Steering control method and device, electronic equipment, storage medium and vehicle

Abstract

The present disclosure relates to a steering control method and device, electronic equipment, storage medium and vehicle, and relates to the field of vehicles. The present disclosure first acquires actual steering angle information of the steering wheel in the case of determining that the electronic power steering system fails, and determines the current differential torque according to the current torque of two driving motors. Then, the steering takeover state of the vehicle is determined according to the differential torque and the actual steering angle information. Finally, in the case of the steering takeover state being the driver takeover vehicle steering state, the driving motor is controlled to steer the vehicle in response to the driving operation of the driver. According to the current differential torque and the actual steering angle information, the steering takeover state of the vehicle is accurately determined in the case of the electronic power steering system failure, the automatic driving mode and the manual driving mode are switched in time, the safety of the vehicle is improved, and the experience of the user is improved.

Description

TECHNICAL FIELD

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

[0002] With the development of vehicle technology, automatic driving technology gradually moves towards practical application, and vehicle lateral control (for example, vehicle steering) is an important link in automatic driving. For example, the ADAS (Advanced Driving Assistance System) of a vehicle can control the EPS (Electric Power Steering) of the vehicle to complete vehicle lateral control (for example, vehicle steering).

[0003] In automatic driving technology, how to switch between the automatic driving mode and the manual driving mode is another important link. In the prior art, in the automatic driving mode, the driver is determined to take over the control of the vehicle by the steering wheel torque, the steering wheel angle, the accelerator pedal, or the brake pedal. The steering wheel torque and the steering wheel angle are obtained by the electronic power steering system. Thus, in the case of a failure of the electronic power steering system, the steering wheel torque and the steering wheel angle cannot be accurately obtained, so that it is impossible to accurately determine whether the vehicle is taken over by the driver, thereby causing the switching between the automatic driving mode and the manual driving mode to be unable to be successfully completed, and causing a safety hazard. SUMMARY

[0004] To overcome the problems in the related art, the present disclosure provides a steering control method and device, an electronic device, a storage medium, and a vehicle.

[0005] According to a first aspect of an embodiment of the present disclosure, a steering control method is provided, applied to a vehicle, the vehicle including four wheels, at least two driving motors, a steering wheel, an automatic driving system, and an electronic power steering system, two of the driving motors driving two coaxial wheels, the method including:

[0006] In a case where it is determined that the electronic power steering system fails, actual steering angle information of the steering wheel is obtained, and a current differential torque is determined according to a current torque of the two driving motors;

[0007] According to the current differential torque and the actual steering angle information, a direction takeover state of the vehicle is determined, the direction takeover state including a driver taking over the direction of the vehicle state or a driver not taking over the direction of the vehicle state;

[0008] In a case where the direction takeover state is the driver taking over the direction of the vehicle state, the driving motors are controlled to make the vehicle steer in response to a driving operation of the driver.

[0009] Optionally, before the determining the direction takeover state of the vehicle according to the current differential torque and the actual steering angle information, the method further comprises:

[0010] obtaining control information of the vehicle and facial information of the driver, the control information comprising brake pedal signal, accelerator pedal signal and steering instruction signal;

[0011] the determining the direction takeover state of the vehicle according to the current differential torque and the actual steering angle information comprises:

[0012] in the case that the vehicle is determined to be in the driver driving state according to the control information and / or the facial information, determining the direction takeover state of the vehicle according to the current differential torque and the actual steering angle information.

[0013] Optionally, the actual steering angle information comprises a plurality of steering angles and time information corresponding to each of the steering angles, and the determining the direction takeover state of the vehicle according to the current differential torque and the actual steering angle information comprises:

[0014] for each of the steering angles, determining a steering angle change rate corresponding to the steering angle according to the steering angle and the time information corresponding to the steering angle;

[0015] determining a target steering angle range corresponding to the current differential torque from a plurality of preset steering angle ranges;

[0016] determining a target steering angle change rate range corresponding to the current differential torque from a plurality of preset steering angle change rate ranges;

[0017] in the case that any of the steering angles exceeds the target steering angle range or any of the steering angle change rates exceeds the target steering angle change rate range, determining the direction takeover state of the vehicle as the driver taking over the direction of the vehicle.

[0018] Optionally, the method further comprises:

[0019] in the case that none of the steering angles exceeds the target steering angle range and none of the steering angle change rates exceeds the target steering angle change rate range, determining the direction takeover state of the vehicle as the driver not taking over the direction of the vehicle.

[0020] Optionally, the method further comprises:

[0021] In a case where it is determined, according to the control information and / or the face information, that the vehicle is not in a driver driving state, the direction takeover state of the vehicle is determined as the driver non-takeover vehicle direction state.

