Processing method of rear wheel steering data, storage medium, control system and vehicle

Abstract

The application discloses a rear wheel steering data processing method, a storage medium, a control system and a vehicle. The rear wheel steering data processing method comprises the following steps: acquiring rear wheel steering data and a safety angle range according to a front wheel steering action, wherein the rear wheel steering data comprises a rear wheel pre-steering angle; and judging whether the rear wheel pre-steering angle exceeds the safety angle range. If the rear wheel pre-steering angle exceeds the safety angle range, the rear wheel steering data is not used for rear wheel steering control. The rear wheel steering safety processing method can process the rear wheel steering data, thereby improving the safety of the rear wheel steering without increasing detection hardware, and reducing the hardware cost of the vehicle.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of transportation, in particular to a rear wheel steering data processing method, a storage medium, a rear wheel steering control system and a vehicle. BACKGROUND

[0002] At present, cars, sport utility vehicles (SUVs), multipurpose vehicles, off-road vehicles, buses, recreational vehicles and other vehicles bring great convenience to people's life, work and study, and occupy an important position in people's travel life. With the increasing complexity of road traffic, people's requirements for vehicle driving safety are becoming higher and higher.

[0003] In related technologies, some vehicles control the rear wheel steering drive mechanism through the vehicle-mounted control device to drive the rear wheels to follow the front wheels to steer, so as to ensure the steering safety of the vehicle. In this process, the safety of the rear wheel steering also needs to be monitored. The traditional method is to monitor the rear wheel steering by collecting rear wheel steering angle information and the like through multiple sensors and other detection hardware, so as to improve the safety of the rear wheel steering, which leads to a high hardware cost of the vehicle. SUMMARY

[0004] The present application provides a rear wheel steering data processing method, a storage medium, a rear wheel steering control system and a vehicle. The rear wheel steering data processing method can process the rear wheel steering data, thereby improving the safety of the rear wheel steering without increasing the detection hardware, which is conducive to reducing the hardware cost of the vehicle.

[0005] The technical scheme is as follows:

[0006] According to an embodiment of the present application, a rear wheel steering data processing method is provided, comprising:

[0007] Obtaining rear wheel steering data and a safety angle range according to the front wheel steering action, wherein the rear wheel steering data comprises a rear wheel pre-steering angle.

[0008] Judging whether the rear wheel pre-steering angle exceeds the safety angle range.

[0009] If the rear wheel pre-steering angle exceeds the safety angle range, the rear wheel steering control is not performed by using the rear wheel steering data.

[0010] The technical scheme provided by the embodiment of the present application can include the following beneficial effects:

[0011] The processing method of the rear wheel steering data is applied to a vehicle. When the front wheels of the vehicle are steered, rear wheel steering data and a safety angle range are obtained according to the steering action of the front wheels, a rear wheel pre-steering angle is obtained through the rear wheel steering data, and it is determined whether to use the rear wheel steering data to control the rear wheel steering according to whether the rear wheel pre-steering angle exceeds the safety angle range. When the rear wheel pre-steering angle exceeds the safety angle range, the rear wheel steering data is not used to control the rear wheel steering. That is, the rear wheel steering data is not sent, and the rear wheel steering driving mechanism is prevented from driving the rear wheel steering according to the rear wheel steering data, thereby improving the safety of the rear wheel steering. In this way, the processing method of the rear wheel steering data optimizes the processing of the rear wheel steering data without increasing detection hardware, improves the safety of the rear wheel steering, improves the driving safety of the vehicle, and is conducive to reducing the hardware cost of the vehicle.

[0012] The technical solutions are further described below:

[0013] In one of the embodiments, after it is determined whether the rear wheel pre-steering angle exceeds the safety angle range, the processing method further includes: if the rear wheel pre-steering angle does not exceed the safety angle range, using the rear wheel steering data to control the rear wheel steering.

[0014] In one of the embodiments, after the rear wheel steering data is obtained and before it is determined whether the rear wheel pre-steering angle exceeds the safety angle range, the processing method further includes:

[0015] The rear wheel steering data is verified according to E2E of AUTOSAR to determine whether the rear wheel steering data meets the requirements;

[0016] When the rear wheel steering data does not meet the requirements and the number of verification reaches a set number, the rear wheel steering data is not used to control the rear wheel steering;

[0017] When the rear wheel steering data meets the requirements, it is determined whether the rear wheel pre-steering angle exceeds the safety angle range.

[0018] In one of the embodiments, the method of verifying whether the rear wheel steering data meets the requirements according to E2E of AUTOSAR includes:

[0019] The rear wheel pre-steering angle, a rear wheel count bit, and a rear wheel verification bit are obtained according to the rear wheel steering data, and it is determined whether the rear wheel count bit and the rear wheel verification bit are correct;

[0020] When the rear wheel count bit and the rear wheel verification bit are correct, the rear wheel steering data meets the requirements;

[0021] When the rear wheel count bit or the rear wheel verification bit is incorrect, the rear wheel steering data does not meet the requirements.

[0022] In one of the embodiments, after obtaining the rear wheel steering data, before determining whether the rear wheel pre-steering angle exceeds the safe angle range, the processing method further comprises:

[0023] obtaining the front wheel steering data according to the front wheel steering action;

[0024] verifying whether the front wheel steering data meets the requirements according to the E2E of AUTOSAR;

[0025] if the front wheel steering data does not meet the requirements and the set verification number is reached, not using the rear wheel steering data for rear wheel steering control;

[0026] if the front wheel steering data meets the requirements, determining whether the rear wheel pre-steering angle exceeds the safe angle range.

