Vehicle stationary turning control method and device, vehicle controller and vehicle

Abstract

The application discloses a vehicle spot turning control method and device, a vehicle controller and a vehicle, and relates to the technical field of vehicles. The method comprises the following steps: when the vehicle is in a spot turning mode, determining a target yaw moment of the vehicle according to vehicle state information; and controlling the vehicle to realize spot turning according to the target yaw moment. The vehicle state information comprises a difference and a difference change rate, the difference is a difference between a target yaw angular velocity and a current yaw angular velocity of the vehicle, and the difference change rate is a change rate of the difference with time. The method adjusts the target yaw moment in real time, and realizes adaptive spot turning.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and more specifically, to a vehicle self-steering control method, a vehicle controller, a vehicle, and a computer-readable storage medium. Background Technology

[0002] Currently, vehicles have become the most commonly used means of transportation.

[0003] Existing vehicle control methods for achieving stationary steering are not ideal. Summary of the Invention

[0004] One objective of this application is to provide a new technical solution for vehicle in-situ steering.

[0005] According to a first aspect of this application, a vehicle stationary steering control method is provided, the method comprising:

[0006] When the vehicle is in stationary turning mode, the target yaw moment of the vehicle is determined based on the vehicle status information.

[0007] The vehicle is controlled to achieve in-situ turning based on the target yaw moment;

[0008] The vehicle status information includes a difference and a rate of change of the difference. The difference is the difference between the target yaw rate and the vehicle's current yaw rate. The rate of change of the difference is the rate of change of the difference over time.

[0009] Optionally, determining the target yaw moment of the vehicle based on the vehicle status information includes:

[0010] The control parameters for the current moment are determined based on the difference and the rate of change of the difference;

[0011] The target yaw moment is determined based on the difference and the control parameters at the current moment.

[0012] Optionally, the difference, the rate of change of the difference, and the change in the control parameter have a corresponding relationship;

[0013] The step of determining the control parameters at the current moment based on the difference and the rate of change of the difference includes:

[0014] The change in control parameters at the current moment is determined based on the correspondence.

[0015] The control parameters at the current moment are determined based on the control parameters at the previous moment and the change in the control parameters at the current moment.

[0016] Optionally, the control parameters at the initial moment when the vehicle enters the stationary steering mode are preset values.

[0017] Optionally, the control parameters include proportional coefficient, derivative coefficient, and integral coefficient;

[0018] Determining the target yaw moment based on the difference and the control parameters at the current moment includes:

[0019] The target yaw moment is determined using a PID controller based on the difference and the control parameters at the current moment.

[0020] Optionally, controlling the vehicle to achieve in-situ steering based on the yaw moment includes:

[0021] Determine the front axle load and rear axle load distribution parameters based on the front axle load and rear axle load.

[0022] The drive torque of the front axle motor is determined based on the front axle allocation parameters and the target yaw moment in order to control the front axle motor.

[0023] The drive torque of the rear axle motor is determined based on the rear axle allocation parameters and the target yaw moment in order to control the rear axle motor.

[0024] Optionally, the method further includes:

[0025] Obtain the in-place turn command.

[0026] The direction of the target yaw moment is determined according to the in-place turning direction indicated by the in-place turning command.

[0027] Optionally, the method further includes:

[0028] Lock the steering wheel according to the stationary turning command;

[0029] Based on the target yaw moment, determine the resultant torque of the steering motor;

[0030] The steering motor is controlled based on the resultant torque.

[0031] Optionally, the steering motor includes at least one of a front steering motor and a rear steering motor;

[0032] The method further includes:

[0033] Determine at least one of the front axle steering motor adjustment parameters and the rear axle steering motor adjustment parameters based on the front axle load and the rear axle load;

[0034] The step of determining the resultant torque of the steering motor based on the target yaw moment includes:

[0035] The resultant torque of the front steering motor is determined based on the target yaw moment and the adjustment parameters of the front axle steering motor.

[0036] The resultant torque of the rear steering motor is determined based on the target yaw moment and the adjustment parameters of the rear axle steering motor.

