A method for controlling the rear wheel steering of a vehicle, a vehicle, a controller, and a storage medium.

Abstract

This application relates to a method, vehicle, controller, and storage medium for controlling the rear-wheel steering of a vehicle. The method includes: a first controller monitoring whether the vehicle's rear-wheel steering system is in a fault state; if the rear-wheel steering system is in the fault state, the first controller outputs a centering command to the rear-wheel steering gear; the first controller determines whether the rear-wheel steering gear is in the center position; and when the rear-wheel steering gear is not in the center position, the first controller locks the rear-wheel steering gear in the current position. The method, vehicle, controller, and storage medium provided in this application control the rear-wheel steering gear to center when the rear-wheel steering system malfunctions, and locks the rear-wheel steering gear in the current position when it cannot center, thereby improving driving safety.

Description

Technical Field

[0001] This application belongs to the field of vehicle rear-wheel steering technology, and particularly relates to a method, vehicle, controller and storage medium for controlling the rear-wheel steering of a vehicle. Background Technology

[0002] With the rapid development of the automotive industry, various automotive technologies are maturing, and more and more advanced features are being applied to civilian vehicles. As a crucial component in enhancing the driving experience, the chassis is also seeing the emergence of numerous new technologies, such as four-wheel steering, active stabilizer bars, and air suspension, which are becoming increasingly popular among consumers. However, given the chassis's importance to safe driving, designing a safe and stable chassis system remains a major challenge for OEMs.

[0003] Four-wheel steering significantly improves steering maneuverability and increases yaw gain at low and medium speeds, while reducing yaw gain and enhancing vehicle stability at high speeds. It provides a consistently positive driving experience throughout almost the entire driving cycle, making the design of a safe and robust steering control system crucial. Unlike front-wheel steering, where the driver can still steer mechanically in the event of power steering failure, rear-wheel steering is a steer-by-wire system with no mechanical connection to the steering wheel. Ensuring normal vehicle operation in the event of a malfunction is a primary consideration when designing a rear-wheel steering control system. Summary of the Invention

[0004] To address the aforementioned technical problems, this application provides a method, vehicle, controller, and storage medium for controlling the rear wheel steering of a vehicle, thereby improving driving safety.

[0005] This application provides a method for controlling the rear wheel steering of a vehicle, comprising: a first controller monitoring whether the rear wheel steering system of the vehicle is in a fault state; if the rear wheel steering system of the vehicle is in the fault state, the first controller outputs a centering command to the rear wheel steering gear; the first controller determines whether the rear wheel steering gear is in the center position; when the rear wheel steering gear is not in the center position, the first controller controls the rear wheel steering gear to lock in the current position.

[0006] In one embodiment, the method further includes: when the vehicle is powered on, the first controller obtains the initial position of the rear wheel steering gear; if the initial position of the rear wheel steering gear is in the center position, the first controller obtains a handshake condition with the second controller; if the initial position of the rear wheel steering gear is in the non-center position, the first controller outputs the centering command to the rear wheel steering gear, and obtains the handshake condition after the rear wheel steering gear returns to the center position.

[0007] In one embodiment, the handshake conditions include: the communication status between the first controller and the second controller is normal; and the current vehicle speed is less than a vehicle speed threshold.

[0008] In one embodiment, after the first controller acquires the handshake conditions with the second controller, the process includes: the first controller determining whether the handshake conditions meet a preset condition; if the handshake conditions meet the preset condition, the first controller enters a preparation state and sends a ready handshake signal to the second controller to perform a handshake with the second controller according to the handshake request sent by the second controller; after completing the handshake with the second controller, the first controller enters a handshake state so that the second controller directly controls the rear wheel steering to steer; if the handshake conditions do not meet the preset condition, the first controller enters a suppression state until the handshake conditions meet the preset condition, and then enters the preparation state.

[0009] In one embodiment, after the first controller determines whether the rear wheel steering gear is in the neutral position, the method includes: when the rear wheel steering gear is in the neutral position, the first controller monitors whether the fault state is cleared; when the fault state is cleared, the first controller obtains a handshake condition with the second controller.

[0010] In one embodiment, the first controller outputs a centering command to the rear wheel steering gear, including: the first controller controls the rear wheel steering gear to return to the center position at a preset speed; wherein the preset speed ranges from [0.5, 0.8], and the unit is degrees per second.