[0027] In one of the embodiments, the method for verifying whether the front wheel steering data meets the requirements according to the E2E of AUTOSAR comprises:

[0028] obtaining the front wheel steering angle, the front wheel count bit and the front wheel verification bit according to the front wheel steering data, and determining whether the front wheel count bit and the front wheel verification bit are correct;

[0029] if the front wheel count bit and the front wheel verification bit are correct, the front wheel steering data meets the requirements;

[0030] if the front wheel count bit or the front wheel verification bit is incorrect, the front wheel steering data does not meet the requirements.

[0031] In one of the embodiments, before determining whether the rear wheel pre-steering angle exceeds the safe angle range, the processing method further comprises:

[0032] obtaining the front wheel steering data according to the front wheel steering action, the front wheel steering data comprising a front wheel steering angle;

[0033] if the front wheel steering angle is less than or equal to a first threshold value, not using the rear wheel steering data for rear wheel steering control;

[0034] if the front wheel steering angle is greater than the first threshold value, determining whether the rear wheel pre-steering angle exceeds the safe angle range.

[0035] In one of the embodiments, the method for obtaining the safe angle range according to the front wheel steering action comprises:

[0036] obtaining the front wheel steering data according to the front wheel steering action, the front wheel steering data comprising a front wheel steering angle and a driving speed;

[0037] obtaining the corresponding safe angle range according to the front wheel steering angle and at least in combination with the driving speed.

[0038] In one of the embodiments, the rear wheel steering data is obtained by the following method:

[0039] According to the front wheel steering action, at least one of the front wheel steering angle in the current vehicle driving process and the vehicle longitudinal acceleration, the vehicle lateral acceleration, the vehicle pitch angle, the vehicle wheel speed and the vehicle axle speed in the current vehicle driving process is obtained and input into the setting model to calculate the rear wheel steering data.

[0040] In one of the embodiments, the safety angle range includes the angle critical value under different vehicle speeds and without vehicle instability.

[0041] In one of the embodiments, the angle critical value is obtained by the following method:

[0042] When the vehicle is driven at a set driving speed and the front wheel is steered according to the front wheel steering angle, the angle critical value of the safe steering of the rear wheel is detected without vehicle instability.

[0043] Or, when the front wheel of the vehicle is steered according to the front wheel steering angle in the simulation software, the angle critical value of the safe steering of the rear wheel is obtained without vehicle instability.

[0044] According to the embodiments of the present application, a storage medium having computer instructions stored thereon is also provided, and the computer instructions are executed by a processor to implement the steps of the processing method in any of the above embodiments.

[0045] The technical scheme provided by the embodiments of the present application can include the following beneficial effects:

[0046] The storage medium has computer instructions stored thereon, and the computer instructions are executed by a processor to implement the processing method in any of the above embodiments. When the storage medium is applied to a vehicle, the safety of the rear wheel rotation can be improved without increasing the detection hardware, the driving safety of the vehicle is improved, and the hardware cost of the vehicle is reduced.

[0047] According to the embodiments of the present application, a rear wheel steering control system is also provided, which includes a rear wheel detection device, a rear wheel steering driving mechanism and a vehicle-mounted control device. The front wheel detection device is used to detect the state information of the front wheel, and the state information of the front wheel includes the front wheel steering action information. The rear wheel steering driving mechanism is used to drive the rear wheel to steer. The vehicle-mounted control device is in communication connection with the front wheel detection device and the rear wheel steering driving mechanism. The vehicle-mounted control device can execute the processing method of the rear wheel steering data in any of the above embodiments, so that the vehicle-mounted control device can control the rear wheel steering driving mechanism to drive the rear wheel to steer according to the rear wheel steering data.

[0048] The technical scheme provided by the embodiments of the present application can include the following beneficial effects:

[0049] The vehicle-mounted control device interacts with the front wheel detection device and the rear wheel steering driving mechanism according to the processing method in any of the above embodiments. When the front wheel detection device detects that the front wheel is steering, the vehicle-mounted control device can obtain the rear wheel steering data, and determine whether the rear wheel pre-steering angle is within a safe angle range. If the rear wheel pre-steering angle exceeds the safe angle range, the rear wheel steering control is not performed using the rear wheel steering data. That is, the rear wheel steering data is not sent, and the rear wheel steering driving mechanism is prevented from driving the rear wheel to steer according to the rear wheel steering data, thereby improving the safety of the rear wheel steering. In this way, the rear wheel steering control system optimizes the processing of the rear wheel steering data without increasing the detection hardware, improves the safety of the rear wheel steering, improves the driving safety of the vehicle, and is conducive to reducing the hardware cost of the vehicle.

[0050] The technical solutions are further described below:

[0051] In one of the embodiments, the vehicle-mounted control device includes a memory, a first processor, and a second processor in communication connection with the first processor. The memory stores a computer program, and the first processor implements the processing method in any of the above embodiments when executing the computer program. The second processor can receive the rear wheel steering data sent by the first processor, and the second processor can control the rear wheel steering driving mechanism to drive the rear wheel to steer according to the rear wheel steering data. In this way, when the front wheel of the vehicle is steering and the rear wheel pre-steering angle is within the safe angle range, the first processor sends the rear wheel steering data to the second processor, so that the second processor can control the rear wheel steering driving mechanism to drive the rear wheel to steer according to the rear wheel steering data. When the rear wheel pre-steering angle exceeds the safe angle range, the first processor does not send the rear wheel steering data to the second processor, so as to prevent the second processor from controlling the rear wheel steering driving mechanism to drive the rear wheel to steer according to the unqualified rear wheel steering data. That is, the second processor cannot control the rear wheel steering driving mechanism to drive the rear wheel to steer using the rear wheel steering data, thereby improving the safety of the rear wheel steering.

[0052] According to the embodiments of the present application, a vehicle is also provided, which includes a vehicle body, a front wheel, a rear wheel, and the rear wheel steering control system in any of the above embodiments. The front wheel and the rear wheel are movably arranged on the vehicle body, and the rear wheel steering driving mechanism is arranged on the vehicle body and used to drive the rear wheel to steer.