[0022] Optionally, the vehicle further comprises a steering redundancy module; and the method further comprises:

[0023] In a case where the direction takeover state is the driver non-takeover vehicle direction state, target steering angle information of the steering wheel is acquired according to a steering request of the automatic driving system;

[0024] According to the actual steering angle information and the target steering angle information, target differential torque of the vehicle is determined;

[0025] According to the target differential torque control, the steering redundancy module and the drive motor are controlled to steer the vehicle.

[0026] According to a second aspect of the embodiments of the present disclosure, a steering control device is provided, applied to a vehicle, four wheels, at least two drive motors, a steering wheel, an automatic driving system and an electronic power steering system, two of the drive motors driving two coaxial wheels, the device comprising:

[0027] An acquisition module is configured to, in a case where it is determined that the electronic power steering system fails, acquire actual steering angle information of the steering wheel, and determine current differential torque according to current torque of the two drive motors;

[0028] A determination module is configured to determine, according to the current differential torque and the actual steering angle information, a direction takeover state of the vehicle, the direction takeover state comprising a driver takeover vehicle direction state or a driver non-takeover vehicle direction state;

[0029] A control module is configured to, in a case where the direction takeover state is the driver takeover vehicle direction state, control the drive motor to steer the vehicle in response to a driving operation of a driver.

[0030] Optionally, the acquisition module is further configured to:

[0031] Acquire control information of the vehicle and face information of the driver, the control information comprising brake pedal signal, accelerator pedal signal and steering indication signal.

[0032] The determination module is further configured to:

[0033] In a case that the vehicle is determined to be in the driver driving state according to the control information and / or the face information, a direction takeover state of the vehicle is determined according to the current differential torque and the actual steering angle information.

[0034] Optionally, the actual steering angle information includes a plurality of steering angles and time information corresponding to each of the steering angles, and the determining module is further configured to:

[0035] For each of the steering angles, a steering angle change rate corresponding to the steering angle is determined according to the steering angle and the time information corresponding to the steering angle.

[0036] From a plurality of preset steering wheel angle ranges, a target steering angle range corresponding to the current differential torque is determined.

[0037] From a plurality of preset steering wheel angle change rate ranges, a target steering wheel angle change rate range corresponding to the current differential torque is determined.

[0038] In a case that any of the steering angles exceeds the target steering angle range or any of the steering angle change rates exceeds the target steering angle change rate range, the direction takeover state of the vehicle is determined to be the driver taking over the vehicle direction state.

[0039] Optionally, the determining module is further configured to:

[0040] In a case that none of the steering angles exceeds the target steering angle range and none of the steering angle change rates exceeds the target steering angle change rate range, the direction takeover state of the vehicle is determined to be the driver not taking over the vehicle direction state.

[0041] Optionally, the determining module is further configured to:

[0042] In a case that the vehicle is determined not to be in the driver driving state according to the control information and / or the face information, the direction takeover state of the vehicle is determined to be the driver not taking over the vehicle direction state.

[0043] Optionally, the vehicle further includes a steering redundancy module, and the control module is further configured to:

[0044] In a case that the direction takeover state is the driver not taking over the vehicle direction state, target steering angle information of the steering wheel is obtained according to a steering request of the automatic driving system.

[0045] A target differential torque of the vehicle is determined according to the actual steering angle information and the target steering angle information.

[0046] The steering redundancy module and the drive motor are controlled to steer the vehicle according to the target differential torque.

[0047] According to a third aspect of the embodiments of the present disclosure, an electronic device is provided, which comprises:

[0048] a memory having a computer program stored thereon;

[0049] a processor configured to execute the computer program in the memory to implement the steps of the method according to any of the embodiments of the first aspect.

[0050] According to a fourth aspect of the embodiments of the present disclosure, a non-transitory computer readable storage medium is provided, having a computer program stored thereon, which, when executed by a processor, implements the steps of the method according to the first aspect.

[0051] According to a fifth aspect of the embodiments of the present disclosure, a vehicle is provided, comprising the device according to the second aspect.

[0052] The technical solutions provided by the embodiments of the present disclosure can include the following beneficial effects:

[0053] The present disclosure first acquires actual steering angle information of the steering wheel in the case that the electronic power steering system is determined to be faulty, and determines a current differential torque according to current torques of the two drive motors, then determines a direction takeover state of the vehicle according to the current differential torque and the actual steering angle information, and finally controls the drive motor to steer the vehicle in response to the driving operation of the driver in the case that the direction takeover state is the driver takeover vehicle direction state. That is, the present disclosure can accurately determine the direction takeover state of the vehicle according to the current differential torque and the actual steering angle information in the case that the electronic power steering system of the vehicle is faulty, timely complete the switching between the automatic driving mode and the manual driving mode, improve the safety of the vehicle, and improve the user experience.

[0054] It should be understood that the foregoing general description and the following detailed description are only exemplary and explanatory, and are not limiting to the present disclosure.

