Control methods, devices, vehicles, and storage media for rear-wheel steering systems

Abstract

This disclosure provides a control method, device, vehicle, and storage medium for a rear-wheel steering system. Specifically, the control method includes: acquiring mode information of the rear-wheel steering system; wherein the mode information includes an intervention mode and an exit mode when the rear-wheel steering system is engaged; acquiring corresponding vehicle operating status information based on the mode information; predicting the vehicle's start-stop state based on the vehicle operating status information and corresponding preset judgment rules; and matching and controlling the execution of corresponding rear-wheel steering-related operations according to the vehicle's start-stop state. Adding modes for the rear-wheel steering system when engaged, including an intervention mode and an exit mode, allows for the control of the intervention and exit of the rear-wheel steering system, thereby mitigating additional risks associated with rear-wheel steering and improving driving safety.

Description

Technical Field

[0001] This disclosure relates to the field of vehicle technology, and more particularly to a control method, apparatus, vehicle, and storage medium for a rear-wheel steering system. Background Technology

[0002] High-end vehicles on the market today are equipped with rear-wheel steering technology. Compared to traditional models, this adds a new rear-wheel steering actuator, which increases the vehicle's low-speed steering agility and high-speed driving stability to a certain extent. However, certain safety hazards have also been found in actual applications. Summary of the Invention

[0003] In view of the above, the purpose of one or more embodiments of this disclosure is to provide a control method, apparatus, vehicle and storage medium for a rear wheel steering system.

[0004] In view of the above objectives, in a first aspect, one or more embodiments of this disclosure provide a control method for a rear-wheel steering system, the control method comprising:

[0005] Obtain the mode information of the rear-wheel steering system; wherein, the mode information includes the intervention mode and the disengagement mode when the rear-wheel steering system is activated;

[0006] Based on the mode information, obtain the corresponding vehicle operating status information;

[0007] Based on the vehicle operating status information and the corresponding preset judgment rules, predict the vehicle start-stop status;

[0008] Match and control the corresponding rear wheel steering operation based on the vehicle's start-stop state.

[0009] Furthermore, the step of obtaining the corresponding vehicle operating status information based on the mode information includes:

[0010] In response to the rear-wheel steering system being in intervention mode, the acquired vehicle operating status information includes parking information and speed information; wherein, the parking information includes the status of the automatic parking system, the status of the electronic parking brake, the status of the handbrake, the gear status, and the ignition signal status; the speed information includes vehicle speed and wheel speed;

[0011] In response to the rear wheel steering system being in the disengaged mode, the acquired vehicle operating status information includes engine ignition signal status, gear status, accelerator pedal opening, speed information, steering wheel angle, steering wheel speed and first duration, and steering wheel torque and second duration.

[0012] Furthermore, the preset judgment rule includes a parking state rule, which corresponds to the intervention mode; the step of predicting the vehicle start-stop state based on the vehicle operating state information and the corresponding preset judgment rule includes:

[0013] The parking information and the speed information are compared with the parking status rules respectively;

[0014] In response to the ignition signal being off, a parking state is predicted;

[0015] If any one of the automatic parking system state, the electronic parking brake state, the parking brake state, or the gear state satisfies the parking state rule, and either the vehicle speed or the wheel speed satisfies the parking state rule, then the parking state is predicted.

[0016] Furthermore, the preset judgment rule includes a starting state rule, which corresponds to the exit mode; the step of predicting the vehicle start-stop state based on the vehicle operating state information and the corresponding preset judgment rule includes:

[0017] Each piece of vehicle operating status information is compared with the starting status rule;

[0018] If all vehicle operating status information satisfies the starting state rule, then the starting state is predicted; wherein,

[0019] If the gear position is forward and the accelerator pedal opening is greater than 2%, then a forward start-up state is predicted.

[0020] If the gear position is reverse and the accelerator pedal opening is greater than 2%, then a reverse start state is predicted.