[0053] The technical solutions provided by the embodiments of the present application can have the following beneficial effects:

[0054] The vehicle control device of the vehicle interacts with the front wheel detection device and the rear wheel steering driving mechanism according to the processing method in any of the above embodiments. When the front wheel detection device detects the steering of the front wheel, the vehicle control device can obtain the rear wheel steering data and determine whether the rear wheel pre-steering angle is within the safe angle range through the first processor. If the rear wheel pre-steering angle exceeds the safe angle range, the rear wheel steering control is not performed using the rear wheel steering data. That is, the rear wheel steering data is not sent, and the rear wheel steering driving mechanism is prevented from driving the rear wheel steering according to the rear wheel steering data, thereby improving the safety of the rear wheel steering. In this way, the vehicle optimizes the processing of the rear wheel steering data without increasing the detection hardware, improves the safety of the rear wheel steering, improves the driving safety of the vehicle, and reduces the hardware cost of the vehicle.

[0055] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF DRAWINGS

[0056] The accompanying drawings, which are part of this application, are intended to provide further understanding of the present application, and the illustrative embodiments of the present application and their descriptions are intended to explain the present application, and do not constitute improper limitations on the present application.

[0057] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0058] Figure 1 It is an embodiment of the vehicle structure shown in the schematic diagram.

[0059] Figure 2 It is a flowchart of the processing method of the rear wheel steering data shown in an embodiment.

[0060] Figure 3 It is a flowchart of the processing method of the rear wheel steering data shown in another embodiment.

[0061] Figure 4 It is a flowchart of the processing method of the rear wheel steering data shown in another embodiment.

[0062] Figure 5 It is a flowchart of the processing method of the rear wheel steering data shown in another embodiment.

[0063] Figure 6 It is a flowchart of the processing method of the rear wheel steering data shown in another embodiment.

[0064] Figure 7 Flow chart of the method for acquiring the safety angle range shown in another embodiment.

[0065] BRIEF DESCRIPTION OF DRAWINGS

[0066] 10 vehicle; 11 vehicle body; 12 front wheel; 13 rear wheel; 14 rear wheel steering control system; 100 front wheel detection device; 200 rear wheel steering drive mechanism; 300 on-vehicle control device. DETAILED DESCRIPTION

[0067] In order to make the objects, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the protection scope of the present application.

[0068] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application.

[0069] For the convenience of understanding, the technical terms involved in the embodiments of the present disclosure will be explained and described first.

[0070] The steering characteristics can be generally divided into three cases: understeering, neutral steering and oversteering.

[0071] Understeering is manifested as that the actual steering angle of the vehicle in the curve is smaller than the rotation angle of the front wheel, that is, the front wheel slides outward, and such turning is also commonly known as "pushing head".

[0072] Neutral steering is manifested as that the actual steering angle of the vehicle in the curve is just the rotation angle of the front wheel, and such steering characteristics can often achieve the maximum turning speed.

[0073] Oversteering is manifested as that the actual steering angle of the vehicle in the curve is larger than the rotation angle of the front wheel, that is, the rear wheel slides outward. Oversteering is easy to cause the vehicle to lose stability and is not conducive to improving the safety of the vehicle.

[0074] At present, vehicles such as sedans, sport utility vehicles (SUVs), multipurpose vehicles, off-road vehicles, buses and caravans bring many conveniences to people's life, work and study, and occupy an important position in people's travel life. The variety of vehicles and the variety of brands make it possible for people to choose many vehicles, and how to gain people's favor and improve product competitiveness has become a problem that vehicle manufacturers pay more and more attention to.

[0075] With the road traffic becoming more and more complex, people have higher and higher requirements for the driving safety of vehicles. For example, for a front-wheel drive vehicle, if understeering occurs, the vehicle speed can be reduced to solve the problem. However, if oversteering occurs, the driver needs to countersteer and cooperate with power-on to pass through. This requires high driving skills of the driver. In order to improve the safe driving performance of the vehicle, in the related art, when the front wheels are steered, some vehicles steer the rear wheels by cooperating the steering column with the rear wheel steering drive mechanism, and control the rear wheel steering drive mechanism by the vehicle-mounted control device to drive the rear wheels to follow the steering of the front wheels. In order to further improve the steering safety of the vehicle, the safety of the rear wheel steering needs to be monitored to avoid oversteering. The traditional method is to monitor the safety of the rear wheel steering by detecting the rear wheel steering angle information by using multiple sensors and other detection hardware, which leads to high hardware cost of the vehicle.

[0076] Based on this, the present application provides a rear wheel steering data processing method, which can monitor the safety of the rear wheel steering without increasing the detection hardware, and is beneficial to reduce the hardware cost of the vehicle.

[0077] In order to better understand the processing method of the present application, a vehicle applying the processing method is described.

[0078] As shown in Figure 1 and Figure 2 In some embodiments of the present disclosure, a vehicle 10 is provided, which includes a vehicle body 11, front wheels 12, rear wheels 13 and a rear wheel steering control system 14. The front wheels 12 and the rear wheels 13 are movably arranged on the vehicle body.

[0079] The rear wheel steering control system 14 includes a rear wheel detection device 100, a rear wheel steering drive mechanism 200 and a vehicle-mounted control device 300. The front wheel detection device 100 is used to detect the state information of the front wheels, and the state information of the front wheels includes front wheel steering action information. The rear wheel steering drive mechanism 200 is arranged on the vehicle body and is used to drive the rear wheels to steer. The vehicle-mounted control device 300 is in communication connection with the front wheel detection device 100 and the rear wheel steering drive mechanism 200. The vehicle-mounted control device 300 can execute a rear wheel steering data processing method, so that the vehicle-mounted control device 200 can control the rear wheel steering drive mechanism 300 to drive the rear wheels 13 to steer according to the rear wheel steering data. The rear wheel steering data processing method includes:

[0080] The rear wheel steering data is obtained according to the front wheel steering action, and the safety angle range, and the rear wheel steering data includes a rear wheel pre-steering angle.

