Multi-steering wheel steering angle control method, device, equipment and storage medium

Abstract

The application discloses a multi-steering-wheel steering angle control method, device, equipment and storage medium, wherein the method comprises the following steps: calculating a first steering angle change amount of each steering wheel according to a steady-state target steering angle of each steering wheel, an instantaneous steering angle of each steering wheel at a previous moment and a steering angle change capacity of each steering wheel; calculating a second steering angle change amount of each steering wheel according to the first steering angle change amount and the steering angle change capacity; and calculating an execution steering angle change amount of each steering wheel according to the second steering angle change amount. The application considers the steering angle change capacity of each steering wheel, controls the execution steering angle change amount of each steering wheel within the steering angle change capacity of each steering wheel, and can realize the synchronous change of the steering angle of each steering wheel, effectively avoids the vehicle body instability caused by the out-of-sync steering angle change of each steering wheel, and improves the stability in the vehicle steering process.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automobile control, and in particular to a multi-steering-wheel steering angle control method, device, equipment and storage medium. BACKGROUND

[0002] In order to improve the passability of the vehicle, the steering angles of each steering wheel can be independently controlled through mechanical devices. The birth of multi-wheel steering control technology greatly improves the operation stability and safety of special vehicles, and well improves the shortcomings of traditional vehicles such as poor low-speed steering flexibility and poor high-speed steering stability. However, the multi-wheel steering control method is more complex than the traditional vehicle, especially when the number of steering wheels participating in steering is large, the dynamic change of the steering angle of each steering wheel is uncoordinated, which can cause understeering or oversteering during vehicle steering, and further cause vehicle instability. SUMMARY

[0003] In view of the above defects or improvement needs of the prior art, the purpose of the present application is to provide a multi-steering-wheel steering angle control method, device, equipment and storage medium.

[0004] To achieve this purpose, the present application adopts the following technical solutions:

[0005] The present application provides a multi-steering-wheel steering angle control method, comprising:

[0006] According to the steady-state target steering angle of each steering wheel, the instantaneous steering angle of each steering wheel at the last time, and the steering angle change ability of each steering wheel, a first steering angle change amount of each steering wheel is calculated, wherein the steering angle change ability represents the maximum value of the increase of the steering angle of each steering wheel and the maximum value of the decrease of the steering angle of each steering wheel in a task cycle;

[0007] According to the first steering angle change amount and the steering angle change ability, a second steering angle change amount of each steering wheel is calculated;

[0008] According to the second steering angle change amount, an execution steering angle change amount of each steering wheel is calculated.

[0009] Further, the step of calculating the first steering angle change amount of each steering wheel according to the steady-state target steering angle of each steering wheel, the instantaneous steering angle of each steering wheel at the last time, and the steering angle change ability of each steering wheel comprises:

[0010] According to the steady-state target steering angle and the instantaneous steering angle of each steering wheel at the last time, a target steering angle change amount of each steering wheel is calculated by difference calculation;

[0011] According to the target steering angle change amount and the steering angle change ability, a first distribution coefficient of the whole vehicle is determined, and the first distribution coefficient includes a first increment distribution coefficient and a first decrement distribution coefficient:

[0012]

[0013] determining a first steering angle change amount of each steering wheel according to the first distribution coefficient and the target transfer change amount:

[0014]

[0015] wherein, α(k) Add is a first incremental distribution coefficient of the whole vehicle at k moment, α(k) Minus is a first decremental distribution coefficient of the whole vehicle at k moment, Δθ(k) i is a target steering angle change amount of the i-th steering wheel at k moment, Δθ iAddmax is a maximum value of steering angle increment of the i-th steering wheel, Δθ iMinusmax is a maximum value of steering angle decrement of the i-th steering wheel, Δθ(k) iFirst is a first steering angle change amount of the i-th steering wheel at k moment, sign{Δθ(k) i} is a sign function of Δθ(k) i , and n is the total number of steering wheels of the whole vehicle.

[0016] Further, the step of calculating a second steering angle change amount of each steering wheel according to the first steering angle change amount and the steering angle change capability comprises:

[0017] calculating a second distribution coefficient of the whole vehicle according to the first steering angle change amount and the steering angle change capability, wherein the second distribution coefficient comprises a second incremental distribution coefficient and a second decremental distribution coefficient;

[0018] determining a second steering angle change amount of each steering wheel according to the first steering angle change amount and the second distribution coefficient:

[0019]

[0020] wherein, Δθ(k) iSecond is a second steering angle change amount of the i-th steering wheel at k moment, τ(k) Addmax is a second incremental distribution coefficient of the whole vehicle at k moment, τ(k) Minusmax is a second decremental distribution coefficient of the whole vehicle at k moment.