[0055] Other features and advantages of the present disclosure will be described in detail in the following specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0056] The accompanying drawings are included to provide a further understanding of the present disclosure, and constitute a part of the specification, and are used to explain the present disclosure together with the specific embodiments described below, but do not limit the present disclosure. In the drawings:

[0057] Figure 1 is a flowchart of a steering control method according to an exemplary embodiment.

[0058] Figure 2 is a flowchart of another steering control method according to an example embodiment.

[0059] Figure 3 is a flowchart of yet another steering control method according to an example embodiment.

[0060] Figure 4 is a flowchart of yet another steering control method according to an example embodiment.

[0061] Figure 5 is a block diagram of a steering control apparatus according to an example embodiment.

[0062] Figure 6 is a block diagram of an electronic device according to an example embodiment.

[0063] Figure 7 is a block diagram of a vehicle according to an example embodiment. DETAILED DESCRIPTION

[0064] The example embodiments will be described in detail herein with reference to the attached drawings. In the following description, same numbers refer to same elements in all figures. The following detailed description includes specific details for the purpose of providing a thorough understanding of the example embodiments. However, it will be apparent to those skilled in the art that the example embodiments can be practiced without these specific details. In some instances, well-known structures and components are not described in detail in order to avoid obscuring the example embodiments.

[0065] First, the application scenario of the present disclosure is described. Since the steering wheel torque and steering wheel angle commonly used to determine whether the driver takes over the control of the vehicle cannot be accurately obtained in the case of failure of the electronic power steering system, it is not possible to accurately determine whether the driver takes over the control of the vehicle, and it is easy to occur that the driver has taken over the control of the vehicle but the automatic driving mode has not been exited, or the driver has not taken over the control of the vehicle but the automatic driving mode has been exited, which affects the driving safety.

[0066] The present disclosure accurately determines the direction takeover state of the vehicle in the case of failure of the electronic power steering system of the vehicle according to the current differential torque and the actual angle information, timely completes the switching between the automatic driving mode and the manual driving mode, improves the safety of the vehicle, and improves the user experience.

[0067] The present disclosure will be described in detail below with reference to specific embodiments.

[0068] Figure 1is a flow chart of a steering control method according to an exemplary embodiment, as Figure 1 The method can comprise the following steps:

[0069] In step S11, in the case of determining that the electronic power steering system fails, the actual steering angle information of the steering wheel is obtained, and the current differential torque is determined according to the current torque of the two drive motors.

[0070] Wherein the vehicle comprises four wheels, at least two drive motors, a steering wheel, an automatic driving system and an electronic power steering system, for example, the automatic driving system can be the ADAS of the vehicle. In some possible implementations, the actual steering angle information of the steering wheel of the vehicle can be obtained through a steering wheel angle sensor installed on the vehicle, wherein the steering wheel angle sensor is a sensor independent of the electronic power steering, and is used to obtain the actual steering angle information of the steering wheel of the vehicle in the case of failure of the electronic power steering system.

[0071] In the case of failure of the electronic power steering system of the vehicle, for a two-wheel independent drive or four-wheel independent drive vehicle, different torques can be applied to the coaxial left and right steering wheels, and due to the torque difference between the left and right steering wheels, a yaw moment will be generated to make the wheels turn. Such torque is commonly referred to as differential torque, for example, the right front wheel is 100 Nm, the left front wheel is -100 Nm, and the differential torque is 200 Nm, which will control the vehicle to turn left. Through this scheme, the automatic driving can still control the vehicle to complete the steering in the case of failure of the electronic power steering system of the vehicle. It should be particularly pointed out that, according to different specific driving scenarios, the different torques applied to the left and right drive wheels can also be positive torques, and can also be negative torques, which are not limited by the present disclosure.

[0072] In some possible implementations, the current differential torque can be determined according to the current torque of the two drive motors driving the left and right steering wheels.

[0073] In step S12, the direction takeover state of the vehicle is determined according to the current differential torque and the actual steering angle information.

[0074] Since in the case of failure of the electronic power steering system, the steering wheel torque and the steering wheel angle commonly used to determine whether the driver takes over the control of the vehicle cannot be accurately obtained, it is impossible to accurately determine whether the driver takes over the control of the vehicle.

[0075] In some possible implementations, since the actual steering angle information of the steering wheel changes within a certain range along with the steering process under the action of the differential torque as the autonomous driving system controls the vehicle to complete the steering process by differential torque, the direction takeover state of the vehicle can be determined by the actual steering angle information obtained by the steering angle sensor independent of the electronic power steering and the current differential torque.

[0076] In step S13, in the case where the direction takeover state is the driver takeover vehicle direction state, the driving motor is controlled to steer the vehicle in response to the driving operation of the driver.

[0077] For example, in the case where the direction takeover state is the driver takeover vehicle direction state, the driving motor is controlled to steer the vehicle in response to the driving operation of the driver.