[0037] According to a second aspect of this application, a vehicle stationary steering control device is provided, the device comprising:

[0038] The determination module is used to determine the target yaw moment of the vehicle based on the vehicle status information when the vehicle is in stationary steering mode.

[0039] The control module is used to control the vehicle to achieve on-the-spot turning based on the target yaw moment;

[0040] The vehicle status information includes a difference and a rate of change of the difference. The difference is the difference between the target yaw rate and the vehicle's current yaw rate. The rate of change of the difference is the rate of change of the difference over time.

[0041] According to a third aspect of this application, a vehicle controller is provided, the vehicle controller including the vehicle stationary steering control device as described in the second aspect;

[0042] Alternatively, it may include a memory and a processor, the memory for storing computer instructions and the processor for retrieving the computer instructions from the memory to execute the vehicle stationary steering control method as described in any one of the first aspects.

[0043] According to a fourth aspect of this application, a vehicle is provided, the vehicle including a vehicle controller as described in the third aspect.

[0044] According to a fifth aspect of this application, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the vehicle stationary steering control method according to any one of the first aspects.

[0045] This application provides a vehicle stationary steering control method, comprising: determining a target yaw moment of the vehicle based on vehicle state information when the vehicle is in stationary steering mode; controlling the vehicle to achieve stationary steering based on the target yaw moment; the vehicle state information includes a difference and a rate of change of the difference, wherein the difference is the difference between the target yaw rate and the current yaw rate of the vehicle; and the rate of change of the difference is the rate of change of the difference over time. In this application embodiment, when the vehicle is stationary steering, the rate of change of the yaw rate of the same yaw moment differs under different adhesion coefficients of the road surface. Therefore, this application uses the rate of change of the difference as one of the parameters for determining the required target yaw moment, which allows the target yaw moment to match the adhesion coefficient of the road surface where the vehicle is currently located. The control method considers the influence of the ground adhesion coefficient on stationary steering and adjusts the target yaw moment in real time, making stationary steering more flexible and achieving adaptive stationary steering. In other words, the vehicle stationary steering control method provided in this application embodiment can enable the vehicle to complete stationary steering under different adhesion coefficients.

[0046] Other features and advantages of this application will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0047] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments of the present application and, together with their description, serve to explain the principles of the present application.

[0048] Figure 1 This is a schematic flowchart of a vehicle stationary steering control method provided in an embodiment of this application;

[0049] Figure 2 This is a schematic diagram of the fuzzy PID algorithm provided in the embodiments of this application;

[0050] Figure 3 This is a schematic diagram of the yaw moment and wheel track of a vehicle provided in an embodiment of this application;

[0051] Figure 4 This is a schematic diagram of the kingpin center offset of a vehicle provided in an embodiment of this application;

[0052] Figure 5 This is a schematic diagram of the structure of a vehicle stationary steering control device provided in an embodiment of this application;

[0053] Figure 6 This is a schematic diagram of the structure of a vehicle controller provided in an embodiment of this application. Detailed Implementation

[0054] Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present application.

[0055] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the scope of this application and its application or use.

[0056] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0057] In all the examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0058] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0059] This application provides a vehicle adaptive in-situ steering method, such as... Figure 1 As shown, the method includes the following steps S1100 and S1200:

[0060] S1100: When the vehicle is in stationary steering mode, determine the target yaw moment of the vehicle based on the vehicle status information.

[0061] The vehicle status information includes the difference and the rate of change of the difference, where the difference is the difference between the target yaw rate and the current yaw rate.

[0062] The rate of change of the difference is the amount of change of the difference over time.

[0063] In this embodiment, when the driver wants to control the vehicle to turn in place, a turning command is input to the vehicle so that the vehicle is in the turning mode.

[0064] In one embodiment of this application, a specific physical or virtual button is provided at the center console or other location (e.g., the steering wheel) of the vehicle. When the driver wants to control the vehicle to perform a stationary turn, this specific physical or virtual button is triggered. Upon triggering this specific physical or virtual button, the vehicle receives the driver's input command to perform a stationary turn, and the vehicle enters a stationary turn mode.

[0065] In this embodiment, the target yaw rate is the desired yaw rate when the vehicle makes a stationary turn.