[0081] It is judged whether the rear wheel pre-steering angle exceeds the safety angle range.

[0082] If the rear wheel pre-steering angle exceeds the safe angle range, the rear wheel steering data is not used for rear wheel steering control.

[0083] The vehicle control device of the vehicle interacts with the front wheel detection device and the rear wheel steering driving mechanism according to the rear wheel steering data processing method. When the front wheel detection device detects the front wheel steering, the vehicle control device can obtain the rear wheel steering data, and determine whether the rear wheel pre-steering angle is within the safe angle range through the first processor. If the rear wheel pre-steering angle exceeds the safe angle range, the rear wheel steering data is not used for rear wheel steering control. That is, the rear wheel steering data is not sent, and the rear wheel steering driving mechanism is prevented from driving the rear wheel steering according to the rear wheel steering data, thereby improving the safety of the rear wheel steering. In this way, the vehicle optimizes the processing of the rear wheel steering data without increasing the detection hardware, improves the safety of the rear wheel steering, improves the driving safety of the vehicle, and reduces the hardware cost of the vehicle.

[0084] In some embodiments, after determining whether the rear wheel pre-steering angle exceeds the safe angle range, the processing method further includes: if the rear wheel pre-steering angle does not exceed the safe angle range, using the rear wheel steering data for rear wheel steering control. In this way, the rear wheel steering data and the safe angle range are obtained according to the front wheel steering action, and the rear wheel pre-steering angle is obtained through the rear wheel steering data. Then, the vehicle control device determines whether the rear wheel pre-steering angle exceeds the safe angle range, and determines whether to use the rear wheel steering data for rear wheel steering control. Specifically, when the front wheel of the vehicle is steered and the rear wheel pre-steering angle is within the safe angle range, the vehicle control device can control the rear wheel steering driving mechanism to drive the rear wheel steering according to the rear wheel steering data. When the rear wheel pre-steering angle exceeds the safe angle range, the vehicle control device does not control the rear wheel steering driving mechanism to drive the rear wheel steering according to the rear wheel steering data, thereby improving the safety of the rear wheel steering. Furthermore, the vehicle optimizes the processing of the rear wheel steering data without increasing the detection hardware, improves the safety of the rear wheel steering, improves the driving safety of the vehicle, and is beneficial to reducing the manufacturing cost of the vehicle.

[0085] It should be noted that the specific implementation of the front wheel detection device can be various, and can be implemented by traditional technology, as long as it can detect the change of the front wheel steering. For example, the front wheel detection device includes an angle sensor for detecting the steering angle of the front wheel. For another example, the front wheel detection device includes an angle sensor for detecting the steering angle of the steering wheel.

[0086] The specific implementation of the rear wheel steering driving mechanism can be various, and can be implemented by traditional technology, as long as it can drive the rear wheel steering. For example, the rear wheel steering driving mechanism includes a steering mechanism connected with the rear wheel and a driving motor for driving the steering mechanism. For another example, the rear wheel steering driving mechanism includes a rear wheel steering execution mechanism.

[0087] In addition, the vehicle-mounted control device comprises at least one processor, which can execute the above processing method and control the rear wheel steering driving mechanism to drive the rear wheel steering according to the rear wheel steering data meeting the requirements obtained by the processing method.

[0088] In some embodiments, the vehicle-mounted control device comprises a memory, a first processor and a second processor in communication connection with the first processor, the memory stores a computer program, the first processor executes the computer program to realize the processing method in any of the above embodiments, the second processor can receive the rear wheel steering data sent by the first processor, and the second processor can control the rear wheel steering driving mechanism to drive the rear wheel steering according to the rear wheel steering data. Thus, when the front wheel of the vehicle is steered and the pre-steering angle of the rear wheel is within the safe angle range, the first processor sends the rear wheel steering data to the second processor, so that the second processor can control the rear wheel steering driving mechanism to drive the rear wheel steering according to the rear wheel steering data. When the pre-steering angle of the rear wheel exceeds the safe angle range, the first processor does not send the rear wheel steering data to the second processor, so as to avoid that the second processor controls the rear wheel steering driving mechanism to drive the rear wheel steering according to the unqualified rear wheel steering data. That is, the second processor cannot control the rear wheel steering driving mechanism to drive the rear wheel steering by using the rear wheel steering data, which improves the safety of the rear wheel steering.

[0089] It can be understood that, by judging whether the rear wheel steering data is safe through the first processor, and then determining whether to send the rear wheel steering data to the second processor, the safety of the rear wheel steering can be monitored, the amount of processing data is simplified, the performance requirement of the processor is reduced, and the hardware cost of the vehicle is further reduced.

[0090] In addition, the specific implementation mode of the vehicle-mounted control device can be various. For example, ECU (Electronic Control Unit), also known as "driving computer", "vehicle-mounted computer" and the like.

[0091] The memory is configured to store various types of data to support the operation of the vehicle. Examples of these data include instructions of any application program or method configured to operate on the vehicle, vehicle travel data, air conditioning data, etc. The memory can be realized by any type of volatile or non-volatile storage device or their combination, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0092] The processor generally controls the overall operation of the vehicle, such as operation related to vehicle travel, on-board screen display, sound, light, in-vehicle air conditioning, seat position adjustment, etc. The processor includes a microprocessor, a central processing unit, a single-chip microcomputer, etc.

