Vehicle steering angle control method and control device, and vehicle

Abstract

The application discloses a vehicle steering angle control method and device and a vehicle. The vehicle steering angle control method comprises the following steps: A. receiving and determining corresponding target values of one or more control features in a vehicle steering system according to a target value of a steering angle of the vehicle, wherein the control features are related to vehicle steering operation; B. regulating the control features to perform vehicle steering operation according to the corresponding target values; C. obtaining a current actual value of the steering angle of the vehicle, and judging whether a deviation between the actual value and the target value of the steering angle is greater than a preset value: if yes, returning to step B; otherwise, starting a timer and keeping the current steering angle of the vehicle until a preset time period is reached to make a tire of the vehicle at least partially recover from elastic deformation. The application has the advantages of accurate and efficient steering operation, energy saving, prolonging the service life of equipment and the like, and can be widely applied to many types of vehicles.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and more particularly to a vehicle steering angle control method and control device, as well as a vehicle. Background Technology

[0002] A vehicle steering system is a mechanism installed on a vehicle to maintain or change its direction of travel. By performing steering operations through this system, the driver can control the vehicle's direction according to their intentions, which has a significant impact on driving safety. With technological advancements and social development, many types of autonomous vehicles have emerged. For example, AGVs (Automated Guided Vehicles) are deployed in unmanned container terminals to automate container loading and unloading, enabling continuous and efficient operation around the clock and significantly reducing labor costs. Similarly, these autonomous vehicles are also equipped with steering systems for steering operations during travel.

[0003] This application's research found that for various types of vehicles, when their load-bearing weight changes—for example, the aforementioned AGV experiences significant variations in load weight when transporting different containers (e.g., from a minimum load of 0 tons to a maximum load of 61 tons)—this leads to large changes in the friction between the vehicle's tires and the ground, as well as the tire's elastic deformation. This is detrimental to vehicle steering angle control. For instance, regarding steering angle control, since the angular tolerance is a constant, even after the steering angle reaches the target angle, the wheels are unlikely to maintain their original position. This necessitates repeated angle adjustments, consuming energy, shortening the lifespan of the vehicle's steering system, and causing frequent wheel vibrations during this process. These negatively impact tire lifespan, vehicle stability, and safety. Summary of the Invention

[0004] In view of this, the present invention provides a vehicle steering angle control method and control device, as well as a vehicle, thereby solving or at least mitigating one or more of the above-mentioned problems and other problems existing in the prior art.

[0005] According to one aspect of the present invention, a vehicle steering angle control method is first provided, comprising the steps of:

[0006] A. Receive and determine, based on the vehicle's target steering angle value, a corresponding target value for one or more control features in the vehicle steering system, said control features being related to vehicle steering operation;

[0007] B. Adjusting the control features according to the corresponding target value to perform vehicle steering operations; and

[0008] C. Obtain the actual value of the vehicle's current steering angle and determine whether the deviation between the actual value of the steering angle and the target value of the steering angle is greater than a preset value: if so, return to step B; otherwise, start the timer and maintain the vehicle's current steering angle until a preset time period is reached so that the vehicle tires at least partially recover their original elastic deformation.

[0009] In the vehicle steering angle control method according to the present invention, optionally, a target value of the vehicle's steering angular velocity is determined based on the target value of the steering angle, and then a corresponding target value of the control feature is determined based on the target value of the steering angular velocity, wherein the control feature includes the opening degree and current of the hydraulic valve in the vehicle steering system.

[0010] In the vehicle steering angle control method according to the present invention, optionally, the actual value of the steering angle is detected and obtained by an angle sensor on the vehicle, and the actual value of the current steering angular velocity of the vehicle is determined based on the actual value of the steering angle. Then, based on the deviation between the actual value of the steering angular velocity and the target value of the steering angular velocity, the opening of the hydraulic valve is controlled by PID control to achieve the target value of the steering angle.

[0011] In the vehicle steering angle control method according to the present invention, optionally, the actual current value of the hydraulic valve is detected and obtained by a current sensor on the vehicle, and then, based on the deviation between the actual current value and its corresponding target value, the hydraulic valve current is made to reach the target steering angle value by means of PID control.

[0012] In the vehicle steering angle control method according to the present invention, optionally, the preset value is set to no more than 30°, and / or the preset time period is set to no more than 10 seconds.

[0013] In the vehicle steering angle control method according to the present invention, optionally, the vehicle communicates with a control system located outside the vehicle and receives the target steering angle value from the control system.

[0014] In the vehicle steering angle control method according to the present invention, optionally, the vehicle includes an unmanned vehicle, which is arranged in a container yard for loading containers and is connected to the control system wirelessly.