[0066] In one embodiment of this application, a uniform target yaw rate for the vehicle can be determined through extensive experiments. For example, experiments can be conducted on multiple vehicles to determine the yaw rate of each vehicle when turning in place; the average of the multiple yaw rates determined experimentally can be calculated; and this average value can be used as the uniform target yaw rate.

[0067] In another embodiment of this application, the target yaw rate can also be determined based on the vehicle model information.

[0068] In this application embodiment, the applicant discovered that for different vehicle models, drivers or passengers experience different subjective sensations when the vehicle is turning. Therefore, different target yaw rates can be set for different vehicle models.

[0069] Specifically, experiments are conducted on multiple vehicles of the same model to determine the yaw rate of each vehicle when turning in place; the average value of the multiple yaw rates determined by the experiments is calculated; and this average value is used as the unified target yaw rate for vehicles of that model.

[0070] The same process is applied to other vehicle models to obtain the target yaw rate for each model. Based on this, a mapping relationship is established between the vehicle model and its corresponding target yaw rate.

[0071] In the above mapping relationship, find the vehicle model that matches the obtained vehicle model information; use the target yaw rate corresponding to the found vehicle model in the mapping relationship as the target yaw rate in this embodiment of the application.

[0072] In this embodiment, a yaw rate sensor can be installed on the vehicle body, and the current yaw rate of the vehicle can be obtained based on the yaw rate sensor. Of course, the current yaw rate can also be calculated from other vehicle parameters. This embodiment does not limit this approach.

[0073] In the embodiments of this application, the above difference can be obtained by the following formula.

[0074] e ωr (t)=ω rd -ω r (Formula 1)

[0075] Among them, e ωr (t) represents the difference between the target yaw rate and the current yaw rate. ω rd This represents the target's yaw rate. ω r This represents the current yaw rate.

[0076] In this embodiment of the application, the aforementioned rate of change of difference Δe can be obtained according to the following formula 2.ωr (t):

[0077]

[0078] In this embodiment, when a vehicle turns in place, the rate of change of the yaw rate of the same yaw moment differs under different coefficients of adhesion surfaces. Therefore, this application uses the rate of change of the difference as one of the parameters for determining the required target yaw moment, which allows the target yaw moment to match the coefficient of adhesion of the road surface where the vehicle is currently located.

[0079] Based on the above, and assuming the vehicle status information includes the difference and the rate of change of the difference, the target yaw moment that matches the adhesion coefficient of the current ground can be determined according to the vehicle status information.

[0080] In one embodiment of this application, the above-mentioned S1100 can be implemented by the following S1110 and S1111:

[0081] S1110. Determine the control parameters for the current moment based on the difference and the rate of change of the difference.

[0082] In one embodiment of this application, the control parameters include: a proportional coefficient, a derivative coefficient, and an integral coefficient. Based on this, the control parameters at the current moment include: the proportional coefficient at the current moment, the derivative coefficient at the current moment, and the integral coefficient at the current moment.

[0083] In one embodiment of this application, the difference, the rate of change of the difference, and the change in the control parameter have a corresponding relationship. Based on this, the above-mentioned S1110 can be implemented by the following S1110-1 and S1110-2:

[0084] S1110-1. Determine the change in control parameters at the current moment based on the correspondence.

[0085] In this embodiment of the application, when the control parameters at the current time include the proportional coefficient, the derivative coefficient, and the integral coefficient at the current time, the change in the control parameters at the current time in S1110-1 is specifically: the change in the proportional coefficient, the change in the derivative coefficient, and the change in the integral coefficient at the current time.

[0086] In this embodiment, the correspondence in S1110-1 can be obtained by vehicle R&D personnel based on simulation experiments. In one embodiment, the correspondence obtained by vehicle R&D personnel based on simulation experiments in S1110-1 is shown in Table 1 below:

[0087] Table 1

[0088]

[0089] In Table 1, △Kp represents the change in the proportional coefficient of the control parameters, △Ki represents the change in the integral coefficient of the control parameters, and △Kd represents the change in the derivative coefficient of the control parameters.

[0090] like Figure 2 As shown, ΔKp, ΔKi, and ΔKd in Table 1 can be obtained by subtracting Δe from the given values. ωr (t) and e ωr (t) is obtained by inputting it into the fuzzy controller.