[0093] On the basis of any of the above embodiments, as shown in Figure 3 、 Figure 4 or Figure 5 In some embodiments, after obtaining the rear wheel steering data, before determining whether the rear wheel pre-steering angle exceeds the safe angle range, the processing method further includes:

[0094] According to the E2E of AUTOSAR, it is checked whether the rear wheel steering data meets the requirements.

[0095] When the rear wheel steering data does not meet the requirements and reaches the set number of checks, the rear wheel steering control is not performed using the rear wheel steering data.

[0096] When the rear wheel steering data meets the requirements, it is determined whether the rear wheel pre-steering angle exceeds the safe angle range.

[0097] In this way, when the rear wheel steering data does not meet the requirements of the E2E format of AUTOSAR and reaches the set number of checks, the rear wheel steering data is not sent to the on-board control device, avoiding processing of incorrect rear wheel steering data, and the processing speed of determining whether to send the rear wheel steering data to the on-board control device can be improved.

[0098] Further, in some embodiments, the method of checking whether the rear wheel steering data meets the requirements according to the E2E of AUTOSAR includes:

[0099] According to the rear wheel steering data, the rear wheel pre-steering angle, the rear wheel count bit, and the rear wheel check bit are obtained, and it is determined whether the rear wheel count bit and the rear wheel check bit are correct.

[0100] When the rear wheel count bit and the rear wheel check bit are correct, the rear wheel steering data meets the requirements.

[0101] When the rear wheel count bit or the rear wheel check bit is incorrect, the rear wheel steering data does not meet the requirements.

[0102] In this way, in the process of checking whether the rear wheel steering data meets the requirements according to the E2E of AUTOSAR, the rear wheel count bit and the rear wheel check bit are set to further determine whether the rear wheel steering data is complete, missing, repeated, etc. in this check, so as to further determine whether the rear wheel pre-steering angle exceeds the safe angle range based on receiving valid and complete rear wheel steering data.

[0103] Specifically, the rear wheel count bit is used to calculate the counter value of the rear wheel steering data packet, which can be set as a periodic data. For example, the period is 10, and the counting is restarted after reaching the period 10. For another example, the period is 5, and the counting is restarted after reaching the period 5. The rear wheel check bit is used to calculate the integrity of the data information, and to ensure that the information will not be changed by error during transmission.

[0104] Optionally, the rear wheel check bit is checksum, which represents the number of bits of the transmitted information, and is attached to the end of the message to verify the integrity of the data.

[0105] On the basis of any of the above embodiments, as shown in some embodiments, after obtaining the rear wheel steering data, before determining whether the rear wheel pre-steering angle exceeds the safe angle range, the processing method further comprises: Figure 4

[0106] According to the front wheel steering action, the front wheel steering data is obtained.

[0107] According to the E2E of AUTOSAR, it is verified whether the front wheel steering data meets the requirements.

[0108] If the front wheel steering data does not meet the requirements and the number of set verification times is reached, the rear wheel steering data is not used for rear wheel steering control.

[0109] If the front wheel steering data meets the requirements, it is determined whether the rear wheel pre-steering angle exceeds the safe angle range.

[0110] In this way, if the front wheel steering data does not meet the requirements of the E2E of AUTOSAR and the number of set verification times is reached, the rear wheel steering data is not sent to the vehicle control device, avoiding processing of the erroneous front wheel steering data, which can improve the processing speed. The rear wheel steering data is obtained by converting the front wheel steering data through a set formula. If the front wheel steering data is incorrect, the rear wheel steering data is also incorrect, and thus the safe angle range verification is not needed.

[0111] Further, in some embodiments, the method for verifying whether the front wheel steering data meets the requirements according to the E2E of AUTOSAR comprises:

[0112] According to the front wheel steering data, the front wheel steering angle, the front wheel count bit and the front wheel check bit are obtained, and it is determined whether the front wheel count bit and the front wheel check bit are correct.

[0113] If the front wheel count bit and the front wheel check bit are correct, the front wheel steering data meets the requirements.

[0114] If the front wheel count bit or the front wheel check bit is incorrect, the front wheel steering data does not meet the requirements.

[0115] ​Thus, in the process of verifying whether the front wheel steering data meets the requirements according to AUTOSAR's E2E, the front wheel steering data is further judged by setting the rear wheel counter and the rear wheel check bit to determine whether the front wheel steering data is complete, missing, or duplicated. This makes it easier to verify the validity and completeness of the rear wheel steering data based on the received valid and complete front wheel steering data, and further determine whether the rear wheel pre-steering angle exceeds the safe angle range.

[0116] Specifically, the front wheel counter bit is used to calculate the counter value of the front wheel steering data message. This counter value can be set to periodic data. For example, a period of 10, counting restarts after reaching period 10. Another example is a period of 5, where counting restarts after reaching period 5. The front wheel check bit is used to calculate the integrity of the data information, ensuring that the information is not erroneously altered during transmission.

[0117] Optionally, the front checksum, representing the number of bits of information transmitted, is appended to the end of the message to verify the integrity of the data.

[0118] like Figure 6 As shown, in some embodiments, before determining whether the rear wheel pre-steering angle exceeds the safe angle range, the processing method further includes:

[0119] Front wheel steering data is obtained based on the front wheel steering action, including the front wheel steering angle.

[0120] If the current wheel steering angle is less than or equal to the first threshold, then rear wheel steering data will not be used for rear wheel steering control.

[0121] If the current wheel steering angle is greater than the first threshold, then determine whether the rear wheel pre-steering angle exceeds the safe angle range.

[0122] Therefore, if the current wheel steering angle is less than or equal to the first threshold, rear wheel steering data is not used for rear wheel steering control. That is, for small-angle front wheel steering that does not affect vehicle safety, the rear wheels do not need to follow the steering, eliminating the need to determine whether the rear wheel pre-steering angle exceeds the safe angle range, thus saving processing space in the vehicle control unit and reducing heat generation. Only when the current wheel steering angle exceeds the first threshold is it determined whether the rear wheel pre-steering angle exceeds the safe angle range.