[0011] This application also provides a vehicle including a rear-wheel steering system; wherein the rear-wheel steering system includes a first controller and a rear-wheel steering gear; the first controller is used to monitor whether the rear-wheel steering system is in a fault state, and if the rear-wheel steering system is in the fault state, it outputs a centering command to the rear-wheel steering gear; the first controller is also used to determine whether the rear-wheel steering gear is in the center position, and when the rear-wheel steering gear is not in the center position, it controls the rear-wheel steering gear to lock in the current position.

[0012] In one embodiment, the vehicle further includes a second controller; the first controller is also configured to acquire handshake conditions with the second controller, and to perform a handshake with the second controller when the handshake conditions meet preset conditions; after the handshake with the first controller is completed, the second controller is configured to control the rear wheel steering system to steer.

[0013] This application also provides a controller, which includes 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 implement the steps of the above-described method.

[0014] This application also provides a storage medium storing a computer program that, when executed by a processor, implements the steps of the above-described method.

[0015] This application provides a method, vehicle, controller, and storage medium for controlling the rear wheel steering of a vehicle. When a malfunction occurs in the rear wheel steering system, the rear wheel steering gear is controlled to return to center. If the rear wheel steering gear cannot return to center, the rear wheel steering gear is locked in the current position, thereby improving driving safety. Attached Figure Description

[0016] Figure 1 This is a schematic diagram illustrating the principle of controlling the rear wheel steering of a vehicle in a typical implementation.

[0017] Figure 2 This is a schematic diagram of the vehicle structure according to an embodiment of this application;

[0018] Figure 3 A flowchart illustrating the method for controlling the rear wheel steering of a vehicle provided in Embodiment 1 of this application;

[0019] Figure 4 This is a schematic flowchart of the method for controlling the rear wheel steering of a vehicle provided in Embodiment 1 of this application;

[0020] Figure 5 This is a schematic diagram of the controller provided in Embodiment 2 of this application. Detailed Implementation

[0021] The technical solutions of this application will be further described in detail below with reference to the accompanying drawings and specific embodiments. Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit this application. The word "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0022] In one embodiment, the rear-wheel steering system is designed with a vehicle controller and a rear-wheel steering gear. The vehicle controller calculates the desired angle that the rear-wheel steering gear needs to execute based on signals such as vehicle speed and steering wheel angle, combined with the driving scenario. Upon receiving the desired angle, the rear-wheel steering gear moves towards the target position. Figure 1As shown, when the vehicle is moving forward, the driver inputs the steering angle to the Electronic Power Steering (EPS) system via the steering wheel. The EPS provides the front wheel steering angle signal to the vehicle control unit (VCU). The VCU calculates the desired rear wheel steering angle based on the received front wheel steering angle signal and the vehicle speed, generates the rear wheel steering angle signal, and sends it to the rear wheel steering gear in the Rear Wheel Steering (RWS) system. The rear wheel steering gear then steers to the target position based on the received desired steering angle.

[0023] However, in this control method, when the rear wheel steering system malfunctions, the current position of the rear wheel steering gear is not distinguished. Regardless of the malfunction, it directly enters the fault state. The rear wheel steering gear is more prone to non-zero position malfunctions. After the non-zero position malfunction is resolved, the rear wheel steering system shakes hands with the vehicle controller again. The rear wheel steering gear turns according to the steering angle sent by the vehicle controller, which poses a risk of sudden changes in steering angle and cannot guarantee driving safety.

[0024] To address this technical problem, in one embodiment, a method for controlling the steering of the rear wheels of a vehicle is provided. Figure 2 This is a schematic diagram of a vehicle structure according to an embodiment of this application. The method for controlling the rear wheel steering of a vehicle provided in this embodiment is implemented based on this vehicle structure. The vehicle in this embodiment includes a rear wheel steering system; wherein, the rear wheel steering system includes a first controller 11 and a rear wheel steering gear 12.

[0025] The first controller 11 is used to monitor whether the rear wheel steering system is in a fault state. If the rear wheel steering system is in a fault state, it outputs a return-to-center command to the rear wheel steering gear 12. The first controller 11 is also used to determine whether the rear wheel steering gear 12 is in the center position. When the rear wheel steering gear 12 is in the non-center position, it controls the rear wheel steering gear 12 to lock in the current position.

[0026] Optionally, the vehicle also includes a second controller 13.

[0027] The first controller 11 is also used to acquire the handshake conditions with the second controller 13, and to perform a handshake with the second controller 13 when the handshake conditions meet the preset conditions;

[0028] After the handshake with the first controller 11 is completed, the second controller 13 is used to control the rear wheel steering to steer.