[0091] NB, NS, ZE, PS, and PB are fuzzy subsets corresponding to the fuzzy controller, representing negative large, negative small, zero, positive small, and positive large, respectively.

[0092] Based on the correspondence shown in Table 1 above, the specific values ​​of ΔKP, ΔKi, and ΔKd are determined according to fuzzy rules and membership functions. Where, e ωr (t), Δe ωr (t) uses the same membership function, and similarly, ΔKP, ΔKi, and ΔKd also use the same membership function.

[0093] S1110-2. Determine the control parameters at the current moment based on the control parameters at the previous moment and the change in the control parameters at the current moment.

[0094] In this embodiment of the application, when the control parameters include proportional coefficient, integral coefficient, and derivative coefficient, the specific implementation of S1110-2 is as follows: the sum of the change in the proportional coefficient at the previous moment and the proportional coefficient at the current moment is used as the proportional coefficient at the current moment.

[0095] The sum of the integral coefficients from the previous time step and the changes in the integral coefficients at the current time step is taken as the integral coefficient at the current time step.

[0096] The sum of the changes in the differential coefficients at the previous time step and at the current time step is taken as the differential coefficient at the current time step.

[0097] It is understandable that there are no control parameters from the previous moment at the initial moment of vehicle stationary turning. Therefore, in this embodiment, the control parameters at the initial moment of vehicle stationary turning are set to preset values. That is, the control parameters at the initial moment when the vehicle enters the stationary turning mode are preset values. These preset values ​​are either the control parameters when the vehicle is on a surface with the maximum coefficient of adhesion or the control parameters when the vehicle is on a surface with the minimum coefficient of adhesion, and can be obtained empirically. When the preset value is the control parameter when the vehicle is on a surface with the maximum coefficient of adhesion, the control parameters at the current moment are decreased compared to the preset value; when the preset value is the control parameter when the vehicle is on a surface with the minimum coefficient of adhesion, the control parameters at the current moment are increased compared to the preset value.

[0098] S1111. Determine the target yaw moment based on the difference and the control parameters at the current moment.

[0099] In one embodiment of this application, the above-mentioned S1111 can be implemented by the following S1111-1:

[0100] S1111-1. Based on the difference and the control parameters at the current moment, the target yaw moment is determined using a PID controller.

[0101] In this embodiment, as Figure 2 As shown, the difference, the rate of change of the difference, and the control parameters at the current moment can be input into the PID controller to determine the target yaw moment. The calculation process of the PID controller is shown in Formula 3 below:

[0102]

[0103] Where Kp is the proportional coefficient at the current time, Ki is the integral coefficient at the current time, and Kd is the differential coefficient at the current time.

[0104] S1200: Control the vehicle to achieve on-the-spot turning based on the target yaw moment.

[0105] In this embodiment, since the target yaw moment matches the coefficient of adhesion of the ground where the vehicle is currently located, a stationary turn can be completed when the vehicle is controlled to turn in place based on the target yaw moment. This ensures that the vehicle can complete a stationary turn on surfaces with different coefficients of adhesion. In other words, this application provides a stationary turn method that adapts to the coefficient of adhesion of the ground where the vehicle is currently located.

[0106] This application provides a vehicle stationary steering control method, comprising: determining a target yaw moment of the vehicle based on vehicle state information when the vehicle is in stationary steering mode; controlling the vehicle to achieve stationary steering based on the target yaw moment; the vehicle state information includes a difference and a rate of change of the difference, wherein the difference is the difference between the target yaw rate and the current yaw rate of the vehicle; and the rate of change of the difference is the rate of change of the difference over time. In this application embodiment, when the vehicle is stationary steering, the rate of change of the yaw rate of the same yaw moment differs under different adhesion coefficients of the road surface. Therefore, this application uses the rate of change of the difference as one of the parameters for determining the required target yaw moment, which allows the target yaw moment to match the adhesion coefficient of the current road surface, achieving adaptive stationary steering. This means that the vehicle stationary steering control method provided in this application embodiment can enable the vehicle to complete stationary steering under different adhesion coefficients. This ensures that the vehicle can complete stationary steering on surfaces with different adhesion coefficients. In addition, this control method takes into account the influence of the rate of change of the difference and adjusts the target yaw moment in real time, thereby improving the response speed of the yaw rate and reducing fluctuations, thus improving the technical defect of large fluctuations in yaw rate caused by the coarse control method.

