acceleration information according to the response signal; Calculating a wheel rotation angle based on the swing angle sensor information and the lateral longitudinal acceleration information; The wheel rotation angle is sent to the motor controller.

6. The method according to claim 5, characterized in that The method further comprises: Receiving self-fault information sent by the motor controller, the self-fault information including overtemperature or overload; A termination instruction is generated according to the self-fault information and sent to the motor controller, wherein the termination instruction is used to instruct the motor controller to end controlling the vehicle to perform steering work.

7. The method according to claim 6, characterized in that Before receiving the pre-activation signal sent by the user, the method further includes: receiving an automatic U-turn start signal input by the user; The automatic U-turn mode is started according to the automatic U-turn start signal.

8. A vehicle steering control device, characterized in that: include: A first receiving module is configured to receive a steering command sent by a vehicle controller, wherein the steering command includes a target direction, a rotation angle, a feedforward torque, a target wheel speed, and auxiliary parameters, wherein the auxiliary parameters are used to assist the motor controller in responding to the steering command; a response module, configured to respond to the feedforward torque according to the target direction, the target wheel speed, and the auxiliary parameter to obtain a response signal; A sending module, configured to send the response signal to the vehicle controller; a second receiving module, configured to receive a wheel rotation angle sent by the vehicle controller, wherein the wheel rotation angle is calculated by the vehicle controller according to the response signal; The first control module is used to perform self-closed-loop control according to the target direction, the target wheel speed, the wheel rotation angle, the rotation angle and the auxiliary parameters to control the vehicle to complete the steering.

9. A vehicle steering control device, characterized in that: include: a first acquisition module, configured to acquire a pre-activation signal input by a user when the automatic U-turn mode is turned on, the pre-activation signal including a rotation direction signal, a rotation angle signal, a brake pedal signal, an accelerator pedal signal, and a gear position signal; a second acquisition module, configured to acquire auxiliary parameters of the vehicle according to the pre-activation signal, wherein the auxiliary parameters are used to assist the motor controller in responding to the steering instruction; a generating module, configured to obtain a target direction, a rotation angle, a feedforward torque, and a target wheel speed based on the rotation direction signal, the brake pedal signal, the accelerator pedal signal, and the gear position signal, wherein the feedforward torque is used to instruct the motor controller to start controlling the vehicle to perform steering work; The first sending module is configured to send the steering instruction to the motor controller, where the steering instruction includes the target direction, the rotation angle, the feedforward torque, the target wheel speed, and the auxiliary parameters.

10. A vehicle, characterized in that: include: A vehicle body, a storage unit, an electronic control unit, and a display screen disposed in the vehicle body; The storage unit stores computer-executable instructions; The electronic control unit executes the computer-executable instructions stored in the storage unit to implement the method according to any one of claims 1 to 7.

11. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the vehicle steering control method according to any one of claims 1 to 7.

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