[0078] In another embodiment, in the case where the direction takeover state is the driver takeover vehicle direction state, the driving motor can be controlled to steer the vehicle in response to the driving operation of the driver, and a driver takes over the steering wheel signal is sent to the autonomous driving system, and in some implementations, the autonomous driving system can exit the autonomous driving mode in response to receiving the driver takes over the steering wheel signal.

[0079] With the above scheme, the direction takeover state of the vehicle is accurately determined in the case of electronic power steering system failure according to the current differential torque and the actual steering angle information, the switching between the autonomous driving mode and the manual driving mode is timely completed, the safety of the vehicle is improved, and the experience of the user is improved.

[0080] Figure 2 is a flowchart of another steering control method according to an example embodiment, as shown in Figure 2 The method can further include the following steps:

[0081] In step S14, control information of the vehicle and face information of the driver are obtained.

[0082] The control information includes brake pedal information, accelerator pedal information, and steering indication information.

[0083] For example, the brake pedal information includes a trigger brake pedal signal, the accelerator pedal information includes a trigger accelerator pedal signal, and the steering indication information can be a steering lever signal, including a trigger steering indication signal. The face information of the driver can be obtained by a fatigue driving detection function of the vehicle, and specific descriptions can be referred to in related technologies, which are not described herein again.

[0084] In step S15, it is determined whether the vehicle is in a driver driving state according to the control information and / or the face information.

[0085] For example, in a case where it is determined according to the control information that any preset signal and / or facial information is acquired, indicating that the driver is in a state of concentration, it is determined that the vehicle is in a driver driving state, i.e., it is determined that the driver is trying to actively intervene in the vehicle, wherein the preset signal includes trigger brake pedal information, trigger accelerator pedal information, or trigger steering indication information.

[0086] In a case where it is determined that the vehicle is in a driver driving state, i.e., it is confirmed that the driver is trying to actively intervene in the vehicle, the direction takeover state of the vehicle can be further determined according to the actual steering angle information and the differential torque, so that the influence of the driver's unconscious touch on the steering wheel (for example, turning sideways to pick up an object) on the accuracy of determining the direction takeover state of the vehicle can be avoided by determining the driver driving state.

[0087] In some possible implementation manners, in a case where it is determined according to the control information and / or facial information that the vehicle is in a driver driving state, the direction takeover state of the vehicle can be determined according to the current differential torque and the actual steering angle information.

[0088] With the above scheme, when determining the direction takeover state of the vehicle, the vehicle is first determined to be in a driver driving state according to the control information and / or facial information of the vehicle, and the accuracy of determining the direction takeover state of the vehicle is further improved.

[0089] Figure 3 is a flowchart of still another steering control method according to an example embodiment, as shown in Figure 3 Step S12 can include the following steps:

[0090] In step S121, for each steering angle, a steering angle change rate corresponding to the steering angle is determined according to the steering angle and time information corresponding to the steering angle.

[0091] The actual steering angle information includes a plurality of steering angles and time information corresponding to each steering angle. In some possible implementation manners, the actual steering angle information can be a plurality of steering angles and time information corresponding to each steering angle acquired before the current differential torque is determined, and the number of steering angles can be a preset number.

[0092] The steering angle change rate is the change amount of the steering angle in a unit of time, i.e., the change speed of the steering angle. For example, in a case where the driver quickly operates the steering wheel, a larger steering angle change rate corresponds.

[0093] In some possible implementation manners, the steering angle change rate can be determined by Formula 1 as follows.

[0094]

[0095] wherein, Δ i characterizes the steering angle change rate corresponding to t i characterizes the steering angle change rate corresponding to t i characterizes the steering angle corresponding to t i characterizes the steering angle corresponding to t i-1 characterizes the steering angle corresponding to t i-1 characterizes the steering angle corresponding to t i t i-1 .

[0096] In step S122, a target steering angle range corresponding to the current differential torque is determined from a plurality of preset steering wheel angle ranges.

[0097] In some possible implementation manners, the target steering angle range corresponding to the current differential torque can be determined from a preset differential torque and steering wheel angle range correspondence table. The type of the steering wheel angle range can be a numerical interval, such as (90°, 120°) or [70°, 130°), or a numerical expression, such as >90° or ≤120°. The types of the steering wheel angle ranges corresponding to different differential torques in the differential torque and steering wheel angle range correspondence table can be the same or different, which is not limited in the present disclosure.

[0098] In step S123, a target steering angle change rate range corresponding to the current differential torque is determined from a plurality of preset steering wheel angle change rate ranges.

[0099] In some possible implementation manners, the target steering angle change rate range corresponding to the current differential torque can be determined from a preset differential torque and steering wheel angle change rate range correspondence table. The type of the steering wheel angle change rate range can be a numerical interval, such as (10° per second, 20° per second) or [15° per second, 30° per second), or a numerical expression, such as >10° per second or ≤40° per second. The types of the steering wheel angle change rate ranges corresponding to different differential torques in the differential torque and steering wheel angle change rate range correspondence table can be the same or different, which is not limited in the present disclosure.