[0021] Furthermore, the vehicle start-stop state includes a stopped state, a forward start state, and a reverse start state; the step of matching and controlling the execution of the corresponding rear wheel steering-related operation based on the vehicle start-stop state includes:

[0022] In response to the parking state, the rear wheel steering angle is obtained;

[0023] If the rear wheel steering angle is not zero, control the rear wheel steering to return to zero at the first control rate and switch the mode of the rear wheel steering system; otherwise, directly switch the mode of the rear wheel steering system.

[0024] In response to the forward start state, the mode of the rear wheel steering system is switched and the rear wheel steering is activated from zero at a second control rate.

[0025] In response to the reversing start state, an intervention request is sent through the central control system;

[0026] Obtain an intervention confirmation command, and based on the intervention confirmation command, control the mode of the rear wheel steering system to switch and control the rear wheel steering to start from zero at a third control rate.

[0027] Furthermore, the first control rate, the second control rate, and the third control rate are determined by the following method:

[0028] Obtain the front wheel steering angle and determine the rear wheel steering angle based on the front wheel steering angle;

[0029] Based on the rear wheel steering angle and the first control time, second control time, and third control time, the corresponding first control rate, second control rate, and third control rate are determined respectively; wherein the time unit of the first control time, second control time, and third control time is on the order of seconds.

[0030] Furthermore, it also includes:

[0031] The first control time is longer than the second control time; the second control time is longer than the third control time.

[0032] Secondly, this disclosure also provides a control device for a rear-wheel steering system, the control device comprising:

[0033] First acquisition module: used to acquire mode information of the rear wheel steering system; wherein, the mode information includes the intervention mode and the exit mode when the rear wheel steering system is activated;

[0034] The second acquisition module is used to acquire the corresponding vehicle operating status information based on the mode information.

[0035] State determination module: used to predict the vehicle's start-stop state based on the vehicle's operating state information and corresponding preset judgment rules; and

[0036] Control execution module: used to match and control the execution of the corresponding rear wheel steering-related operations based on the vehicle's start-stop state.

[0037] Thirdly, this disclosure also provides a vehicle equipped with electronic equipment, the electronic equipment including a memory, a processor, and a control program for a rear-wheel steering system stored in the memory and executable on the processor, wherein the processor executes the program to implement the control method for the rear-wheel steering system as described in any of the foregoing claims.

[0038] Fourthly, this disclosure also provides a computer-readable storage medium storing computer instructions for causing the computer to perform any of the aforementioned control methods.

[0039] As can be seen from the above, the control method, device, vehicle and storage medium for the rear-wheel steering system provided in one or more embodiments of this disclosure increase the modes when the rear-wheel steering system is engaged, including an engagement mode and an disengagement mode. By controlling the engagement and disengagement of the rear-wheel steering system, the additional risks caused by rear-wheel steering can be avoided, and driving safety can be improved. Attached Figure Description

[0040] To more clearly illustrate the technical solutions in one or more embodiments of this disclosure or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings described below are only one or more embodiments of this specification. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figures 1-2 The diagram shows the running trajectories of vehicles with and without rear wheel steering angles within a parking area; where, Figure 1 For vehicles without rear wheel steering angle; Figure 2 Corresponding to vehicles with rear wheel cornering;

[0042] Figure 3 A flowchart illustrating a control method for a rear-wheel steering system provided in one or more embodiments of this specification;

[0043] Figure 4 A flowchart illustrating a control method for another rear-wheel steering system provided in one or more embodiments of this specification;

[0044] Figure 5 A schematic diagram of the structure of the control device for the rear wheel steering system provided in one or more embodiments of this specification;

[0045] Figure 6 This is a partial structural schematic diagram of a vehicle provided for one or more embodiments of this specification. Detailed Implementation

[0046] To make the objectives, technical solutions, and advantages of this disclosure clearer, the following detailed description is provided in conjunction with specific embodiments and the accompanying drawings.

[0047] It should be noted that, unless otherwise defined, the technical or scientific terms used in one or more embodiments of this specification should have the ordinary meaning understood by one of ordinary skill in the art to which this disclosure pertains. The terms "first," "second," and similar terms used in one or more embodiments of this specification do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the steps, elements, or objects listed after the word and their equivalents, but do not exclude other steps, elements, or objects.