[0021] Further, the step of calculating a second distribution coefficient of the whole vehicle according to the first steering angle change amount and the steering angle change capability comprises:

[0022] calculating a first proportional coefficient of each steering wheel according to the first steering angle change amount and the steering angle change capability:

[0023]

[0024] According to the first proportional coefficient, a third distribution coefficient of the whole vehicle is calculated, wherein the third distribution coefficient comprises a third incremental distribution coefficient and a third decremental distribution coefficient:

[0025]

[0026] wherein τ(k) i is the first proportional coefficient of the i-th steering wheel at the k moment, τ1(k) Addmax is the third incremental distribution coefficient of the whole vehicle at the k moment, τ1(k) Minusmax is the third decremental distribution coefficient of the whole vehicle at the k moment.

[0027] Further, the step of calculating the second distribution coefficient of the whole vehicle according to the first steering angle change amount and the steering angle change ability of each steering wheel comprises:

[0028] According to the steering angle change ability, a first steering angle transformation coefficient of the whole vehicle is calculated:

[0029]

[0030] According to the first steering angle transformation coefficient and the third distribution coefficient, a second distribution coefficient of the whole vehicle is determined:

[0031]

[0032] wherein β(k)1 is the first steering angle transformation coefficient of the whole vehicle at the k moment.

[0033] Further, the step of calculating the execution steering angle change amount of each steering wheel according to the second steering angle change amount comprises:

[0034] Based on the steering angle change ability, a second steering angle transformation coefficient of the whole vehicle is calculated by ratio calculation:

[0035]

[0036] According to the second steering angle change amount and the second steering angle transformation coefficient, the execution steering angle change amount is calculated:

[0037]

[0038] wherein Δθ(k) iCarry is the execution steering angle change amount of the i-th steering wheel at the k moment, β(k)2 is the second steering angle transformation coefficient of the whole vehicle at the k moment.

[0039] Further, the multi-steering wheel steering angle control method further comprises:

[0040] According to the execution steering angle change amount and the instantaneous steering angle of each steering wheel at the last time, the instantaneous steering angle of each steering wheel at the current time is calculated:

[0041] θ(k) i = θ(k-1) i + Δθ(k) iCarry · sign{Δθ(k) i};

[0042] Wherein, θ(k) i is the instantaneous steering angle of the i-th steering wheel at the k time, θ(k-1) i is the instantaneous steering angle of the i-th steering wheel at the k-1 time.

[0043] The application also provides a multi-steering wheel steering angle control device, comprising:

[0044] The first module is used for calculating the first steering angle change amount of each steering wheel according to the steady-state target steering angle of each steering wheel, the instantaneous steering angle of each steering wheel at the last time and the steering angle change ability of each steering wheel;

[0045] The second module is used for calculating the second steering angle change amount of each steering wheel according to the first steering angle change amount and the steering angle change ability; and

[0046] The third module is used for calculating the execution steering angle change amount of each steering wheel according to the second steering angle change amount.

[0047] The application also provides an electronic device, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to realize the multi-steering wheel steering angle control method.

[0048] The application also provides a computer readable storage medium, which stores computer instructions, and the computer instructions make the computer execute the multi-steering wheel steering angle control method.

[0049] The application has the following beneficial effects:

[0050] For the multi-steering wheel steering angle control method, device, equipment and storage medium, according to the steady-state target steering angle of each steering wheel, the instantaneous steering angle of each steering wheel at the last time and the steering angle change ability of each steering wheel, the first steering angle change amount of each steering wheel is calculated, wherein the steering angle change ability represents the maximum value of the steering angle increase of each steering wheel and the maximum value of the steering angle decrease of each steering wheel; according to the first steering angle change amount and the steering angle change ability, the second steering angle change amount of each steering wheel is calculated; according to the second steering angle change amount, the execution steering angle change amount of each steering wheel is calculated. The steering angle change ability of each steering wheel is considered in the present application, and the execution steering angle change amount of each steering wheel is controlled within the steering angle change ability range of each steering wheel. In addition, the present application can realize the synchronous change of the steering angle of each steering wheel, effectively avoids the different synchronization of the steering angle change between the steering wheels, causes the instability of the vehicle body due to the uncoordinated work between the steering wheels during the steering process of the vehicle, and improves the stability during the steering process of the vehicle.

[0051] Additional aspects and advantages of the present application will be made apparent by the following description and the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0052] The above and / or additional aspects and advantages of the present application will become apparent and be readily appreciated from the following description, including the accompanying drawings.

[0053] Figure 1 is a flow chart of the multi-steering wheel steering angle control method in the embodiment of the present application;

[0054] Figure 2 is a schematic diagram of the multi-steering wheel steering angle control device in the embodiment of the present application;

[0055] Figure 3 is a schematic diagram of the electronic device of the present application. DETAILED DESCRIPTION

[0056] The present application will be further described below in conjunction with the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application. In addition, it should be noted that, for the convenience of description, only the parts related to the present application are shown in the drawings, but not all the structures.