[0015] Furthermore, according to another aspect of the present invention, a vehicle steering angle control device is also provided, which includes a processor and a memory for storing instructions, wherein when the instructions are executed, the processor implements the vehicle steering angle control method as described in any of the preceding claims.

[0016] Furthermore, according to another aspect of the present invention, a vehicle is further provided, characterized in that the vehicle uses the vehicle steering angle control method as described in any of the above claims, or the vehicle comprises:

[0017] The powertrain system provides driving force to propel the vehicle.

[0018] A vehicle steering system configured to perform steering operations while the vehicle is in motion; and

[0019] The vehicle steering angle control device described above is connected to the vehicle steering system and, when the vehicle is in motion, adjusts one or more control features related to vehicle steering operation in the vehicle steering system according to the vehicle steering angle target value to perform vehicle steering operation and achieve the steering angle target value.

[0020] In the vehicle according to the invention, optionally, the vehicle steering system is a hydraulic steering system, and the vehicle includes an unmanned vehicle for loading containers in a container yard, the unmanned vehicle being wirelessly connected to a control system located outside thereon.

[0021] The solution of this invention enables precise control of vehicle steering, effectively saving energy consumed during steering angle adjustment, helping to extend the service life of the vehicle steering system and tires, and preventing frequent wheel vibration during vehicle steering, thereby significantly improving vehicle stability and safety. This invention is highly practical, provides precise and efficient steering, and has low application costs, making it widely applicable to many types of vehicles. Attached Figure Description

[0022] Figure 1 This is a schematic block diagram illustrating the basic processing procedure of a vehicle steering angle control method embodiment according to the present invention.

[0023] Figure 2 yes Figure 1 The diagram shows a target steering angle optimization and control process in an embodiment of the vehicle steering angle control method. Detailed Implementation

[0024] First, it should be noted that the following will illustrate the steps, structure, features, and advantages of the vehicle steering angle control method and control device according to the present invention, as well as the vehicle itself, by way of example. However, all descriptions should not be construed as limiting the present invention in any way. For any single technical feature described or implied in the embodiments mentioned herein, or any single technical feature shown or implied in the accompanying drawings, the present invention still allows for any combination or deletion of these technical features (or their equivalents) without any technical obstacle. Therefore, these further embodiments according to the present invention should also be considered within the scope of this description.

[0025] Reference Figure 1 and Figure 2 The present invention provides a basic process flowchart and a schematic diagram of the target steering angle optimization and control process of an embodiment of the vehicle steering angle control method of the present invention through these examples. The method of the present invention will be described below in conjunction with this specific embodiment.

[0026] exist Figure 1 In the example, vehicle 100 can be an unmanned vehicle. For instance, as an optional application scenario, vehicle 100 can be an automated guided vehicle (AGV) deployed in a container yard or other possible environment. It communicates with a control system 200 (such as a yard transport control system) located outside the vehicle and can receive instructions from the control system 200 to control the transport of the target container to the designated target location. Alternatively, vehicle 100 and control system 200 can communicate wirelessly to transmit control commands, collected signal data, or other information. Of course, in one or more implementations, vehicle 100 and control system 200 may also use wired communication, or a combination of wired and wireless communication, all of which are permissible and feasible under this invention.

[0027] like Figure 1 As shown, when the vehicle 100 is in use, such as as an AGV used as a container transport tool in a container yard, the vehicle 100 can be controlled to perform the desired steering operation through the vehicle steering system installed on the vehicle by issuing instructions, for example, through an external control system 200. For example, when the vehicle 100 reaches the target position, unloads the container it is carrying, and is ready to turn to the next position to transport a new container, it is desired that the vehicle 100 has a specific target steering angle that meets the application requirements. Then, information such as the target steering angle value and the vehicle identification number can be included in the above instructions to control the vehicle 100 to complete the steering operation.

[0028] As an example, in Figure 1 In the given embodiment of the vehicle steering angle control method, after receiving the steering angle target value A sent from the control system 200 to the vehicle 100, the steering angle target value A can be processed to determine the corresponding vehicle steering angular velocity target value ω. The above process has been schematically represented in the figure using block diagram 10.

[0029] Next, based on the determined target value ω of the steering angular velocity, the corresponding target values ​​of the control features related to steering operation in the vehicle steering system can be further determined to adjust the vehicle to achieve the target steering angle. For example, when the vehicle steering system is configured as a hydraulic steering system, the opening degree and current of the hydraulic valves can be selected as the aforementioned control features. As shown in block diagram 20, the target value T of the opening degree of the corresponding hydraulic valve can be determined first based on the target value ω of the steering angular velocity, and then the target value C of the current of the corresponding hydraulic valve can be determined based on the latter. Then, the operation of the vehicle steering system can be controlled according to the corresponding target values ​​of these control features to enable the vehicle 100 to achieve the desired steering angle target value for this operation.