[0048] In the process of researching vehicle accidents involving rear-wheel steering technology, the inventors of this disclosure discovered that some accidents are caused by drivers' difficulty in adapting to rear-wheel steering under certain driving conditions, leading to misoperation or misjudgment and resulting in accidents.

[0049] Specifically, for vehicles equipped with rear-wheel steering, the rear wheels typically have a certain angle of rotation when parked. If a driver unfamiliar with rear-wheel steering operates the vehicle at this time, it may create a safety hazard. For example, when the vehicle first starts moving (usually in D or R gear), it may exhibit an unexpected trajectory, easily causing the driver to panic and make sudden steering wheel maneuvers, posing a safety risk. See also... Figure 1 and Figure 2 In a narrow parking space, when very close to the car next to it, there are vehicles with their rear wheels turning at an angle ( Figure 2 Compared to no rear wheel steering angle ( Figure 1 The increased curvature of the car's turning radius and the larger arc of its rear end sweeping outwards increase the likelihood of a collision with other vehicles. Figure 2 The middle arrow points to the location.

[0050] To avoid unexpected vehicle trajectories, reduce driving safety hazards, and improve the driving experience, this disclosure provides a control method for a rear-wheel steering system. First, it adds two modes to the rear-wheel steering system when it is engaged: an engagement mode and a disengagement mode. These modes can be switched between each other. In engagement mode, the rear-wheel steering system is in normal operating condition, capable of receiving and executing steering commands to coordinate with the front-wheel steering system, increasing vehicle stability. In disengagement mode, the rear-wheel steering system is engaged but does not perform any specific steering operation. This disengagement can be achieved by either not receiving steering commands or receiving steering commands but not executing them; no specific limitation is made.

[0051] By controlling the intervention and disengagement of the rear-wheel steering system, additional risks associated with rear-wheel steering can be avoided, thus improving driving safety.

[0052] Furthermore, such as Figure 3As shown, based on the intervention and disengagement modes of the rear-wheel steering system, the control method includes:

[0053] Step S301: Obtain the mode information of the rear wheel steering system;

[0054] Step S302: Obtain the corresponding vehicle operating status information based on the mode information;

[0055] Optionally, in response to the rear-wheel steering system being in intervention mode, the acquired vehicle operating status information includes parking information and speed information; wherein, the parking information includes the status of the AutoHold system, the status of the Electronic Park-Brake (EPB), the status of the handbrake, the gear position, and the status of the ignition signal (KL15 electric); the speed information includes vehicle speed and wheel speed. It should be noted that the ignition signal refers to the ignition signal used to start the vehicle.

[0056] Optionally, in response to the rear-wheel steering system being in disengagement mode, the acquired vehicle operating status information includes engine ignition signal (IG) status, gear status, accelerator pedal opening, speed information, steering wheel angle, steering wheel speed and a first duration, and steering wheel torque and a second duration. It should be noted that the speed information here is consistent with the aforementioned information, also including vehicle speed and wheel speed.

[0057] Step S303: Based on the vehicle operating status information and the corresponding preset judgment rules, predict the vehicle start-stop status;

[0058] In some embodiments, the preset judgment rule includes a parking state rule, which corresponds to the intervention mode. The step of predicting the vehicle start-stop state based on the vehicle operating state information and the corresponding preset judgment rule includes:

[0059] The parking information and the speed information are compared with the parking status rules respectively;

[0060] In response to the ignition signal being off, a parking state is predicted;

[0061] If any one of the automatic parking system state, the electronic parking brake state, the parking brake state, or the gear state satisfies the parking state rule, and either the vehicle speed or the wheel speed satisfies the parking state rule, then the parking state is predicted.

[0062] For example, the parking status rules are met when the automatic parking system is on, the electronic parking brake is pressed, the parking brake is pulled up, and the gear is in P or G gear for 3 seconds.

[0063] For example, a vehicle speed of less than 0.1 m / s and any one of the four wheel speeds of less than 0.83 m / s satisfy the parking state rules. Those skilled in the art will understand that the vehicle speed and wheel speed here refer to the effective vehicle speed and effective wheel speed, respectively.