[0057] In the description of the present application, unless otherwise explicitly specified and limited, the terms "connected", "connected", "fixed" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, it can be the internal communication of two elements or the interaction relationship of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0058] Those skilled in the art can understand that, unless otherwise specifically stated, the singular forms "a", "an", "said" and "the" used herein also include the plural forms. It should be further understood that the phrase "comprising" used in the specification of the present application means that the features, integers, steps, operations, elements and / or components exist, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0059] Those skilled in the art can understand that, unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meaning as that generally understood by those skilled in the art to which the present application belongs. It should also be understood that terms such as those defined in general dictionaries should be understood as having meanings consistent with those in the prior art, and should not be interpreted in an idealized or overly formal sense unless specifically defined as in the embodiments of the present application.

[0060] The embodiments of the present application provide a multi-steering wheel steering angle control method, device, equipment and storage medium, which are applied to a multi-steering wheel control automobile.

[0061] The flow chart of the multi-steering wheel steering angle control method provided by the embodiments of the present application is shown in Figure 1 The multi-steering wheel steering angle control method in the embodiments includes S10-S40.

[0062] S10, according to the steady-state target steering angle of each steering wheel, the instantaneous steering angle of each steering wheel at the last time and the steering angle change ability of each steering wheel, the first steering angle change amount of each steering wheel is calculated, wherein the steering angle change ability represents the maximum value of the steering angle increase of each steering wheel and the maximum value of the steering angle decrease of each steering wheel in a task cycle.

[0063] It should be noted that in the embodiments, the steering angle refers to the included angle formed between the wheel and the length direction of the vehicle body.

[0064] In the embodiments, the target steering angle change amount of each steering wheel is calculated by difference calculation according to the steady-state target steering angle of each steering wheel and the instantaneous steering angle of each steering wheel at the last time, and the specific calculation formula is:

[0065] Δθ(k) i = θ i - θ(k-1) i ;

[0066] wherein, Δθ(k) i is the target angle change of the i-th steered wheel at the k moment, θ i is the steady-state target angle of the i-th steered wheel, θ(k-1) i is the instantaneous angle of the i-th steered wheel at the k-1 moment.

[0067] It can be understood that for any steered wheel, if its steady-state target angle is greater than or equal to the instantaneous angle at the last moment, its target angle change is a non-negative value; for any steered wheel, if its steady-state target angle is less than the instantaneous angle at the last moment, its target angle change is a negative value.

[0068] It should be noted that in the embodiment, the steered wheels of the whole vehicle are divided into a non-negative set of steered wheels and a negative set of steered wheels according to the values of the target angle changes of the steered wheels. Specifically, the steered wheels with non-negative target angle changes belong to the non-negative set of steered wheels, and the steered wheels with negative target angle changes belong to the negative set of steered wheels. In the non-negative set of steered wheels, the angles of the steered wheels should gradually increase to the steady-state target angles, and in the negative set of steered wheels, the angles of the steered wheels should gradually decrease to the steady-state target angles.

[0069] Further, the first distribution coefficient of the whole vehicle is calculated according to the target angle changes of the steered wheels and the angle change capabilities of the steered wheels, and the first distribution coefficient of the whole vehicle includes a first increment distribution coefficient and a first decrement distribution coefficient.

[0070]

[0071] wherein, α(k) Add is the first increment distribution coefficient of the whole vehicle at the k moment, α(k) Minus is the first decrement distribution coefficient of the whole vehicle at the k moment, Δθ iAddmax is the maximum value of the angle increase of the i-th steered wheel, Δθ iMinusmax is the maximum value of the angle decrease of the i-th steered wheel, and n is the total number of the steered wheels of the whole vehicle.

[0072] Further, in the embodiment, the maximum values of the angle increase of the steered wheels and the maximum values of the angle decrease of the steered wheels are obtained through bench tests.

[0073] It should be noted that n is the total number of the steering wheels of the whole vehicle. For example, n is equal to 4 for a four-wheel steering vehicle, and n is equal to 8 for an eight-wheel steering vehicle. In the embodiment, for any steering wheel, the maximum value of the increased steering angle and the maximum value of the decreased steering angle are both non-negative.

[0074] It can be understood that in the embodiment, if the maximum value (or the minimum value) obtained at a certain moment is zero, the zero value is removed and the operation of taking the maximum value (or the minimum value) is performed until a non-zero maximum value (or minimum value) is obtained.

[0075] According to the first distribution coefficient of the whole vehicle and the target steering angle change of each steering wheel, the first steering angle change of each steering wheel is determined:

[0076]

[0077] wherein, Δθ(k) iFirst is the first steering angle change of the i-th steering wheel at the k-th moment, sign{Δθ(k) i} is a sign function of Δθ(k) i .

[0078] Further, when Δθ(k) i is greater than or equal to 0, the value of sign{Δθ(k) i} is 1; when Δθ(k) i is less than 0, the value of sign{Δθ(k) i} is -1.

[0079] Further, for any steering wheel in the non-negative set, the value of the target steering angle change is non-negative, and the value of sign{Δθ(k) i} is 1, and the first steering angle change is:

[0080] Δθ(k) iFirst = |Δθ(k) i |·α(k) Add .