[0029] Optionally, the second controller is a vehicle controller; the rear wheel steering system also includes an angle sensor, which is used to collect position information of the rear wheel steering gear.

[0030] Figure 3This is a flowchart illustrating the method for controlling the rear wheel steering of a vehicle provided in Embodiment 1 of this application. Figure 3 As shown, the method of this application may include the following steps:

[0031] Step S101: The first controller monitors whether the vehicle's rear wheel steering system is in a fault state;

[0032] Optionally, the first controller is the controller in the rear wheel steering system of the vehicle; the fault states include software faults and hardware faults (such as angle sensor faults) in the rear wheel steering system of the vehicle, mechanical faults caused by external temperature, voltage or load, and communication faults between the rear wheel steering system of the vehicle and the vehicle controller.

[0033] Step S102: If the vehicle's rear wheel steering system is in a fault state, the first controller outputs a centering command to the rear wheel steering gear;

[0034] Optionally, when the rear-wheel steering system malfunctions, the first controller controls the rear-wheel steering gear to return to the neutral position at a preset speed. Optionally, the preset speed ranges from [0.5, 0.8], with units of degrees per second. It is worth noting that, for different driving scenarios, such as high-speed lane changes and ramp crossings, different preset speeds can be set to control the rear-wheel steering gear to return to the neutral position when the rear-wheel steering system malfunctions. This ensures that the rear-wheel steering gear can return to the neutral position as quickly as possible in a malfunctioning state, while also ensuring that the lateral displacement generated during the return to the neutral position in the current driving scenario does not affect driving safety. Optionally, the position within a range of ±0.1 degrees is defined as the neutral position.

[0035] Step S103: The first controller determines whether the rear wheel steering gear is in the neutral position;

[0036] Step S104: When the rear wheel steering gear is in the non-neutral position, the first controller controls the rear wheel steering gear to lock in the current position.

[0037] Optionally, after step S103, the method further includes:

[0038] When the rear wheel steering gear is in the neutral position, the first controller monitors whether the fault condition has been cleared;

[0039] When the fault condition is cleared, the first controller obtains the handshake conditions with the second controller; optionally, the second controller is the vehicle controller.

[0040] In one embodiment, the method for controlling the rear wheel steering of a vehicle according to this application further includes:

[0041] When the vehicle is powered on, the first controller acquires the initial position of the rear wheel steering gear;

[0042] If the initial position of the rear wheel steering gear is in the neutral position, the first controller obtains the handshake conditions with the second controller;

[0043] If the initial position of the rear wheel steering is not in the center position, the first controller outputs a return-to-center command to the rear wheel steering and obtains the handshake condition with the second controller after the rear wheel steering returns to the center position.

[0044] Optionally, the handshake conditions include: the communication status between the first controller and the second controller is normal; the current vehicle speed is less than the vehicle speed threshold; optionally, the vehicle speed threshold is 5 km / h.

[0045] In one embodiment, after the first controller acquires the handshake conditions with the second controller, the process includes:

[0046] The first controller determines whether the handshake conditions meet the preset conditions;

[0047] If the handshake conditions meet the preset conditions, the first controller enters the preparation state and sends a ready handshake signal to the second controller, so as to perform a handshake with the second controller according to the handshake request sent by the second controller.

[0048] After the handshake with the second controller is completed, the first controller enters the handshake state, so that the second controller can directly control the rear wheel steering to steer;

[0049] If the handshake conditions do not meet the preset conditions, the first controller enters the suppression state until the handshake conditions meet the preset conditions, at which point it enters the preparation state.

[0050] Figure 4 This is a schematic flowchart illustrating the method for controlling the rear wheel steering of a vehicle provided in Embodiment 1 of this application. Figure 4 As shown, the method of this application may include the following steps:

[0051] Step S201: The vehicle is powered on, and the first controller obtains the initial position of the rear wheel steering gear;

[0052] Step S202: The first controller determines whether the rear wheel steering gear is in the neutral position;

[0053] If the rear wheel steering is in the neutral position, then step S203 is executed: the first controller obtains the handshake conditions with the second controller;

[0054] If the rear wheel steering gear is not in the center position, then step S204 is executed: the first controller sends a return-to-center command to the rear wheel steering gear, and after the rear wheel steering gear returns to the center position, it returns to step S203.