[0064] It should be noted that the aforementioned 3 seconds, 0.1 m / s, and 0.83 m / s are for illustrative purposes only. Those skilled in the art can adjust these values ​​based on factors such as vehicle model and engine configuration, but no specific limitations are imposed here.

[0065] In other embodiments, the preset judgment rule includes a start-up state rule; the start-up state rule corresponds to the exit mode; the step of predicting the vehicle start-stop state based on the vehicle operating state information and the corresponding preset judgment rule includes:

[0066] Each piece of vehicle operating status information is compared with the starting status rule;

[0067] Optionally, the start-up state rules include:

[0068] The IG circuit is in the ON state.

[0069] The vehicle's gear is either drive (D) or reverse (R);

[0070] Accelerator pedal opening is greater than 2%;

[0071] The vehicle speed is greater than 0.1 m / s or any one of the four wheel speeds is greater than 0.83 m / s; here, the vehicle speed and wheel speed are the effective vehicle speed and effective wheel speed.

[0072] Steering wheel angle is less than ±120°;

[0073] The steering wheel rotation speed is less than 360° / s and lasts for 100 milliseconds;

[0074] The steering wheel torque is less than 2 NM and lasts for 200 milliseconds.

[0075] It should be noted that the specific values ​​set for accelerator pedal opening, vehicle speed, wheel speed, steering wheel angle, steering wheel speed, and steering wheel torque are for illustrative purposes only. Those skilled in the art can reasonably adjust these preset values; no specific limitations are imposed here.

[0076] Here, all of the above starting state rules must be met in order to predict the starting state. In other words, if any one of the starting state rules is not met, it cannot be determined that the vehicle is in a starting state.

[0077] If all vehicle operating status information satisfies the starting state rule, then the starting state is predicted; wherein,

[0078] If the gear position is forward and the accelerator pedal opening is greater than 2%, then a forward start-up state is predicted.

[0079] If the gear position is reverse and the accelerator pedal opening is greater than 2%, then a reverse start state is predicted.

[0080] Step S304: Match the corresponding rear wheel steering operation according to the vehicle's start-stop state and control its execution.

[0081] In some embodiments, please refer to Figure 4 The vehicle start-stop states include a stopped state, a forward start state, and a reverse start state; the step of matching and controlling the execution of corresponding rear wheel steering-related operations based on the vehicle start-stop states includes:

[0082] Step S401: In response to the parking state, obtain the rear wheel steering angle;

[0083] Step S4021: If the rear wheel steering angle is not zero, control the rear wheel steering to return to zero at the first control rate and switch the mode of the rear wheel steering system;

[0084] Step S4022: Otherwise, directly switch the mode of the rear wheel steering system;

[0085] Here, the rear wheel steering is zeroed out and the rear wheel steering system switches from intervention mode to disengagement mode. This ensures that the rear wheel steering position is zero after parking, preventing the vehicle from taking an unexpected driving trajectory when starting because the rear wheel steering is not in the zero position. This is beneficial for improving the driving experience of drivers who are not familiar with the rear wheel steering system and increases driving safety and stability.

[0086] Step S403: In response to the forward start state, control the mode of the rear wheel steering system to switch and control the rear wheel steering to start from zero at a second control rate;

[0087] Here, the rear-wheel steering system switches from disengagement mode to engagement mode. Activating from zero at the second control rate reduces the degree of engagement of the rear-wheel steering system, achieving slow engagement, which improves driving safety and avoids additional risks.

[0088] Step S404: In response to the reversing start state, send an intervention request through the central control system;

[0089] It should be noted that starting in reverse requires more skill from the driver than starting forward, so whether or not the rear wheel steering system needs to intervene requires explicit instruction from the driver.

[0090] Optionally, the intervention request sent by the central control system can be displayed through a terminal information display unit (HeadUnit, abbreviated as HUT) configured on the vehicle. Those skilled in the art will understand that the intervention request can be accompanied by an audible prompt while being displayed on the HUT; this is not specifically limited here.