[0081] That is:

[0082]

[0083] Further, for any steering wheel in the negative set, the value of the target steering angle change is negative, and the value of sign{Δθ(k) i} is -1, and the first steering angle change is:

[0084] Δθ(k) iFirst = |Δθ(k) i |·α(k) Minus;

[0085] That is,

[0086]

[0087] S20, according to the first corner change amount and the corner change ability, the second corner change amount of each steering wheel is calculated.

[0088] In this embodiment, step S20 includes S201-S202.

[0089] Wherein, S201, according to the first corner change amount of each steering wheel and the corner change ability of each steering wheel, the second distribution coefficient of the whole vehicle is calculated, and the second distribution coefficient includes the second incremental distribution coefficient and the second decremental distribution coefficient. Step S201 includes S2011-S2014.

[0090] Specifically, S2011, according to the first corner change amount of each steering wheel and the corner change ability of each steering wheel, the first proportional coefficient of each steering wheel is calculated:

[0091]

[0092] Wherein, τ(k) i is the first proportional coefficient of the i-th steering wheel at k moment.

[0093] For any steering wheel in the non-negative set, the value of the target corner change amount is a non-negative number, and the value of sign{Δθ(k) i} is 1, then the calculation formula of the first proportional coefficient is:

[0094]

[0095] It can be seen that at k moment, in the non-negative set steering wheel, the first proportional coefficient of any steering wheel is the ratio of its first corner change amount to the maximum value of its corner increase.

[0096] For any steering wheel in the negative set, the value of the target corner change amount is a negative number, and the value of sign{Δθ(k) i} is -1, then the calculation formula of the first proportional coefficient is:

[0097]

[0098] It can be seen that at k moment, in the negative set steering wheel, the first proportional coefficient of any steering wheel is the ratio of its first corner change amount to the maximum value of its corner decrease.

[0099] Further, S2012, according to the first proportional coefficient of each steering wheel, a third distribution coefficient of the whole vehicle is calculated, wherein the third distribution coefficient of the whole vehicle includes a third incremental distribution coefficient of the whole vehicle and a third decremental distribution coefficient of the whole vehicle:

[0100]

[0101] wherein τ1(k) Addmax is the third incremental distribution coefficient of the whole vehicle at k moment, τ1(k) Minusmax is the third decremental distribution coefficient of the whole vehicle at k moment.

[0102] It can be understood that in the embodiment, at k moment, in the non-negative set steering wheel, the maximum value of the first proportional coefficient of all steering wheels is taken as the third incremental distribution coefficient of the whole vehicle; in the negative set steering wheel, the maximum value of the first proportional coefficient of all steering wheels is taken as the third decremental distribution coefficient of the whole vehicle.

[0103] Further, S2013, according to the steering angle change ability of each steering wheel, a first steering angle transformation coefficient of the whole vehicle is calculated:

[0104]

[0105] wherein β(k)1 is the first steering angle transformation coefficient of the whole vehicle at k moment.

[0106] Further, S2014, according to the first steering angle transformation coefficient of the whole vehicle and the third distribution coefficient of the whole vehicle, a second distribution coefficient of the whole vehicle is determined:

[0107]

[0108] wherein τ(k) Addmax is the second incremental distribution coefficient of the whole vehicle at k moment, τ(k) Minusmax is the second decremental distribution coefficient of the whole vehicle at k moment.

[0109] From the calculation formula of the second incremental distribution coefficient of the whole vehicle, it can be obtained that at k moment, the second incremental distribution coefficient of the whole vehicle τ(k) Addmax is greater than or equal to τ1(k) Minusmax · β(k)1, and the second incremental distribution coefficient of the whole vehicle τ(k) Addmax is greater than or equal to the third incremental distribution coefficient of the whole vehicle τ1(k) Addmax .

[0110] Further, it has:

[0111]

[0112] That is:

[0113] τ(k) Minusmax ≥τ1(k) Minusmax ;

[0114] Therefore, at the k moment, the second distribution coefficient τ(k) of the whole vehicle Minusmax is greater than or equal to the third distribution coefficient τ1(k) of the whole vehicle Minusmax .

[0115] In this embodiment, after the second distribution coefficient of the whole vehicle is calculated, the second angular change amount of each steering wheel is calculated according to the first angular change amount of each steering wheel and the second distribution coefficient of the whole vehicle.

[0116] Specifically, S202, the second angular change amount of each steering wheel is calculated according to the first angular change amount of each steering wheel and the second distribution coefficient of the whole vehicle:

[0117]

[0118] Wherein, Δθ(k) iSecond is the second angular change amount of the i-th steering wheel at the k moment.

[0119] Further, for any steering wheel in the non-negative set, the value of the target angular change amount is a non-negative number, and the value of sign{Δθ(k) i} is 1, then the calculation formula of the second angular change amount is:

[0120]

[0121] It can be seen that at the k moment, the second angular change amount of any steering wheel in the non-negative set is the ratio of the first angular change amount to the second distribution coefficient of the whole vehicle.