[0107] In one embodiment of this application, the above-mentioned S1200 can be implemented by the following S1210-S1212:

[0108] S1210. Determine the front axle load distribution parameters and rear axle load distribution parameters based on the front axle load and rear axle load.

[0109] In this embodiment, the front axle load includes the vertical load of the left front wheel and the vertical load of the right front wheel. The rear axle load includes the vertical load of the left rear wheel and the vertical load of the right rear wheel.

[0110] The front axle load distribution parameter can be the proportion of the front axle load in the total load, and the rear axle load distribution parameter can be the proportion of the rear axle load in the total load. The total load is the sum of the front axle load and the rear axle load.

[0111] Based on the above, S1210 can be achieved through the following formulas four and five:

[0112]

[0113]

[0114] Among them, F Zfl The load is the vertical axle load of the left front wheel;

[0115] F Zfr The vertical axle load is for the right front wheel;

[0116] F Zrl The load is the vertical load on the left rear wheel;

[0117] F Zrr The load is the vertical load on the right rear wheel;

[0118] n1 is the proportion of the front axle load in the total load, i.e., the front axle distribution parameter;

[0119] n2 is the proportion of the rear axle load in the total load, i.e., the rear axle distribution parameter.

[0120] S1211. Determine the drive torque of the front axle motor based on the front axle distribution parameters and the target yaw moment to control the front axle motor.

[0121] In this embodiment, the front axle motor includes a left front wheel drive motor and a right front wheel drive motor. This means that the drive torque of the front axle motor includes the drive torque of the left front wheel drive motor and the drive torque of the right front wheel drive motor. Based on this, the above-mentioned S1211 can be implemented by the following formula six:

[0122]

[0123] Among them, T fr T represents the right front wheel drive torque. fl Let B be the drive torque of the left front wheel, B be the wheel track width, and R be the wheel rolling radius. It should be noted that the wheel track width (B) and wheel rolling radius (R) are fixed parameters of the vehicle. The sign of the drive motor's drive torque indicates the direction of the driving force; when the drive motor's drive torque is positive, the driving force is forward, and when the drive motor's drive torque is negative, the driving force is backward.

[0124] Among them, the wheel track B is as follows Figure 3 As shown.

[0125] After obtaining the left front wheel drive torque and the right front wheel drive torque, the left front wheel drive motor is controlled to drive according to the left front wheel drive torque, and the right front wheel drive motor is controlled to drive according to the right front wheel drive torque.

[0126] S1212. Determine the drive torque of the rear axle motor based on the rear axle distribution parameters and the target yaw moment to control the rear axle motor.

[0127] In this embodiment, the rear axle motor includes a left rear wheel drive motor and a right rear wheel drive motor. This means that the drive torque of the rear axle motor includes the drive torque of the left rear wheel drive motor and the drive torque of the right rear wheel drive motor. Based on this, the above-mentioned S1211 can be implemented by the following formula seven:

[0128]

[0129] Among them, T rr T represents the right rear wheel drive torque. rl, where B is the left rear wheel drive torque, B is the wheel track width, and R is the wheel rolling radius.

[0130] After obtaining the left rear wheel drive torque and the right rear wheel drive torque, the left rear wheel motor is controlled to drive according to the left rear wheel drive torque, and the right rear wheel drive motor is controlled to drive according to the right rear wheel drive torque.

[0131] In this embodiment, the driving torque of each drive motor in the vehicle is determined by the front axle load and the rear axle load, which conforms to the vehicle's motion characteristics.

[0132] In one embodiment of this application, the vehicle stationary steering control method provided in this application further includes the following steps S1300 and S1400:

[0133] S1300, Obtain the in-place turning command.

[0134] In this embodiment, the stationary turn command is used to indicate the turning direction of the vehicle when turning in place. Specifically, the stationary turn command can instruct the vehicle to turn clockwise or counterclockwise when turning in place.