[0055] Step S205: The first controller determines whether the handshake conditions meet the preset conditions;

[0056] If the handshake conditions meet the preset conditions, then step S206 is executed: the first controller enters the preparation state and shakes hands with the second controller according to the handshake request sent by the second controller;

[0057] If the handshake conditions do not meet the preset conditions, then step S207 is executed: the first controller enters the suppression state and returns to the execution step S203;

[0058] Step S208: The first controller enters the handshake state, and the second controller sends a steering command to the rear wheel steering system;

[0059] Step S209: The rear wheel steering system steers according to the steering command sent by the second controller;

[0060] Step S210: The first controller monitors whether the vehicle's rear wheel steering system is in a faulty state;

[0061] If the vehicle's rear wheel steering system is in a faulty state, return to step S204;

[0062] If the vehicle's rear wheel steering system is not in a faulty state, then step S211 is executed: the rear wheel steering unit turns to the target angle according to the steering command sent by the second controller;

[0063] Step S212: The first controller determines whether the rear wheel steering gear is in the neutral position;

[0064] If the rear wheel steering gear is in the neutral position, then step S213 is executed: the first controller monitors whether the fault status has been cleared;

[0065] If the fault is cleared, return to step S203.

[0066] If the fault condition is not resolved, continue with step S213;

[0067] If the rear wheel steering gear is not in the neutral position, then step S214 is executed: the first controller controls the rear wheel steering gear to lock in the current position.

[0068] Optionally, when the vehicle is powered on, the first controller enters an initialization state, obtains the initial position of the rear wheel steering gear, and determines whether the rear wheel steering gear is in the center position. If the rear wheel steering gear is in the center position, the first controller obtains the handshake conditions with the second controller. If the rear wheel steering gear is not in the center position, the first controller sends a return-to-center command to the rear wheel steering gear, and after the rear wheel steering gear returns to the center position, obtains the handshake conditions with the second controller. After obtaining the handshake conditions, the first controller determines whether the handshake conditions meet preset conditions. If the handshake conditions meet preset conditions, the first controller enters a preparation state and sends a ready handshake signal to the second controller, and then, according to the handshake request sent by the second controller, communicates with the second controller. The first controller initiates a handshake process; if the handshake conditions do not meet the preset conditions, the first controller enters a suppressed state and continues to acquire handshake conditions with the second controller; after completing the handshake with the second controller, the first controller enters a handshake state, and the second controller sends a steering command to the rear wheel steering system; the rear wheel steering system steers according to the steering command sent by the second controller; during the steering process of the rear wheel steering system, the first controller monitors whether the vehicle's rear wheel steering system is in a fault state; if the vehicle's rear wheel steering system is in a fault state, the first controller sends a centering command to the rear wheel steering system; if the vehicle's rear wheel steering system is not in a fault state, the rear wheel steering system steers to the target angle according to the steering command sent by the second controller.

[0069] Optionally, after sending a centering command to the rear wheel steering gear, the first controller determines whether the rear wheel steering gear has returned to the center position; if the rear wheel steering gear is in the center position, the first controller monitors whether the fault state is cleared; if the fault state is cleared, the first controller obtains the handshake conditions with the second controller; if the fault state is not cleared, the first controller continues to monitor whether the fault state is cleared; if the rear wheel steering gear is not in the center position, the first controller controls the rear wheel steering gear to lock in the current position.

[0070] The method for controlling the rear wheel steering of a vehicle provided in Embodiment 1 of this application monitors whether the rear wheel steering system of the vehicle is in a fault state through a first controller; if the rear wheel steering system of the vehicle is in a fault state, the first controller outputs a centering command to the rear wheel steering gear; the first controller determines whether the rear wheel steering gear is in the center position; when the rear wheel steering gear is not in the center position, the first controller controls the rear wheel steering gear to lock in the current position, thereby realizing the control of the rear wheel steering gear to return to the center when the rear wheel steering system malfunctions, and locking the rear wheel steering gear in the current position when the rear wheel steering gear cannot return to the center, effectively improving driving safety.

[0071] Figure 5This is a schematic diagram of the controller provided in Embodiment 2 of this application. The controller of this application includes: a processor 110, a memory 111, and a computer program 112 stored in the memory 111 and executable on the processor 110. When the processor 110 executes the computer program 112, it implements the steps in the various method embodiments described above, for example... Figure 3 Steps S101 to S104 are shown.