[0100] In step S124, in a case where any steering angle exceeds the target steering angle range or any steering angle change rate exceeds the target steering angle change rate range, the direction takeover state of the vehicle is determined as the driver taking over the direction state of the vehicle.

[0101] For example, in a case where any steering angle exceeds the target steering angle range or any steering angle change rate exceeds the target steering angle change rate range, it is indicated that the driver has taken over the steering wheel of the vehicle, that is, the direction takeover state of the vehicle is the driver taking over the direction state of the vehicle.

[0102] In another embodiment, the direction takeover state of the vehicle is determined as the driver does not take over the direction of the vehicle, in a case where each of the steering angles does not exceed the target steering angle range, and each of the steering angle rates does not exceed the target steering angle rate range.

[0103] For example, the driver does not take over the steering wheel of the vehicle, in a case where each of the steering angles does not exceed the target steering angle range, and each of the steering angle rates does not exceed the target steering angle rate range, which represents that the direction takeover state of the vehicle is the driver does not take over the direction of the vehicle.

[0104] In another embodiment, the direction takeover state of the vehicle is determined as the driver does not take over the direction of the vehicle, in a case where the vehicle is determined not to be in the driver driving state according to the control information and / or the face information.

[0105] For example, the driver does not take over the steering wheel of the vehicle, in a case where the driver is determined not to be in the state of concentrating on driving according to the control information and the face information, which represents that the driver does not actively intervene in the vehicle, and thus the direction takeover state of the vehicle is determined as the driver does not take over the direction of the vehicle, wherein the preset signal includes the trigger brake pedal information, the trigger accelerator pedal information, or the trigger steering indication information.

[0106] By using the above scheme, the direction takeover state of the vehicle is accurately determined in a case where the electronic power steering system of the vehicle fails, according to the current differential torque and the actual steering angle information, the automatic driving mode and the manual driving mode are timely switched, the safety of the vehicle is improved, and the experience of the user is improved.

[0107] Figure 4 is a flowchart of another steering control method according to an example embodiment, as shown in Figure 4 The method can include the following steps:

[0108] In step S401, the actual steering angle information of the steering wheel of the vehicle is obtained in a case where the electronic power steering system is determined to fail, and the current differential torque is determined according to the current torque of the two driving motors.

[0109] The vehicle includes four wheels, at least two driving motors, a steering wheel, an automatic driving system, and an electronic power steering system, for example, the automatic driving system can be an ADAS of the vehicle.

[0110] In some possible implementation manners, the actual steering angle information of the steering wheel of the vehicle can be obtained by a steering wheel angle sensor installed on the vehicle, wherein the steering wheel angle sensor is a sensor independent of the electronic power steering, and is used to obtain the actual steering angle information of the steering wheel of the vehicle in a case where the electronic power steering fails.

[0111] In some possible implementation manners, the current differential torque can be determined according to current torques of the two driving motors driving the left and right steering wheels.

[0112] In step S402, control information of the vehicle and face information of the driver are acquired.

[0113] The control information includes brake pedal information, accelerator pedal information, and steering indication information.

[0114] For example, the brake pedal information includes a trigger brake pedal signal, the accelerator pedal information includes a trigger accelerator pedal signal, and the steering indication information can be a steering lever signal, including a trigger steering indication signal. The face information of the driver can be obtained by a fatigue driving detection function of the vehicle, and specific descriptions can be referred to in related technologies, which are not described herein again.

[0115] In step S403, whether the vehicle is in a driver driving state is determined according to the control information of the vehicle and / or the face information of the driver.

[0116] In a case where it is determined according to the control information that any preset signal is acquired and / or the face information indicates that the driver is in a concentrated state, it is determined that the vehicle is in the driver driving state, that is, it is determined that the driver is trying to actively intervene in the vehicle.

[0117] In a case where it is determined according to the control information that any preset signal is not acquired and the face information indicates that the driver is not in a concentrated state, it is determined that the vehicle is not in the driver driving state, that is, it is determined that the driver is not actively intervening in the vehicle, and it is determined that the direction takeover state of the vehicle is a driver non-takeover vehicle direction state.

[0118] The preset signal includes trigger brake pedal information, trigger accelerator pedal information, or trigger steering indication information.

[0119] In step S404, for each steering angle, a steering angle change rate corresponding to the steering angle is determined according to the steering angle and time information corresponding to the steering angle.

[0120] The actual steering angle information includes a plurality of steering angles and time information corresponding to each steering angle. In some possible implementation manners, the actual steering angle information can be a plurality of steering angles and time information corresponding to each steering angle acquired before the current differential torque is determined, and the number of the steering angles can be a preset number.