[0123] It should be noted that the specific angle of the first threshold can be flexibly set according to the actual performance of the vehicle. It includes, but is not limited to, at least one of 1° to 15°. For example, the first threshold is 1°, 2°, 3°, 4°, 5°, 6°, 7°, 8°, 9°, 10°, 11°, 12°, 13°, 14°, 15°, etc.

[0124] It needs to be explained that AUTOSAR, full name for Automotive Open System Architecture, namely automobile open system architecture. The aforementioned front wheel steering data and rear wheel steering data need to meet the E2E standard of AUTOSAR, otherwise the system will appear errors when using the data to control the rear wheel steering, and even the difference between the actual required steering angle and the rear wheel steering angle is large, which will cause the vehicle to be unstable.

[0125] On the basis of any of the above embodiments, as Figure 7 shown, in some embodiments, the method for obtaining the safe angle range according to the front wheel steering action includes:

[0126] obtaining the front wheel steering data according to the front wheel steering action, the front wheel steering data including the front wheel steering angle and the driving speed;

[0127] obtaining the corresponding safe angle range according to the front wheel steering angle and at least in combination with the driving speed.

[0128] In this way, the driving speed and the front wheel steering angle are combined to obtain a more reliable safe angle range, so as to further improve the safety of vehicle driving control. That is, different front wheel steering angles correspond to different safe angle ranges at different speeds. For example, when the driving speed is within 0-20Km / h and the front wheel steering angle is -300°, the safe angle range of the rear wheel steering is -305°- -295°, that is, the safe angle deviation relative to the front wheel steering angle is within -5°-5°. For example, when the driving speed is within 0-20Km / h and the front wheel steering angle is 300°, the safe angle range of the rear wheel steering is 295°-305°, that is, the safe angle deviation relative to the front wheel steering angle is within -5°-5°. When the driving speed is within 20Km / h-60Km / h and the front wheel steering angle is -200°, the safe angle range of the rear wheel steering is -203°- -197°, that is, the safe angle deviation relative to the front wheel steering angle is within -3°-3°. When the driving speed is within 20Km / h-60Km / h and the front wheel steering angle is 200°, the safe angle range of the rear wheel steering is 197°-203°, that is, the safe angle deviation relative to the front wheel steering angle is within -3°-3°.

[0129] That is, the safe angle deviation can be obtained within the set speed range, and then the safe angle range is calculated according to the safe angle deviation and the front wheel steering angle.

[0130] Generally, the greater the driving speed, the smaller the safe angle deviation.

[0131] In some embodiments based on any of the above embodiments, the rear wheel steering data is obtained by the following method: the front wheel steering angle during current vehicle driving and at least one of the vehicle longitudinal acceleration, the vehicle lateral acceleration, the vehicle pitch angle, the vehicle wheel speed and the vehicle axle speed during current vehicle driving are obtained according to the front wheel steering action, and are input into a set model to calculate the rear wheel steering data. In this way, the rear wheel steering data is obtained by inputting the front wheel steering angle during current vehicle driving and at least one of the vehicle longitudinal acceleration, the vehicle lateral acceleration, the vehicle pitch angle, the vehicle wheel speed and the vehicle axle speed during current vehicle driving into the set model, and further rear wheel steering detection hardware can be reduced, and the front wheel steering angle and vehicle driving information are fully utilized to calculate the rear wheel steering data.

[0132] It should be noted that the specific implementation of the set model can be implemented in various conventional technologies. For example, the set model includes a neural network model, etc.

[0133] In some embodiments, the set model includes a simulink model.

[0134] In some embodiments, the front wheel steering angle is indirectly detected by a steering wheel steering angle sensor.

[0135] In some embodiments, the vehicle further includes an angle displacement sensor for detecting the front wheel steering angle, a longitudinal acceleration sensor for detecting the vehicle longitudinal acceleration, a lateral acceleration sensor for detecting the vehicle lateral acceleration, a gyroscope for detecting the vehicle pitch angle, an angle displacement sensor for detecting the front wheel steering angle, a speed sensor for detecting the vehicle wheel speed, an encoder for detecting the vehicle axle speed, etc.

[0136] It should be noted that the safe angle range can be flexibly set according to the actual performance of the vehicle.

[0137] In some embodiments based on any of the above embodiments, the safe angle range includes an angle critical value under different vehicle speeds and without vehicle instability.

[0138] It should be noted that the vehicle without instability includes neutral steering.

[0139] In some embodiments based on the above embodiments, the angle critical value is obtained by the following method:

[0140] The data collection vehicle travels at a set speed, and when the front wheels turn at a front wheel turning angle, the critical value of the safe turning angle of the rear wheels is detected without the vehicle losing stability. In this way, the data collection vehicle (i.e., the test vehicle) collects the turning angle of the rear wheels required when the front wheels turn without the vehicle losing stability during actual driving. During the sampling process, the required safe turning angle range of the rear wheels at different front wheel turning angles can be automatically matched and output by the neural network model. Furthermore, the safe angle range information is pre-stored in the vehicle control device before the vehicle is shipped, so that the pre-stored safe angle range is used for safe judgment of the rear wheel turning data during vehicle driving, thereby improving the driving safety of the vehicle.

[0141] Alternatively, in some other embodiments, the critical value of the angle is obtained by simulating the turning of the front wheels of the vehicle at a front wheel turning angle in the simulation software, and obtaining the critical value of the safe turning angle of the rear wheels without the vehicle losing stability. In this way, the critical value of the angle can also be simulated and tested by the simulation software to obtain the corresponding safe turning angle of the vehicle. Furthermore, the safe angle range information is pre-stored in the vehicle control device before the vehicle is shipped, so that the pre-stored safe angle range is used for safe judgment of the rear wheel turning data during vehicle driving, thereby improving the driving safety of the vehicle.