[0091] Step S405: Obtain intervention confirmation command, control the mode of the rear wheel steering system to switch based on the intervention confirmation command, and control the rear wheel steering to start from zero at the third control rate.

[0092] Here, the intervention confirmation command can be entered via HUT or voice input, without any specific restrictions.

[0093] Similar to starting forward, when starting in reverse, the rear-wheel steering system also switches from disengagement mode to engagement mode. Starting from zero at the third control rate reduces the degree of engagement of the rear-wheel steering system, achieving slow engagement, which can improve driving safety and avoid additional risks.

[0094] Optionally, the second control rate is greater than the third control rate. For reverse starts, using a lower rate to start from zero helps ensure the safety of reverse starts.

[0095] In some embodiments, this disclosure also provides a method for determining a first control rate, a second control rate, and a third control rate.

[0096] The first control rate, the second control rate, and the third control rate are determined by the following method:

[0097] Obtain the front wheel steering angle and determine the rear wheel steering angle based on the front wheel steering angle.

[0098] It should be noted that although a rear-wheel steering system can drive the rear wheels to steer, due to the limitations of the rear-wheel steering structure, the maximum steering angle that the rear wheels can turn is less than the maximum steering angle that the front wheels can turn. Therefore, the front wheel steering angle and the rear wheel steering angle are not equivalent, but rather have a certain correspondence. Thus, based on the front wheel steering angle and this predetermined correspondence, the rear wheel steering angle can be determined. The specific correspondence is existing technology and will not be elaborated here.

[0099] Based on the rear wheel steering angle and the first control time, second control time, and third control time, the corresponding first control rate, second control rate, and third control rate are determined respectively.

[0100] Optionally, the vehicle start-stop state includes a parking state, a forward start state, and a reverse start state; corresponding to the first control time, the second control time, and the third control time, respectively.

[0101] Here, the time units for the first control time, the second control time, and the third control time are in seconds, such as 1 second, 2 seconds, and 5 seconds.

[0102] Furthermore, the first control time is longer than the third control time; the third control time is longer than the second control time.

[0103] It should be understood that the effect of the rear-wheel steering system on the front-wheel steering is usually in the milliseconds, and the response speed is very fast, which makes some drivers uncomfortable with the rear-wheel steering system in the start-stop state.

[0104] By setting the time units of the first control time, the second control time, and the third control time to the second level, the response speed of rear wheel steering can be effectively reduced, which helps the driver adapt to rear wheel steering, improves driving safety and stability, and avoids additional risks caused by rear wheel steering.

[0105] In some embodiments, the first control time is longer than the third control time; the third control time is longer than the second control time. For example, the first control time is 3 seconds or 5 seconds; the second control time is 1 second; and the third control time is 2 seconds. The first control time corresponds to a parking state, where the final wheel steering can be completed and brought to zero within a relatively long time. The third control time corresponds to a reverse start, which is more difficult to drive and suitable for a lower control rate; correspondingly, a forward start is suitable for a higher control rate.

[0106] As those skilled in the art will understand, when the control method of this disclosure cannot predict the vehicle's start-stop state, the rear wheel steering system can be controlled according to the prior art.

[0107] It should be noted that the methods of one or more embodiments of this specification can be executed by a single device, such as a computer or server. The methods of this embodiment can also be applied in a distributed scenario, where multiple devices cooperate to complete the task. In such a distributed scenario, one of these devices may execute only one or more steps of the methods of one or more embodiments of this specification, and the multiple devices will interact with each other to complete the method described.

[0108] It should be noted that the above description describes specific embodiments of this specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims may be performed in a different order than that shown in the embodiments and still achieve the desired results. Furthermore, the processes depicted in the drawings do not necessarily require the specific or sequential order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0109] Based on the same inventive concept, corresponding to any of the above-described embodiments, one or more embodiments of this specification also provide a control device for a rear wheel steering system.

[0110] refer to Figure 5 The control device includes:

[0111] First acquisition module 501: used to acquire mode information of the rear wheel steering system; wherein, the mode information includes the intervention mode and the exit mode when the rear wheel steering system is activated;

[0112] The second acquisition module 502 is used to acquire the corresponding vehicle operating status information based on the mode information.