[0121] Specific steps of acquiring the steering angle change rate can be referred to the description in step S121, which is not described herein again.

[0122] In step S405, a target steering angle range corresponding to the current differential torque is determined from a plurality of preset steering wheel angle range-differential torque corresponding relationship tables.

[0123] In some possible implementation manners, the target steering angle range corresponding to the current differential torque can be determined from a preset differential torque and steering wheel angle range corresponding relationship table.

[0124] In step S406, a target steering angle rate range corresponding to the current differential torque is determined from a plurality of preset steering wheel angle rate range-differential torque corresponding relationship tables.

[0125] In some possible implementation manners, the target steering angle rate range corresponding to the current differential torque can be determined from a preset differential torque and steering wheel angle rate range corresponding relationship table.

[0126] In step S407, it is determined whether the vehicle direction takeover state is the driver taking over the vehicle direction state according to the steering angle, the steering angle rate, the target steering angle range, and the target steering angle rate range.

[0127] In a case where any of the steering angles exceeds the target steering angle range, or any of the steering angle rates exceeds the target steering angle rate range, it is indicated that the driver has taken over the steering wheel of the vehicle, i.e., the vehicle direction takeover state is the driver taking over the vehicle direction state.

[0128] In a case where none of the steering angles exceeds the target steering angle range, and none of the steering angle rates exceeds the target steering angle rate range, it is determined that the vehicle direction takeover state is the driver not taking over the vehicle direction state.

[0129] In step S408, it is determined that the vehicle direction takeover state is the driver not taking over the vehicle direction state.

[0130] In a case where it is determined according to the control information and / or the face information that the vehicle is not in the driver driving state, it is determined that the vehicle direction takeover state is the driver not taking over the vehicle direction state.

[0131] In step S409, the driving motor is controlled to steer the vehicle in response to the driving operation of the driver.

[0132] In another embodiment, in a case where the direction takeover state is the driver taking over the vehicle direction state, the driving motor can be controlled to steer the vehicle in response to the driving operation of the driver, and a driver taking over the steering wheel signal is sent to the automatic driving system, and in some implementation manners, the automatic driving system can exit the automatic driving mode in response to receiving the driver taking over the steering wheel signal.

[0133] In step S410, target steering angle information of the steering wheel corresponding to the steering request of the automatic driving system is obtained.

[0134] The steering request includes target steering angle information required for the steering wheel to turn, and the automatic driving system can continuously adjust the target steering angle information according to the actual situation of the vehicle turning. In the case that the steering takeover state is that the driver has not taken over the direction of the vehicle, the target steering angle information of the steering wheel corresponding to the steering request of the automatic driving system can be obtained.

[0135] In step S411, the target differential torque of the vehicle is determined according to the actual steering angle information and the target steering angle information.

[0136] For example, the current differential torque of the vehicle can be determined according to the yaw rate, the current speed, the actual steering angle information and the target steering angle information of the vehicle. For details, refer to the description of the torque distribution control method in the related art, which will not be described here.

[0137] In step S412, the steering redundancy module and the drive motor are controlled according to the target differential torque to make the vehicle turn.

[0138] The steering redundancy module of the vehicle applies different torques to the coaxial left and right steering wheels through at least two drive motors. Due to the torque difference between the left and right steering wheels, a yaw moment is generated to make the wheels turn, which is used to control the steering of the vehicle in the case of failure of the electronic power steering system.

[0139] By using the above scheme, the direction takeover state of the vehicle is accurately determined according to the current differential torque and the actual steering angle information in the case of failure of the electronic power steering system of the vehicle, the automatic driving mode and the manual driving mode are switched in time, the safety of the vehicle is improved, and the user experience is improved.

[0140] Figure 5 is a block diagram of a steering control device according to an example embodiment, which is applied to a vehicle. The vehicle includes four wheels, at least two drive motors, a steering wheel, an automatic driving system and an electronic power steering system. Two drive motors drive two coaxial wheels, as shown in Figure 5 The steering control device 500 can include:

[0141] The acquisition module 501 is configured to acquire the actual steering angle information of the steering wheel in the case of determining the failure of the electronic power steering system, and determine the current differential torque according to the current torque of the two drive motors;

[0142] The determining module 502 is configured to determine a direction takeover state of the vehicle according to the current differential torque and the actual steering angle information, the direction takeover state including a driver taking over the direction of the vehicle state or a driver not taking over the direction of the vehicle state.

[0143] The control module 503 is configured to, in a case where the direction takeover state is the driver taking over the direction of the vehicle state, control the driving motor to steer the vehicle in response to a driving operation of the driver.

[0144] Optionally, the obtaining module 501 is further configured to:

[0145] obtain control information of the vehicle and facial information of the driver, the control information including a brake pedal signal, an accelerator pedal signal, and a steering instruction signal.