[0122] Further, for any steering wheel in the negative set, the value of the target angular change amount is a negative number, and the value of sign{Δθ(k) i} is -1, then the calculation formula of the second angular change amount is:

[0123]

[0124] It can be seen that at the k moment, the second angular change amount of any steering wheel in the negative set is the ratio of the first angular change amount to the second distribution coefficient of the whole vehicle.

[0125] And the second distribution coefficient and the second distribution coefficient of the whole vehicle satisfy:

[0126]

[0127] At time k, for any one of the steering wheels in the non-negative set, the second steering angle change amount satisfies:

[0128]

[0129] At time k, the calculation formula of the third distribution coefficient of the whole vehicle and the first proportional coefficient of each steering wheel are sequentially brought in, and the following can be obtained:

[0130]

[0131] Further, there are:

[0132]

[0133] Therefore, at time k, for any one of the steering wheels in the non-negative set, the second steering angle change amount satisfies:

[0134]

[0135] That is, at time k, for any one of the steering wheels in the non-negative set, the second steering angle change amount is less than or equal to the maximum value of the steering angle increase.

[0136] Similarly, at time k, for any one of the steering wheels in the negative set, the second steering angle change amount satisfies:

[0137]

[0138] At time k, the calculation formula of the third distribution coefficient of the whole vehicle and the first proportional coefficient of each steering wheel are sequentially brought into the above formula and calculated, and the following can be obtained:

[0139]

[0140] Therefore, at time k, for any one of the steering wheels in the negative set, the second steering angle change amount is less than or equal to the maximum value of the steering angle decrease.

[0141] In this embodiment, after the second steering angle change amount of each steering wheel is calculated, the execution steering angle change amount of each steering wheel is calculated according to the formula.

[0142] Specifically, S30, according to the second steering angle change amount of each steering wheel, the execution steering angle change amount of each steering wheel is calculated. Step S30 includes S301-S302.

[0143] S301, based on the steering angle change ability of each steering wheel, the second steering angle change coefficient of the whole vehicle is calculated by ratio:

[0144]

[0145] Wherein, β(k)2 is the second steering angle transformation coefficient of the whole vehicle at k moment.

[0146] S302, according to the second steering angle change amount of each steering wheel and the second steering angle transformation coefficient of the whole vehicle, the execution steering angle change amount of each steering wheel is calculated:

[0147]

[0148] Wherein, Δθ(k) iCarry is the execution steering angle change amount of the i-th steering wheel at k moment.

[0149] Specifically, if the second steering angle transformation coefficient of the whole vehicle at k moment is less than or equal to 1, for any steering wheel in the non-negative set, the expression of the execution steering angle change amount is:

[0150] Δθ(k) iCarry = Δθ(k) iSecond ;

[0151] At this time, for any steering wheel in the negative set, the expression of the execution steering angle change amount is:

[0152] Δθ(k) iCarry = Δθ(k) iSecond · β(k)2;

[0153] If the second steering angle transformation coefficient of the whole vehicle at k moment is greater than 1, for any steering wheel in the non-negative set, the expression of the execution steering angle change amount is:

[0154]

[0155] At this time, for any steering wheel in the negative set, the expression of the execution steering angle change amount is:

[0156] Δθ(k) iCarry = Δθ(k) iSecond ;

[0157] For any value of the second steering angle transformation coefficient of the whole vehicle, the execution steering angle change amount of any steering wheel always satisfies:

[0158] Δθ(k) iCarry ≤ Δθ(k) iSecond ;

[0159] Further, combined with the analysis of the second steering angle change amount of each steering wheel, it can be obtained that:

[0160]

[0161] That is, at k moment, for any steering wheel, the execution steering angle change amount will not exceed the steering angle change capability.

[0162] In this embodiment, after the execution angle change amount of each steering wheel is calculated, the instantaneous angle of each steering wheel at the current time can be calculated according to the execution angle change amount and the instantaneous angle of each steering wheel at the previous time, and the vehicle controller controls each steering wheel to change the angle according to the calculated instantaneous angle of each steering wheel at the current time.

[0163] It should be noted that the execution angle change amount of each steering wheel calculated in this embodiment is a non-negative number, and when calculating the instantaneous angle of each steering wheel at the current time, the sign of the target angle change amount of each steering wheel is determined to determine whether the angle of the steering wheel should be increased or decreased.

[0164] Specifically, S40, according to the execution angle change amount of each steering wheel and the instantaneous angle of each steering wheel at the previous time, the instantaneous angle of each steering wheel at the current time is calculated:

[0165] θ(k) i = θ(k-1) i + Δθ(k) iCarry · sign{Δθ(k) i};

[0166] Wherein, θ(k) i is the instantaneous angle of the i-th steering wheel at time k, and θ(k-1) i is the instantaneous angle of the i-th steering wheel at time k-1.

[0167] That is:

[0168]

[0169] It can be seen that if the target angle change value of a steering wheel at time k is a non-negative number, it means that the instantaneous angle of the steering wheel at time k needs to be increased by the execution angle change amount based on the instantaneous angle at time k-1; if the target angle change value of a steering wheel at time k is negative, it means that the instantaneous angle of the steering wheel at time k needs to be reduced by the execution angle change amount based on the instantaneous angle at time k-1.