[0113] State determination module 503: used to predict the vehicle start-stop state based on the vehicle operating state information and the corresponding preset judgment rules; and

[0114] Control execution module 504: used to match and control the execution of the corresponding rear wheel steering-related operations based on the vehicle's start-stop state.

[0115] In some embodiments, the second acquisition module 502 is further configured to:

[0116] In response to the rear-wheel steering system being in intervention mode, the acquired vehicle operating status information includes parking information and speed information; wherein, the parking information includes the status of the automatic parking system, the status of the electronic parking brake, the status of the handbrake, the gear status, and the ignition signal status; the speed information includes vehicle speed and wheel speed;

[0117] In response to the rear wheel steering system being in the disengaged mode, the acquired vehicle operating status information includes engine ignition signal status, gear status, accelerator pedal opening, speed information, steering wheel angle, steering wheel speed and first duration, and steering wheel torque and second duration.

[0118] In some embodiments, the preset judgment rule includes a parking status rule, the parking status rule corresponding to the intervention mode; the status determination module 503 is further configured to:

[0119] The parking information and the speed information are compared with the parking status rules respectively;

[0120] In response to the ignition signal being off, a parking state is predicted;

[0121] If any one of the automatic parking system state, the electronic parking brake state, the parking brake state, or the gear state satisfies the parking state rule, and either the vehicle speed or the wheel speed satisfies the parking state rule, then the parking state is predicted.

[0122] In some embodiments, the preset judgment rule includes a starting state rule, and the state determination module 503 is further configured to:

[0123] Each piece of vehicle operating status information is compared with the starting status rule;

[0124] If all vehicle operating status information satisfies the starting state rule, then the starting state is predicted; wherein,

[0125] If the gear position is forward and or the accelerator pedal opening is greater than 2%, then a forward start-up state is predicted.

[0126] If the gear position is reverse and the accelerator pedal opening is greater than 2%, then a reverse start state is predicted.

[0127] In some embodiments, the vehicle start-stop state includes a stopped state, a forward start state, and a reverse start state; the control execution module 504 is further configured to:

[0128] In response to the parking state, the rear wheel steering angle is obtained;

[0129] If the rear wheel steering angle is not zero, control the rear wheel steering to return to zero at the first control rate and switch the mode of the rear wheel steering system; otherwise, directly switch the mode of the rear wheel steering system.

[0130] In response to the forward start state, the mode of the rear wheel steering system is switched and the rear wheel steering is activated from zero at a second control rate.

[0131] In response to the reversing start state, an intervention request is sent through the central control system;

[0132] Obtain an intervention confirmation command, and based on the intervention confirmation command, control the mode of the rear wheel steering system to switch and control the rear wheel steering to start from zero at a third control rate.

[0133] In some embodiments, the control execution module 504 is further configured to:

[0134] Obtain the front wheel steering angle and determine the rear wheel steering angle based on the front wheel steering angle;

[0135] Based on the rear wheel steering angle and the first control time, second control time, and third control time, the corresponding first control rate, second control rate, and third control rate are determined respectively; wherein the time unit of the first control time, second control time, and third control time is on the order of seconds.

[0136] In some embodiments, the first control time is longer than the third control time; the third control time is longer than the second control time.

[0137] For ease of description, the above apparatus is described in terms of function, divided into various modules. Of course, when implementing one or more embodiments of this specification, the functions of each module can be implemented in one or more software and / or hardware.

[0138] The apparatus of the above embodiments is used to implement the corresponding control method in any of the foregoing embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0139] Based on the same inventive concept, corresponding to any of the above embodiments, one or more embodiments of this specification also provide a vehicle, the vehicle being equipped with electronic equipment, the electronic equipment including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the control method described in any of the above embodiments.

[0140] Figure 6 This embodiment illustrates a more specific hardware structure of an electronic device, which may include a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, memory 1020, input / output interface 1030, and communication interface 1040 are interconnected internally via the bus 1050.