[0146] The determining module 502 is further configured to:

[0147] In a case where it is determined according to the control information and / or the facial information that the vehicle is in a driver driving state, determine the direction takeover state of the vehicle according to the current differential torque and the actual steering angle information.

[0148] Optionally, the actual steering angle information includes a plurality of steering angles and time information corresponding to each steering angle, and the determining module 502 is further configured to:

[0149] For each steering angle, determine a steering angle change rate corresponding to the steering angle according to the steering angle and the time information corresponding to the steering angle.

[0150] From a plurality of preset steering wheel steering angle ranges, determine a target steering angle range corresponding to the current differential torque.

[0151] From a plurality of preset steering wheel steering angle change rate ranges, determine a target steering angle change rate range corresponding to the current differential torque.

[0152] In a case where any steering angle exceeds the target steering angle range or any steering angle change rate exceeds the target steering angle change rate range, determine that the direction takeover state of the vehicle is the driver taking over the direction of the vehicle state.

[0153] Optionally, the determining module 502 is further configured to:

[0154] In a case where none of the steering angles exceeds the target steering angle range and none of the steering angle change rates exceeds the target steering angle change rate range, determine that the direction takeover state of the vehicle is the driver not taking over the direction of the vehicle state.

[0155] Optionally, the determining module 502 is further configured to:

[0156] In a case where it is determined according to the control information and / or the face information that the vehicle is not in the driver driving state, the direction takeover state of the vehicle is determined as the driver not taking over the vehicle direction state.

[0157] Optionally, the vehicle further comprises a steering redundancy module; the control module 503 is further configured to:

[0158] In a case where the direction takeover state is the driver not taking over the vehicle direction state,

[0159] According to the steering request of the automatic driving system, target steering angle information of the corresponding steering wheel is obtained;

[0160] According to the actual steering angle information and the target steering angle information, a target differential torque of the vehicle is determined;

[0161] According to the target differential torque control, the steering redundancy module and the drive motor are controlled to steer the vehicle.

[0162] As to the apparatus in the above-mentioned embodiments, the specific manner in which each module performs operations has been described in detail in the embodiments related to the method, and thus will not be described in detail here.

[0163] With the above-mentioned solution, in a case where the electronic power steering system of the vehicle fails, the direction takeover state of the vehicle is accurately determined according to the current differential torque and the actual steering angle information, the switching between the automatic driving mode and the manual driving mode is timely completed, the safety of the vehicle is improved, and the user experience is improved.

[0164] Figure 6 is a block diagram of an electronic device 600 according to an example embodiment. As shown in Figure 6 The electronic device 600 can include a processor 601 and a memory 602. The electronic device 600 can also include one or more of a multimedia component 603, an input / output interface 604, and a communication component 605.

[0165] The processor 601 is configured to control overall operations of the electronic device 600 to complete all or part of the steps of the above-mentioned steering control method. The memory 602 is configured to store various types of data to support operations of the electronic device 600, which can include, for example, instructions for operating any application or method on the electronic device 600, and application-related data, such as contact data, transmitted and received messages, pictures, audio, video, and the like. The memory 602 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as a static random access memory (SRAM), an electrically erasable programmable read-only memory (EEPROM), an erasable programmable read-only memory (EPROM), a programmable read-only memory (PROM), a read-only memory (ROM), a magnetic storage, a flash memory, a magnetic disk, or an optical disk. The multimedia component 603 can include a screen and an audio component. The screen can be, for example, a touch screen, and the audio component is configured to output and / or input audio signals. For example, the audio component can include a microphone configured to receive external audio signals. The received audio signals can be further stored in the memory 602 or transmitted through the communication component 605. The audio component further includes at least one speaker configured to output audio signals. The input / output 604 provides an interface between the processor 601 and other interface modules, which can be a keyboard, a mouse, a button, and the like. The buttons can be virtual buttons or physical buttons. The communication component 605 is configured to perform wired or wireless communication between the electronic device 600 and other devices. The wireless communication, such as Wi-Fi, Bluetooth, near field communication (NFC), 2G, 3G, 4G, NB-IOT, eMTC, or other 5G, and the like, or a combination of one or more of them, is not limited herein. Therefore, the corresponding communication component 605 can include a Wi-Fi module, a Bluetooth module, an NFC module, and the like.

[0166] In another exemplary embodiment, a non-transitory computer readable storage medium including program instructions that, when executed by a processor, implement the steps of the steering control method described above is also provided. For example, the computer readable storage medium can be the memory 602 described above including program instructions that are executable by the processor 601 of the electronic device 600 to complete the steering control method described above.