[0030] In addition, Figure 1 The diagram also shows the process of detecting and correcting the actual results of the vehicle steering operation, which is illustrated in block diagram 40 and other diagrams.

[0031] Specifically, the actual steering angle A' after the vehicle has performed the above steering operation can be detected and obtained using detection components, units, or devices (such as angle sensors) installed on the vehicle. Then, the actual steering angle A' can be used to determine the actual steering angular velocity ω' of the vehicle. This ω' is compared with the target steering angular velocity ω to determine the actual result of the vehicle's steering operation, and then appropriate measures can be taken. For example, based on the deviation between the actual steering angular velocity ω' and the target steering angular velocity ω, a PID (Proportional Integral Derivative) control method can be used to adjust the hydraulic valve to achieve the target opening value T.

[0032] Similarly, the actual current value C' of the hydraulic valve in the vehicle's steering system after the vehicle 100 performs the above steering operation can be detected by a detection component, unit, or device (such as a current sensor). This value can then be compared with the aforementioned target current value C to determine the actual result of the vehicle's steering operation, and appropriate measures can be taken. For example, based on the deviation between these values, a PID control method can be used to adjust the actual current of the hydraulic valve to reach the target current value C.

[0033] Through the above adjustments, the vehicle's steering system can accurately and quickly adjust the vehicle's steering angle to the target angle, thus achieving the target steering angle value. Furthermore, combining this with, for example... Figure 2 The target steering angle optimization and control steps shown in this invention demonstrate that the method of this invention can bring more positive, beneficial and significant technical effects compared to existing technologies.

[0034] Specifically, for example Figure 2 As shown, after initiating the vehicle steering operation towards the target steering angle in step S10, system initialization processing can be performed in step S11. It is understood that this typically involves, for example... Figure 1 The corresponding processing of components 10, 20, 30, and 40 in the block diagram shown is performed to restore them to their respective initial states so as to perform adjustment operations for the new target steering angle; then, in step S12, the deviation between the actual value A' of the vehicle's current steering angle obtained as described above and the target value A of the steering angle to be adjusted in this operation is judged and compared:

[0035] If the above deviation is found to be greater than a preset value (which can be set and adjusted according to application requirements, for example, no greater than 30°, such as 2°, 5°, 10°, 15°, 20°, 25°, or any other suitable value), this is in Figure 2 The corresponding symbol Y is used in the attached diagram, so the process proceeds to step S13 to continue the vehicle steering control operation. The above refers to... Figure 1 The specific and feasible control operation process has been discussed in detail in the example, such as the option to use PID control during the control process, so it will not be repeated here.

[0036] Conversely, if the deviation is found to be less than or equal to the aforementioned preset value, this is in Figure 2 The corresponding designation is indicated by the reference numeral N in the attached diagram. Then, proceeding to step S14, a timer can be started for timing. As long as the timer has not reached a preset time period (which can be set and adjusted according to application requirements, for example, no more than 10 seconds, such as 1 second, 2 seconds, 4 seconds, 5 seconds, 5.5 seconds, 8 seconds, or any other suitable value), then proceeding to step S15 to maintain the vehicle's current steering angle; once the timer has reached the preset time period, then proceeding to step S16 to restart the system initialization process as described above, so that any feasible method, such as PID control, can be used to adjust the vehicle's steering, enabling the vehicle to reach a new target steering angle.

[0037] Using the optimized vehicle target steering angle control method described above in the present invention is advantageous. This allows the vehicle tires time to recover or at least partially recover their elastic original shape, which is related to the selection and setting of the preset time period. Specifically, setting the preset time period relatively long is more conducive to the elastic deformation recovery operation of the vehicle tires and the achievement of the target steering angle. This method is particularly advantageous for steering operations of vehicles with frequently changing loads (such as port container trucks), especially for automated steering operations of controlled unmanned vehicles. This is because such vehicles often perform steering operations immediately after loading or unloading containers or other loads. At this time, the vehicle tires are usually still in an elastic deformation state due to the load change, which easily leads to the problem of repeated energy consumption caused by frequent steering angle adjustments during steering operations in existing vehicles. The present invention successfully solves the above problems, effectively saving energy and extending the service life of the vehicle steering system and vehicle tires. It also avoids or significantly alleviates the frequent vibrations that easily occur in the wheels of existing vehicles during steering operations, significantly enhancing the stability and safety of the vehicle during driving.

[0038] According to the technical solution of the present invention, a vehicle steering angle control device is also provided, which may include a processor and a memory for storing instructions. When the instructions are executed, the processor in the aforementioned deceleration control system can implement the vehicle steering angle control method according to the present invention, thereby bringing the obvious technical advantages of the present invention as described above, especially optimizing the vehicle steering angle control operation and improving vehicle performance. In specific applications, the vehicle steering angle control device can be integrated into the vehicle's steering system or control system (such as ECU), or it can be set as an independent part on the vehicle and can be arranged in any suitable location.