[0142] It should be noted that there are many simulation software, including MATLAB, Car, etc.

[0143] On the basis of any of the above embodiments, see Figure 5 As shown, in some embodiments, after the rear wheel turning data is not used for rear wheel turning control, the processing method further includes: sending reminder information to the reminder device. In this way, the driver is reminded by sending at least one of light information, sound information, and text information.

[0144] Specifically, the sent reminder information is displayed on a large screen or an instrument screen, and finally displayed as a light, such as a yellow light or a red light.

[0145] On the basis of any of the above embodiments, see Figure 5 As shown, in some embodiments, after the rear wheel turning data is not used for rear wheel turning control, the processing method further includes: storing the driving data of the rear wheels not turning during the driving of the vehicle this time as fault information. In this way, the problem can be investigated subsequently, and the monitoring module can be optimized.

[0146] According to the embodiments of the present application, a storage medium having computer instructions stored thereon is also provided, and the computer instructions are executed by a processor to implement the steps of the rear wheel turning data processing method in any of the above embodiments.

[0147] Therefore, the storage medium stores computer instructions, and the computer instructions are executed by the first processor to implement the processing method in any of the above embodiments. When the storage medium is applied to the vehicle, the safety of the rear wheel rotation can be monitored without increasing the detection hardware, the driving safety of the vehicle is improved, and the hardware cost of the vehicle is reduced.

[0148] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions, such as a memory including instructions, is also provided, which can be executed by a processor of an apparatus to complete the above method. For example, the non-transitory computer-readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, and an optical data storage device, etc.

[0149] A non-transitory computer-readable storage medium, when instructions in the storage medium are executed by a first processor of a vehicle-mounted control device, enables the vehicle-mounted control device to perform the above method.

[0150] Embodiments of the subject matter and the functional operations described in this specification can be implemented in digital electronic circuitry, in tangibly-embodied computer software or firmware, in computer hardware, including the structures disclosed in this specification and their structural equivalents, or in combinations of one or more of them. Embodiments of the subject matter described in this specification can be implemented as one or more computer programs, i.e., one or more modules of computer program instructions encoded on a tangible non-transitory program carrier to execute on or control the operation of data processing apparatus. Alternatively or additionally, the program instructions can be encoded on an artificially generated propagated signal, e.g., a machine-generated electrical, optical, or electromagnetic signal that is generated to encode information for transmission to suitable receiver apparatus for execution by a data processing apparatus. A computer storage medium can be a machine-readable storage device, a machine-readable storage substrate, a random or serial access memory device, or a combination of one or more of them.

[0151] The processes and logic flows described in this specification can be performed by one or more programmable computers executing one or more computer programs to perform functions by operating on input data and generating output. The processes and logic flows can also be performed by special purpose logic circuitry, e.g., an FPGA (field programmable gate array) or an ASIC (application specific integrated circuit), and the apparatus can be implemented as special purpose logic circuitry.

[0152] Computers suitable for the execution of a computer program include, by way of example, general and / or special purpose microprocessors, or any other kind of central processing unit. Generally, a central processing unit will receive instructions and data from a read-only memory and / or a random access memory. The essential elements of a computer are a central processing unit for performing or executing instructions and one or more memory devices for storing instructions and data. Generally, a computer will also include, or be operatively coupled to receive data from or transfer data to, or both, one or more mass storage devices for storing data, e.g., magnetic, magneto-optical disks, or optical disks. However, a computer need not have such devices. Moreover, a computer can be embedded in another device, e.g., a mobile telephone, a personal digital assistant (PDA), a mobile audio or video player, a game console, a Global Positioning System (GPS) receiver, or a portable storage device (e.g., a universal serial bus (USB) flash drive), to name just a few.

[0153] Computer readable media suitable for storing computer program instructions and data include all forms of non-volatile memory, media and memory devices, including by way of example semiconductor memory devices, e.g., EPROM, EEPROM, and flash memory devices; magnetic disks, e.g., internal hard disks or removable disks; magneto-optical disks; and CD-ROM and DVD-ROM disks. The processor and the memory can be supplemented by, or incorporated in, special purpose logic circuitry.

[0154] While the specification contains many specifics, these should not be construed as limiting the scope of any invention or of any claim, but as merely providing illustrations of some of the embodiments of the inventions. Certain features that are described in this specification in the context of separate embodiments can also be implemented in combination in a single embodiment. Conversely, various features that are described in the context of a single embodiment can also be implemented in multiple embodiments separately or in any suitable subcombination. Moreover, although features can be described above as acting in certain combinations and even initially claimed as such, one or more features from a claimed combination can in some cases be excised from the combination and the claimed combination can be directed to a subcombination or variation of a subcombination.

[0155] Similarly, while operations are depicted in the drawings in a particular order, this should not be understood as requiring or implying that such operations be performed in the particular order shown or in sequential order, or that all illustrated operations be performed, to achieve desirable results. In certain circumstances, multitasking and parallel processing can be advantageous. Moreover, the separation of various system modules and components in the embodiments described above should not be understood as requiring such separation in all embodiments, and it should be understood that the described program components and systems can generally be integrated in a single software product or packaged into multiple software products.

[0156] Thus, specific embodiments of the subject matter have been described. Other embodiments are within the scope of the appended claims. In some cases, the actions recited in the claims may be performed in a different order and still achieve the desired result. Furthermore, the processes depicted in the drawings are not necessarily shown in a specific order or sequence to achieve the desired result. In some implementations, multitasking and parallel processing may be advantageous.