[0141] The processor 1010 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0142] The memory 1020 can be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 1020 can store the operating system and other applications. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program code is stored in the memory 1020 and is called and executed by the processor 1010.

[0143] The input / output interface 1030 is used to connect input / output modules to realize information input and output. Input / output modules can be configured as components within the device (not shown in the figure) or externally connected to the device to provide corresponding functions. Input devices may include keyboards, mice, touchscreens, microphones, various sensors, etc., while output devices may include displays, speakers, vibrators, indicator lights, etc.

[0144] The communication interface 1040 is used to connect a communication module (not shown in the figure) to enable communication between this device and other devices. The communication module can communicate via wired means (such as USB, Ethernet cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

[0145] Bus 1050 includes a pathway for transmitting information between various components of the device, such as processor 1010, memory 1020, input / output interface 1030, and communication interface 1040.

[0146] It should be noted that although the above-described device only shows the processor 1010, memory 1020, input / output interface 1030, communication interface 1040, and bus 1050, in specific implementations, the device may also include other components necessary for normal operation. Furthermore, those skilled in the art will understand that the above-described device may only include the components necessary for implementing the embodiments of this specification, and not necessarily all the components shown in the figures.

[0147] The electronic devices described above are used to implement the corresponding control methods in any of the foregoing embodiments and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0148] Based on the same inventive concept, corresponding to any of the above embodiments, one or more embodiments of this specification also provide a computer-readable storage medium storing computer instructions for causing the computer to perform the control method as described in any of the above embodiments.

[0149] The computer-readable medium of this embodiment includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transfer medium that can be used to store information accessible by a computing device.

[0150] The computer instructions stored in the storage medium of the above embodiments are used to cause the computer to execute the control method as described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0151] Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of this disclosure (including the claims) is limited to these examples; within the framework of this disclosure, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of one or more embodiments of this specification as described above, which are not provided in detail for the sake of brevity.

[0152] Additionally, to simplify the description and discussion, and to avoid obscuring one or more embodiments of this specification, well-known power / ground connections to integrated circuit (IC) chips and other components may or may not be shown in the provided drawings. Furthermore, the apparatus may be illustrated in block diagram form to avoid obscuring one or more embodiments of this specification, and this also takes into account the fact that the details of implementation of these block diagram apparatuses are highly dependent on the platform on which one or more embodiments of this specification will be implemented (i.e., these details should be fully understood by those skilled in the art). While specific details (e.g., circuits) have been set forth to describe exemplary embodiments of this disclosure, it will be apparent to those skilled in the art that one or more embodiments of this specification may be implemented without these specific details or with variations thereof. Therefore, these descriptions should be considered illustrative rather than restrictive.

[0153] Although this disclosure has been described in conjunction with specific embodiments thereof, many substitutions, modifications, and variations of these embodiments will be apparent to those skilled in the art from the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may be used with the embodiments discussed.

[0154] One or more embodiments of this specification are intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of one or more embodiments of this specification should be included within the scope of protection of this disclosure.

Claims

1. A control method of a rear wheel steering system, characterized by, The control method includes: Obtain the mode information of the rear-wheel steering system; wherein, the mode information includes the intervention mode and the disengagement mode when the rear-wheel steering system is activated; Based on the mode information, obtain the corresponding vehicle operating status information; Based on the vehicle operating status information and the corresponding preset judgment rules, predict the vehicle start-stop status; Match and control the execution of the corresponding rear wheel steering operations based on the vehicle's start-stop state; The vehicle start-stop states include a stopped state, a forward start state, and a reverse start state; the step of matching and controlling the execution of corresponding rear wheel steering-related operations based on the vehicle start-stop states includes: In response to the parking state, the rear wheel steering angle is obtained; if the rear wheel steering angle is not zero, the rear wheel steering is controlled to return to zero at a first control rate and the mode of the rear wheel steering system is switched; otherwise, the mode of the rear wheel steering system is switched directly. In response to the forward start state, the mode of the rear wheel steering system is switched and the rear wheel steering is activated from zero at a second control rate. In response to the reversing start state, an intervention request is sent through the central control system; an intervention confirmation command is obtained, and based on the intervention confirmation command, the mode of the rear wheel steering system is switched and the rear wheel steering is controlled to start from zero at a third control rate; The second control rate is greater than the third control rate.