[0170] In the multi-steering wheel angle control method of this embodiment, the steering angle of all steering wheels changes to the steady-state target steering angle at the same time. For any steering wheel, when the execution angle change amount at a certain time is equal to the target angle change amount, the steering angle of the steering wheel can change to the steady-state target steering angle. In a task cycle, the change completion degree of the steering wheel is expressed by the ratio of the absolute values of the execution angle change amount and the target angle change amount:

[0171]

[0172] Wherein, t(k)i This represents the degree of completion of the change of the i-th steering wheel during the task cycle from time k to time k+1.

[0173] If at time k, the second steering angle transformation coefficient of the entire vehicle is less than or equal to 1, then for any steering wheel in the non-negative set of steering wheels, its degree of completion during the task cycle from time k to time k+1 is:

[0174]

[0175] That is:

[0176]

[0177] For any steering wheel in the negative set, its degree of completion changes during the task cycle from time k to time k+1 as follows:

[0178]

[0179] Furthermore:

[0180]

[0181] The first reduction distribution coefficient α(k) for the entire vehicle is... Minus Substitute the formulas for the first steering angle transformation coefficient β(k)1 and the second steering angle transformation coefficient β(k)2 of the vehicle into α(k). Minus From the term ·β(k)1·β(k)2, we can obtain:

[0182]

[0183] Furthermore:

[0184]

[0185] Therefore:

[0186]

[0187] In summary, if at time k, the second steering angle transformation coefficient of the entire vehicle is less than or equal to 1, then for any steering wheel, its degree of completion during the task cycle from time k to time k+1 is 1.

[0188] Similarly, if at time k, the second steering angle transformation coefficient of the entire vehicle is greater than 1, then for any steering wheel in the non-negative set of steering wheels, its degree of completion during the task cycle from time k to time k+1 is:

[0189]

[0190] That is:

[0191]

[0192] For any steering wheel in the negative set, its degree of completion changes during the task cycle from time k to time k+1 as follows:

[0193]

[0194] That is:

[0195]

[0196] And through the formula:

[0197] α(k) Minus ·β(k)1·β(k)2=α(k) Add ;

[0198] We can obtain:

[0199]

[0200] Therefore:

[0201]

[0202] In summary, if the second steering angle transformation coefficient of the vehicle is greater than 1 at time k, then for any steering wheel, its completion rate during the task cycle from time k to time k+1 is 1.

[0203] The above derivation proves that for any value of the second steering angle transformation coefficient of the whole vehicle, the task completion degree t(k) of each steering wheel within the same task cycle. i They are all the same. Therefore, at a certain t(k)... i When the value is 1, the steering angle of each steering wheel will change simultaneously to its steady-state target steering angle. That is, in this multi-steering wheel steering angle control method, each steering wheel will coordinate to change to a steady state.

[0204] In the multi-steering wheel angle control method of this application embodiment, the steering angles of each steering wheel change synchronously and reach the steady-state target steering angle at the same time. This effectively avoids the inability of the steering wheels to coordinate with each other during the vehicle steering process due to asynchronous changes in the steering angles of each steering wheel, which could cause understeering or oversteering and vehicle instability, thus improving the stability of the vehicle during the steering process.

[0205] The multi-steering wheel rotation angle control method in the embodiment of the application considers the rotation angle change ability of each steering wheel, controls the execution rotation angle change amount of each steering wheel within the rotation angle change ability of each steering wheel, and in addition, the rotation angle of each steering wheel can be changed synchronously, effectively avoiding the out-of-sync rotation angle change between the steering wheels, which causes the steering wheels to work uncoordinatedly in the vehicle steering process, and causes the vehicle body to be unstable due to understeering or oversteering, and improves the stability in the vehicle steering process.

[0206] The embodiment also provides a multi-steering wheel rotation angle control device, a schematic diagram of which is shown in FIG. 2. Figure 2 The device includes a first module 21, a second module 22 and a third module 23.

[0207] The first module 21 is used to calculate the first rotation angle change amount of each steering wheel according to the steady-state target rotation angle of each steering wheel, the instantaneous rotation angle of each steering wheel at the last time and the rotation angle change ability of each steering wheel.

[0208] The second module 22 is used to calculate the second rotation angle change amount of each steering wheel according to the first rotation angle change amount of each steering wheel and the rotation angle change ability of each steering wheel.

[0209] The third module 23 is used to calculate the execution rotation angle change amount of each steering wheel according to the second rotation angle change amount of each steering wheel.

[0210] It should be noted that the multi-steering wheel rotation angle control device provided in the embodiment can also be a computer program (including program code) running in a computer device, for example, the multi-steering wheel rotation angle control device can be used as an application program to execute the corresponding steps in the multi-steering wheel rotation angle control method provided in the embodiment.