[0157] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0158] Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first," "second," etc., may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0159] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0160] The above are merely preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A method of processing rear wheel steering data, characterized by, The method comprises the following steps: acquiring rear wheel steering data according to front wheel steering action, wherein the rear wheel steering data comprises a rear wheel pre-steering angle; verifying whether the rear wheel steering data meets requirements according to E2E of AUTOSAR; when the rear wheel steering data does not meet requirements and a set number of verification times is reached, rear wheel steering control is not performed using the rear wheel steering data; when the rear wheel steering data meets requirements, it is determined whether the rear wheel pre-steering angle exceeds a safety angle range; if the rear wheel pre-steering angle exceeds the safety angle range, rear wheel steering control is not performed using the rear wheel steering data.

2. The treatment method according to claim 1, characterized in that, After determining whether the rear wheel pre-steering angle exceeds the safety angle range, the processing method further comprises: if the rear wheel pre-steering angle does not exceed the safety angle range, rear wheel steering control is performed using the rear wheel steering data.

3. The treatment method according to claim 2, characterized in that, The method of verifying whether the rear wheel steering data meets requirements according to E2E of AUTOSAR comprises: obtaining the rear wheel pre-steering angle, a rear wheel count bit and a rear wheel verification bit from the rear wheel steering data, and determining whether the rear wheel count bit and the rear wheel verification bit are correct; when the rear wheel count bit and the rear wheel verification bit are correct, the rear wheel steering data meets requirements; when the rear wheel count bit or the rear wheel verification bit is incorrect, the rear wheel steering data does not meet requirements.

4. The treatment method of claim 1, wherein After acquiring the rear wheel steering data and before determining whether the rear wheel pre-steering angle exceeds the safety angle range, the processing method further comprises: acquiring front wheel steering data according to front wheel steering action; verifying whether the front wheel steering data meets requirements according to E2E of AUTOSAR; when the front wheel steering data does not meet requirements and a set number of verification times is reached, rear wheel steering control is not performed using the rear wheel steering data; when the front wheel steering data meets requirements, it is determined whether the rear wheel pre-steering angle exceeds the safety angle range.

5. The treatment method according to claim 4, characterized in that, The method of verifying whether the front wheel steering data meets requirements according to E2E of AUTOSAR comprises: obtaining a front wheel steering angle, a front wheel count bit and a front wheel verification bit from the front wheel steering data, and determining whether the front wheel count bit and the front wheel verification bit are correct; when the front wheel count bit and the front wheel verification bit are correct, the front wheel steering data meets requirements; when the front wheel count bit or the front wheel verification bit is incorrect, the front wheel steering data does not meet requirements.

6. The treatment method of claim 1, wherein Before determining whether the rear wheel pre-steering angle exceeds the safety angle range, the processing method further comprises: acquiring front wheel steering data according to front wheel steering action, wherein the front wheel steering data comprises a front wheel steering angle; when the front wheel steering angle is less than or equal to a first threshold value, rear wheel steering control is not performed using the rear wheel steering data; when the front wheel steering angle is greater than the first threshold value, it is determined whether the rear wheel pre-steering angle exceeds the safety angle range.

7. The treatment method of claim 1, wherein The method of acquiring the safety angle range according to front wheel steering action comprises: acquiring front wheel steering data according to front wheel steering action, wherein the front wheel steering data comprises a front wheel steering angle and a driving speed; The safe angle range is obtained according to the front wheel steering angle and at least the driving speed.

8. The treatment method of claim 1, wherein, The rear wheel steering data is obtained by the following method: The front wheel steering angle and at least one of the vehicle longitudinal acceleration, the vehicle lateral acceleration, the vehicle pitch angle, the vehicle wheel speed and the vehicle axle speed during the current vehicle driving process are obtained according to the front wheel steering action and input into the setting model to calculate the rear wheel steering data.

9. The treatment method of claim 1, wherein, The safe angle range includes the angle critical value under different vehicle speeds and without vehicle instability.

10. The processing method according to claim 9, wherein, The angle critical value is obtained by the following method: The data collection vehicle drives at a set driving speed, and the front wheel steers according to the front wheel steering angle, and the angle critical value of the safe steering of the rear wheel is detected without vehicle instability; Or, the front wheel of the vehicle steers according to the front wheel steering angle in the simulation software, and the angle critical value of the safe steering of the rear wheel is obtained without vehicle instability.

11. A storage medium having stored thereon computer instructions, characterized in that, The computer instructions are executed by the processor to realize the processing method of any one of claims 1 to 10.

12. A rear wheel steering control system characterized by comprising: Comprising: The front wheel detection device is used to detect the state information of the front wheel, and the state information of the front wheel includes the front wheel steering action information; The rear wheel steering driving mechanism is used to drive the rear wheel to steer; The vehicle-mounted control device is in communication connection with the front wheel detection device and the rear wheel steering driving mechanism, and the vehicle-mounted control device can execute the processing method of any one of claims 1 to 10, so that the vehicle-mounted control device can control the rear wheel steering driving mechanism to drive the rear wheel to steer according to the rear wheel steering data.

13. The rear wheel steering control system according to claim 12, characterized by The vehicle-mounted control device includes a memory, a first processor and a second processor in communication connection with the first processor, the memory stores a computer program, the first processor executes the computer program to realize the processing method of any one of claims 1 to 10, the second processor can receive the rear wheel steering data sent by the first processor, and the second processor can control the rear wheel steering driving mechanism to drive the rear wheel to steer according to the rear wheel steering data.

14. A vehicle characterized by comprising: The vehicle body, the front wheel, the rear wheel and the rear wheel steering control system of claim 12 or 13 are included, the front wheel and the rear wheel are movably arranged on the vehicle body, and the rear wheel steering driving mechanism is arranged on the vehicle body and used to drive the rear wheel to steer.

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