[0072] The controller may include, but is not limited to, a processor 110 and a memory 111. Those skilled in the art will understand that... Figure 5 This is merely an example of a controller and does not constitute a limitation on the controller. It may include more or fewer components than illustrated, or combine certain components, or different components. For example, the controller may also include input / output devices, network access devices, buses, etc.

[0073] The processor 110 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0074] The memory 111 can be an internal storage unit of the controller, such as the controller's hard drive or memory. The memory 111 can also be an external storage device of the controller, such as a plug-in hard drive, Smart Media Card (SMC), Secure Digital (SD) card, or FlashCard. Furthermore, the memory 111 can include both internal and external storage units of the controller. The memory 111 is used to store the computer program and other programs and data required by the controller. The memory 111 can also be used to temporarily store data that has been output or will be output.

[0075] This application also provides a storage medium storing a computer program, which, when executed by a processor, implements the steps of the method described above.

[0076] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0077] In this document, the terms “comprising,” “including,” or any other variations thereof are intended to cover non-exclusive inclusion, which includes not only the elements listed but also other elements not expressly listed.

[0078] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for controlling the rear wheel steering of a vehicle, characterized in that, include: The first controller monitors whether the vehicle's rear wheel steering system is in a faulty state; If the vehicle's rear wheel steering system is in the fault state, the first controller outputs a centering command to the rear wheel steering gear; The first controller determines whether the rear wheel steering is in the neutral position; When the rear wheel steering gear is in the non-neutral position, the first controller controls the rear wheel steering gear to lock in the current position; The method further includes: When the vehicle is powered on, the first controller acquires the initial position of the rear wheel steering gear; If the initial position of the rear wheel steering gear is in the middle position, the first controller obtains the handshake condition with the second controller and determines whether the handshake condition meets the preset condition. If the handshake conditions meet the preset conditions, the first controller enters the preparation state and sends a handshake preparation signal to the second controller to perform a handshake with the second controller according to the handshake request sent by the second controller; After the handshake with the second controller is completed, the first controller enters the handshake state, so that the second controller can directly control the rear wheel steering to steer.

2. The method as described in claim 1, characterized in that, The method further includes: If the initial position of the rear wheel steering gear is in the non-center position, the first controller outputs the centering command to the rear wheel steering gear, and obtains the handshake condition when the rear wheel steering gear returns to the center position.

3. The method as described in claim 2, characterized in that, The handshake conditions include: The communication between the first controller and the second controller is normal; The current vehicle speed is less than the vehicle speed threshold.

4. The method as described in claim 2, characterized in that, The method further includes: If the handshake condition does not meet the preset condition, the first controller enters the suppression state until the handshake condition meets the preset condition, at which point it enters the preparation state.

5. The method according to any one of claims 1-4, characterized in that, After the first controller determines whether the rear wheel steering is in the center position, the following steps are included: When the rear wheel steering gear is in the neutral position, the first controller monitors whether the fault state has been cleared; When the fault condition is cleared, the first controller acquires the handshake conditions with the second controller.

6. The method as described in claim 1, characterized in that, The first controller outputs a centering command to the rear wheel steering system, including: The first controller controls the rear wheel steering to return to the neutral position at a preset speed; The preset speed ranges from [0.5, 0.8], and the unit is degrees per second.

7. A vehicle, characterized in that, The vehicle includes a rear-wheel steering system; wherein the rear-wheel steering system includes a first controller and a rear-wheel steering gear; The first controller is used to monitor whether the rear wheel steering system is in a fault state. If the rear wheel steering system is in the fault state, it outputs a centering command to the rear wheel steering gear. The first controller is also configured to determine whether the rear wheel steering gear is in the neutral position, and when the rear wheel steering gear is in the non-neutral position, control the rear wheel steering gear to lock in the current position; The first controller is further configured to acquire the initial position of the rear wheel steering gear when the vehicle is powered on, and when the initial position of the rear wheel steering gear is in the center position, acquire the handshake conditions with the second controller, determine whether the handshake conditions meet the preset conditions, and when the handshake conditions meet the preset conditions, enter the preparation state and send a preparation handshake signal to the second controller to perform a handshake with the second controller according to the handshake request sent by the second controller. After the handshake with the second controller is completed, the controller enters the handshake state so that the second controller can directly control the rear wheel steering gear to steer.

8. A controller, characterized in that, The controller includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the method as described in any one of claims 1 to 6.

9. A storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1 to 6.

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