2. The control method according to claim 1, characterized by, The step of obtaining the corresponding vehicle operating status information based on the mode information includes: In response to the rear-wheel steering system being in intervention mode, the acquired vehicle operating status information includes parking information and speed information; wherein, the parking information includes the status of the automatic parking system, the status of the electronic parking brake, the status of the handbrake, the gear status, and the ignition signal status; the speed information includes vehicle speed and wheel speed; In response to the rear wheel steering system being in the disengaged mode, the acquired vehicle operating status information includes engine ignition signal status, gear status, accelerator pedal opening, speed information, steering wheel angle, steering wheel speed and first duration, and steering wheel torque and second duration.

3. The control method according to claim 2, characterized in that, The preset determination rules include parking status rules, which correspond to the intervention mode. The step of predicting the vehicle start-stop state based on the vehicle operating status information and the corresponding preset judgment rule includes: The parking information and the speed information are compared with the parking status rules respectively; In response to the ignition signal being off, a parking state is predicted; If any one of the automatic parking system state, the electronic parking brake state, the parking brake state, and the gear state satisfies the parking state rule, and either the vehicle speed or the wheel speed satisfies the parking state rule, then the parking state is predicted.

4. The control method according to claim 2, characterized in that, The preset determination rule includes a start-up state rule, which corresponds to the exit mode; the step of predicting the vehicle start-stop state based on the vehicle operating status information and the corresponding preset determination rule includes: Each piece of vehicle operating status information is compared with the starting status rule; If all vehicle operating status information satisfies the starting state rule, then the starting state is predicted; wherein, If the gear position is forward and the accelerator pedal opening is greater than 2%, then a forward start-up state is predicted. If the gear position is reverse and the accelerator pedal opening is greater than 2%, then a reverse start state is predicted.

5. The control method according to claim 1, characterized in that, The first control rate, the second control rate, and the third control rate are determined by the following method: Obtain the front wheel steering angle and determine the rear wheel steering angle based on the front wheel steering angle; Based on the rear wheel steering angle and the first control time, second control time, and third control time, the corresponding first control rate, second control rate, and third control rate are determined respectively; wherein, the time unit of the first control time, second control time, and third control time is on the order of seconds.

6. The control method according to claim 5, characterized in that, The first control time is longer than the third control time; the third control time is longer than the second control time.

7. A control device for a rear-wheel steering system, characterized in that, The control device includes: First acquisition module: used to acquire mode information of the rear wheel steering system; wherein, the mode information includes the intervention mode and the exit mode when the rear wheel steering system is activated; The second acquisition module is used to acquire the corresponding vehicle operating status information based on the mode information. Status determination module: used to predict the vehicle start-stop status based on the vehicle operating status information and the corresponding preset judgment rules; Control execution module: used to match and control the execution of corresponding rear wheel steering-related operations based on the vehicle's start-stop state; the vehicle's start-stop state includes a parking state, a forward start state, and a reverse start state; the control execution module is also used to obtain the rear wheel steering angle in response to the parking state; if the rear wheel steering angle is not zero, control the rear wheel steering to return to zero at a first control rate and switch the mode of the rear wheel steering system; otherwise, directly switch the mode of the rear wheel steering system; In response to the forward start state, the mode of the rear wheel steering system is switched and the rear wheel steering is activated from zero at a second control rate. In response to the reversing start state, an intervention request is sent through the central control system; an intervention confirmation command is obtained, and based on the intervention confirmation command, the mode of the rear wheel steering system is switched and the rear wheel steering is controlled to start from zero at a third control rate; The second control rate is greater than the third control rate.

8. A vehicle, characterized in that, The vehicle is equipped with an electronic device, which includes a memory, a processor, and a control program for the rear wheel steering system stored in the memory and executable on the processor. When the processor executes the program, it implements the control method for the rear wheel steering system as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing the computer to perform the control method according to any one of claims 1 to 6.

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