[0211] In some possible implementation manners, the multi-steering wheel turning angle control apparatus provided in the embodiments of the present application can be implemented in a combination of software and hardware. For example, the multi-steering wheel turning angle control apparatus can be a hardware decoding processor programmed to execute the multi-steering wheel turning angle control method provided in the embodiments of the present application. For example, the hardware decoding processor can be one or more of an application specific integrated circuit (ASIC), a digital signal processor (DSP), a programmable logic device (PLD), a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), or other electronic elements.

[0212] In some possible implementation manners, the multi-steering wheel turning angle control apparatus provided in the embodiments of the present application can be implemented in a combination of software and hardware. For example, the multi-steering wheel turning angle control apparatus can be a hardware decoding processor programmed to execute the multi-steering wheel turning angle control method provided in the embodiments of the present application. For example, the hardware decoding processor can be one or more of an application specific integrated circuit (ASIC), a digital signal processor (DSP), a programmable logic device (PLD), a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), or other electronic elements.

[0213] The embodiments of the present application further provide an electronic device, which includes a memory, a processor, and a computer program stored in the memory and capable of running on the processor, and the processor executes the computer program to implement the multi-steering wheel turning angle control method in the embodiments of the present application.

[0214] The embodiments of the present application further provide an electronic device, Figure 3 is a structural schematic diagram of the electronic device of the embodiments of the present application, as Figure 3 As shown in the figure, the electronic device 1000 in the embodiments of the present application can include a processor 1001, a network interface 1004, and a memory 1005. In addition, the electronic device 1000 can further include a user interface 1003 and at least one communication bus 1002. The communication bus 1002 is used to realize the connection and communication among the components. The user interface 1003 can include a display and a keyboard. The user interface 1003 can further include a standard wired interface and a wireless interface. The network interface 1004 can include a standard wired interface and a wireless interface (such as a WI-FI interface). The memory 1004 can be a high-speed RAM memory or a non-volatile memory (such as at least one disk memory). The memory 1005 can be at least one storage device located away from the processor 1001.Figure 3 As shown, the memory 1005, which is a computer-readable storage medium, may include an operating system, a network communication module, a user interface module, and a device control application.

[0215] like Figure 3 In the illustrated electronic device 1000, the network interface 1004 provides network communication functionality; the user interface 1003 is primarily used to provide an input interface for the user; and the processor 1001 can be used to call the device control application stored in the memory 1005 to achieve:

[0216] Based on the steady-state target rotation angle of each steering wheel, the instantaneous rotation angle of each steering wheel at the previous moment, and the rotation angle change capability of each steering wheel, the first rotation angle change of each steering wheel is calculated.

[0217] The second angle change of each steering wheel is calculated based on the first angle change of each steering wheel and the angle change capability of each steering wheel;

[0218] The change in the operating angle of each steering wheel is calculated based on the change in the second steering angle of each steering wheel.

[0219] It should be understood that in some feasible implementations, the processor 1001 described above may be a central processing unit (CPU), which may also be other general-purpose processors, DSPs, ASICs, FPGAs, or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor. The memory may include read-only memory and random access memory, and provides instructions and data to the processor. A portion of the memory may also include non-volatile random access memory. For example, the memory may also store device type information.

[0220] In practice, the aforementioned electronic device 1000 can execute the implementation methods provided by the various steps of the control method described above through its built-in functional modules. For details, please refer to the implementation methods provided by the various steps described above, which will not be repeated here.

[0221] This embodiment also provides a computer-readable storage medium that stores computer instructions. The computer instructions cause the computer to execute each step of the multi-steering wheel angle control method in this embodiment. For details, please refer to the implementation methods provided in the above steps, which will not be repeated here.

[0222] It should be understood that although the steps in the flowcharts of the drawings are shown in a sequential order following the arrows, the steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated otherwise herein, the execution of the steps is not strictly limited to the order indicated by the arrows, and can be executed in other orders. Moreover, at least some of the steps in the flowcharts of the drawings can include multiple sub-steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution order of which is not necessarily sequential, but can be round-robin or alternating with at least some of the other steps or sub-steps or stages of other steps.

[0223] The above only describes some embodiments of the present application, and it should be pointed out that for those skilled in the art, without departing from the principles of the present application, a number of improvements and refinements can be made, which should also be considered as the protection scope of the present application.