[0167] Figure 7 is a block diagram of a vehicle 700 according to an exemplary embodiment. The steering control device 500 described above in exemplary embodiments is included. For example, the vehicle is a two-wheel independent drive or four-wheel independent drive vehicle. The vehicle 700 uses the steering control device 500 to accurately determine the direction takeover state of the vehicle 700 in the event of an electronic power steering failure of the vehicle 700, timely complete the switching between the automatic driving mode and the manual driving mode, improve the safety of the vehicle 700, and improve the user experience.

[0168] Other embodiments of the present disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the present disclosure. This application is intended to cover any variations, uses or adaptations of the present disclosure following the general principles thereof and including such departures from the present disclosure that come within known

[0169] It should be understood that the present disclosure is not limited to the precise structures described and shown in the drawings, and that various modifications and changes can be made without departing from its scope. The scope of the present disclosure is limited only by the claims that follow.

Claims

1. A steering control method characterized by, The method is applied to a vehicle, the vehicle comprising four wheels, two driving motors, a steering wheel, an automatic driving system and an electronic power steering system, the two driving motors driving two coaxial wheels, the method comprising: In a case where it is determined that the electronic power steering system is faulty, acquiring actual steering angle information of the steering wheel, and determining a current differential torque according to current torques of the two driving motors; According to the current differential torque and the actual steering angle information, determining a direction takeover state of the vehicle, the direction takeover state comprising a driver takeover vehicle direction state or a driver non-takeover vehicle direction state; In a case where the direction takeover state is the driver takeover vehicle direction state, controlling the driving motors to steer the vehicle in response to a driving operation of a driver.

2. The method of claim 1, wherein, Before the determining the direction takeover state of the vehicle according to the current differential torque and the actual steering angle information, the method further comprises: acquiring control information of the vehicle and facial information of the driver, the control information comprising brake pedal signals, accelerator pedal signals and steering instruction signals; the determining the direction takeover state of the vehicle according to the current differential torque and the actual steering angle information comprises: in a case where it is determined according to the control information and / or the facial information that the vehicle is in a driver driving state, determining the direction takeover state of the vehicle according to the current differential torque and the actual steering angle information.

3. The method of claim 2, wherein, the actual steering angle information comprises a plurality of steering angles and time information corresponding to each steering angle, and the determining the direction takeover state of the vehicle according to the current differential torque and the actual steering angle information comprises: for each steering angle, determining a steering angle change rate corresponding to the steering angle according to the steering angle and the time information corresponding to the steering angle; from a plurality of preset steering wheel steering angle ranges, determining a target steering angle range corresponding to the current differential torque; from a plurality of preset steering wheel steering angle change rate ranges, determining a target steering angle change rate range corresponding to the current differential torque; in a case where any steering angle exceeds the target steering angle range or any steering angle change rate exceeds the target steering angle change rate range, determining that the direction takeover state of the vehicle is the driver takeover vehicle direction state.

4. The method of claim 3, wherein, the method further comprises: in a case where none of the steering angles exceeds the target steering angle range and none of the steering angle change rates exceeds the target steering angle change rate range, determining that the direction takeover state of the vehicle is the driver non-takeover vehicle direction state.

5. The method of claim 2, wherein, the method further comprises: in a case where it is determined according to the control information and / or the facial information that the vehicle is not in a driver driving state, determining that the direction takeover state of the vehicle is the driver non-takeover vehicle direction state.

6. The method according to any one of claims 1-5, characterized in that, the vehicle further comprises a steering redundancy module; the method further comprises: In a case where the direction takeover state is the driver does not take over the vehicle direction state, target steering angle information of the steering wheel is acquired according to a steering request of the automatic driving system; According to the actual steering angle information and the target steering angle information, target differential torque of the vehicle is determined; According to the target differential torque, the steering redundancy module and the drive motor are controlled to steer the vehicle.

7. A steering control device characterized by comprising: The device is applied to a vehicle, the vehicle comprising four wheels, two drive motors, a steering wheel, an automatic driving system and an electronic power steering system, the two drive motors driving two coaxial wheels, the device comprising: An acquisition module is configured to acquire actual steering angle information of the steering wheel in a case where it is determined that the electronic power steering system fails, and to determine current differential torque according to current torque of the two drive motors; A determination module is configured to determine a direction takeover state of the vehicle according to the current differential torque and the actual steering angle information, the direction takeover state comprising a driver takes over the vehicle direction state or a driver does not take over the vehicle direction state; A control module is configured to control the drive motor to steer the vehicle in a case where the direction takeover state is the driver takes over the vehicle direction state, in response to a driving operation of the driver.

8. An electronic device, comprising: The device comprises: A memory having a computer program stored thereon; A processor for executing the computer program in the memory to implement the steps of the method of any one of claims 1-6.

9. A non-transitory computer-readable storage medium having stored thereon a computer program, characterized in that, The program is executed by the processor to implement the steps of the method of any one of claims 1-6.

10. A vehicle characterized by comprising: The device comprises: The steering control device according to claim 7.

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