[0039] Furthermore, according to the present invention, a vehicle is provided on which the vehicle steering angle control method according to the present invention can be used, or on which the vehicle steering angle control device according to the present invention can be configured. When the vehicle is driven by the power system, the vehicle steering angle control device can be used through the connected vehicle steering system to control the vehicle to perform steering operations in order to achieve a steering angle target value that meets the application requirements.

[0040] It should be understood that the vehicle according to the present invention can include, but is not limited to, many types of vehicles such as fuel vehicles, pure electric vehicles, and hybrid vehicles. It can be an autonomous vehicle or a driver-driven vehicle. Furthermore, although a hydraulic steering system was used as an example in the preceding embodiments, any feasible form such as an electric steering system, a pneumatic steering system, an electro-hydraulic power steering system, or a steer-by-wire system is also permitted. The control features related to vehicle steering operation can be one or more, such as the motor current in an electric steering system, the motor current in an electro-hydraulic power steering system, the hydraulic valve opening, etc. The present invention does not impose specific limitations on these.

[0041] The above examples are merely illustrative of the vehicle steering angle control method, control device, and vehicle according to the present invention. These examples are only for illustrating the principles and implementation methods of the present invention and are not intended to limit the invention. Various modifications and improvements can be made by those skilled in the art without departing from the spirit and scope of the invention. Therefore, all equivalent technical solutions should fall within the scope of the present invention and be defined by the claims of the present invention.

Claims

1. A vehicle steering angle control method, characterized in that, Including the following steps: A. Receive and determine, based on the vehicle's target steering angle value, a corresponding target value for one or more control features in the vehicle steering system, said control features being related to vehicle steering operation; B. Adjust the control features according to the corresponding target value to perform vehicle steering operation; as well as C. Obtain the actual value of the vehicle's current steering angle and determine whether the deviation between the actual value of the steering angle and the target value of the steering angle is greater than a preset value: if so, return to step B; otherwise, start the timer and maintain the vehicle's current steering angle until a preset time period is reached so that the vehicle tires at least partially recover their original elastic deformation.

2. The vehicle steering angle control method according to claim 1, wherein, The target value of the vehicle's steering angular velocity is determined based on the target value of the steering angle, and then the corresponding target value of the control feature is determined based on the target value of the steering angular velocity. The control feature includes the opening degree and current of the hydraulic valves in the vehicle steering system.

3. The vehicle steering angle control method according to claim 2, wherein, The actual steering angle value is obtained by detecting the angle sensor on the vehicle, and the actual steering angular velocity value of the vehicle is determined based on the actual steering angle value. Then, based on the deviation between the actual steering angular velocity value and the target steering angular velocity value, the opening of the hydraulic valve is controlled by PID control to achieve the target steering angle value.

4. The vehicle steering angle control method according to claim 2, wherein, The actual current value of the hydraulic valve is obtained by detecting the current sensor on the vehicle. Then, based on the deviation between the actual current value and its corresponding target value, the hydraulic valve current is controlled by PID control to achieve the target steering angle value.

5. The vehicle steering angle control method according to claim 1, wherein, The preset value is set to no more than 30°, and / or the preset time period is set to no more than 10 seconds.

6. The vehicle steering angle control method according to any one of claims 1-5, wherein, The vehicle communicates with a control system located outside the vehicle and receives the target steering angle value from the control system.

7. The vehicle steering angle control method according to claim 6, wherein, The vehicle includes an autonomous vehicle, which is deployed in a container yard for loading containers and is connected to the control system via wireless communication.

8. A vehicle steering angle control device, characterized in that, It includes a processor and a memory for storing instructions, characterized in that, when the instructions are executed, the processor implements the vehicle steering angle control method as described in any one of claims 1-7.

9. A vehicle, characterized in that, The vehicle uses the vehicle steering angle control method as described in any one of claims 1-7, or the vehicle comprises: The powertrain system provides driving force to propel the vehicle. A vehicle steering system configured to perform steering operations while the vehicle is in motion; and The vehicle steering angle control device as described in claim 8 is connected to the vehicle steering system and, when the vehicle is in motion, adjusts one or more control features related to vehicle steering operation in the vehicle steering system according to the vehicle steering angle target value to perform vehicle steering operation and achieve the steering angle target value.

10. The vehicle according to claim 9, wherein, The vehicle steering system is a hydraulic steering system, and the vehicle includes an unmanned vehicle for loading containers in a container yard, the unmanned vehicle being connected wirelessly to a control system located outside it.

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