Claims

1. A multi-steering wheel turning angle control method characterized by, The method comprises the following steps: According to the steady-state target steering angle of each steering wheel, the instantaneous steering angle of each steering wheel at the last time, and the steering angle change ability of each steering wheel, a first steering angle change amount of each steering wheel is calculated, wherein the steering angle change ability represents the maximum increase and decrease of the steering angle of each steering wheel in a task cycle; According to the first steering angle change amount and the steering angle change ability, a second steering angle change amount of each steering wheel is calculated; According to the second steering angle change amount, an executed steering angle change amount of each steering wheel is calculated; The step of calculating the first steering angle change amount of each steering wheel according to the steady-state target steering angle of each steering wheel, the instantaneous steering angle of each steering wheel at the last time, and the steering angle change ability of each steering wheel comprises: The target steering angle change amount of each steering wheel is calculated by difference calculation according to the steady-state target steering angle and the instantaneous steering angle of each steering wheel at the last time; According to the target steering angle change amount and the steering angle change ability, a first distribution coefficient of the whole vehicle is determined, and the first distribution coefficient comprises a first increment distribution coefficient and a first decrement distribution coefficient: According to the first distribution coefficient and the target steering angle change amount, the first steering angle change amount of each steering wheel is determined: wherein, α(k) Add is a first incremental distribution coefficient of the whole vehicle at time k, α(k) Minus is a first decremental distribution coefficient of the whole vehicle at time k, Δθ(k) i is a target angle change amount of the i-th steered wheel at time k, Δθ iAddmax is a maximum value of the angle increase of the i-th steered wheel, Δθ iMinusmax is a maximum value of the angle decrease of the i-th steered wheel, Δθ(k) iFirst is a first angle change amount of the i-th steered wheel at time k, sign{Δθ(k) i} is a sign function of Δθ(k) i , and n is the total number of steered wheels of the whole vehicle. The step of calculating the second steering angle change amount of each steering wheel according to the first steering angle change amount and the steering angle change ability comprises: According to the first steering angle change amount and the steering angle change ability, a second distribution coefficient of the whole vehicle is calculated, and the second distribution coefficient comprises a second increment distribution coefficient and a second decrement distribution coefficient; According to the first steering angle change amount and the second distribution coefficient, the second steering angle change amount of each steering wheel is calculated: wherein Δθ(k) iSecond is the second change in steering angle of the i-th steering wheel at time k, τ(k) Addmax is the second incremental distribution coefficient of the entire vehicle at time k, τ(k) Minusmax is the second decremental distribution coefficient of the entire vehicle at time k.

2. The multi-steering wheel turning angle control method according to claim 1, characterized by, The step of calculating the second distribution coefficient of the whole vehicle according to the first steering angle change amount and the steering angle change ability comprises: According to the first steering angle change amount and the steering angle change ability, a first proportional coefficient of each steering wheel is calculated: According to the first proportional coefficient, a third distribution coefficient of the whole vehicle is calculated, and the third distribution coefficient comprises a third increment distribution coefficient and a third decrement distribution coefficient: wherein τ(k) i is the first proportional coefficient of the i-th steering wheel at the k-th moment, τ1(k) Addmax is the third incremental distribution coefficient of the whole vehicle at the k-th moment, τ1(k) Minusmax is the third decremental distribution coefficient of the whole vehicle at the k-th moment.

3. The multi-steering wheel turning angle control method according to claim 2, characterized by, The step of calculating the second distribution coefficient of the whole vehicle according to the first steering angle change amount and the steering angle change ability of each steering wheel further comprises: According to the steering angle change ability, a first steering angle transformation coefficient of the whole vehicle is calculated: According to the first steering angle transformation coefficient and the third distribution coefficient, a second distribution coefficient of the whole vehicle is determined: Wherein, β(k)1 is the first steering angle transformation coefficient of the whole vehicle at k time.

4. The multi-steering wheel turning angle control method according to claim 1, characterized by, The step of calculating the executed steering angle change amount of each steering wheel according to the second steering angle change amount comprises: Based on the steering angle change ability, a second steering angle transformation coefficient of the whole vehicle is calculated by ratio calculation: According to the second steering angle change amount and the second steering angle transformation coefficient, the executed steering angle change amount is calculated: where Δθ(k) iCarry is the change in steering angle of the ith steering wheel at time k, and β(k)2is the second steering angle transformation coefficient of the vehicle at time k.

5. The multi-steering wheel turning angle control method according to claim 4, characterized by, The multi-steering wheel steering angle control method further comprises: According to the executed steering angle change amount and the instantaneous steering angle of each steering wheel at the last time, the instantaneous steering angle of each steering wheel at the current time is calculated: θ(k) i = θ(k-1) i + Δθ(k) iCarry · sign{Δθ(k) i} where θ(k) i is the instantaneous steering angle of the i-th steering wheel at time k, θ(k-1) i is the instantaneous steering angle of the i-th steering wheel at time k-1.

6. A multi-steered wheel turning angle control device for implementing the multi-steered wheel turning angle control method according to any one of claims 1 to 5, characterized by, The method comprises the following steps: The first module is configured to calculate a first steering angle change amount of each steering wheel according to a steady-state target steering angle of each steering wheel, an instantaneous steering angle of each steering wheel at a previous time, and a steering angle change capability of each steering wheel. The second module is configured to calculate a second steering angle change amount of each steering wheel according to the first steering angle change amount and the steering angle change capability. The third module is configured to calculate an execution steering angle change amount of each steering wheel according to the second steering angle change amount. The processor executes the computer program to implement the multi-steering wheel steering angle control method according to any one of claims 1 to 5.

7. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The computer readable storage medium stores computer instructions, and the computer instructions cause the computer to execute the multi-steering wheel steering angle control method according to any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, ​

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