[0135] In the embodiments of this application, the specific implementation of S1300 is similar to the specific implementation of the method for obtaining the stationary turning mode in S1100, and will not be repeated here.

[0136] S1400. Determine the direction of the target yaw moment based on the in-place turning direction indicated by the in-place turning command.

[0137] In this embodiment, as Figure 3 As shown, when the stationary turning direction command instructs the vehicle to turn counterclockwise while stationary, the direction of the target yaw moment ΔM is determined to be counterclockwise and represented by a positive value; for example... Figure 3 As shown, when the stationary turn command instructs the vehicle to turn clockwise while stationary, the direction of the yaw moment ΔM is determined to be counterclockwise and represented by a negative value.

[0138] Based on the above, when ΔM is positive, the driving torque of the front axle motor in S1210 is achieved through Formula 6, and the driving torque of the rear axle motor is achieved through Formula 7.

[0139] When ΔM is negative, the driving torque of the front axle motor in S1210 above is achieved by formula eight below, and the driving torque of the rear axle motor is achieved by formula nine below.

[0140]

[0141]

[0142] Based on formulas six to nine above, it can be achieved that the turning direction of the vehicle when turning in place is consistent with the turning direction indicated by the turning command input by the driver.

[0143] In this embodiment, the driver can input a corresponding in-situ turning command as needed, thereby causing the vehicle to turn in place according to the driver's desired direction. This improves the driver's driving experience.

[0144] In one embodiment of this application, the vehicle stationary steering control method provided in this application further includes the following steps S1500-S1700:

[0145] S1500, Lock the steering wheel according to the stationary turning command.

[0146] In this application, the specific implementation of S1500 is as follows: upon receiving a stationary steering command, the steering wheel is locked. In one embodiment, the steering wheel is locked by performing a return-to-center locking maneuver.

[0147] S1600. Determine the resultant torque of the steering motor based on the target yaw moment. The resultant torque of the steering motor is used to balance the torque of the left and right wheels rotating around the kingpin due to the different driving forces they are subjected to, thereby avoiding wheel rotation and resulting deviation when turning in place.

[0148] In this embodiment, the steering motor includes at least one of a front axle steering motor and a rear axle steering motor. Based on this, the vehicle stationary steering control method provided in this application embodiment further includes the following S1610:

[0149] S1610. Determine at least one of the front axle steering motor adjustment parameters and the rear axle steering motor adjustment parameters based on the front axle load and the rear axle load.

[0150] In this embodiment, the adjustment parameters of the front axle steering motor are the same as the aforementioned front axle allocation parameters. The adjustment parameters of the rear axle steering motor are the same as the aforementioned rear axle allocation parameters.

[0151] Based on S1610 above, S1600 above is implemented through the following S1620 and S1621:

[0152] S1620. Determine the resultant torque of the front axle steering motor based on the target yaw moment and the adjustment parameters of the front axle steering motor.

[0153] S1621. Determine the resultant torque of the rear axle steering motor based on the target yaw moment and the adjustment parameters of the rear axle steering motor.

[0154] The resultant torque of the front axle steering motor in S1620 above can be achieved by the following formula:

[0155]

[0156] Furthermore, the resultant torque of the rear axle steering motor in S1621 above can be achieved through the following formula eleven:

[0157]

[0158] Where Tmf is the resultant torque of the front axle steering motor in the vehicle, d is the kingpin center offset, and Tmr is the resultant torque of the rear axle steering motor in the vehicle, and d is as follows: Figure 4 As shown in the image.

[0159] S1700, controls the steering motor based on the resultant torque.

[0160] The applicant discovered that during stationary turning, the different directions of the left and right driving forces cause the wheels to turn, resulting in the wheels rotating around the kingpin and consequently causing the vehicle to veer off course. This application addresses this issue by using a steering motor to compensate for the target yaw moment in real time, thereby reducing the impact of wheel turning on stationary turning.

[0161] Specifically, the combined torque of the front axle steering motor or the rear axle steering motor ensures that the direction of the torque generated by the wheels is opposite to the direction of wheel steering caused by the different driving forces of the left and right wheels. When the vehicle is turning counterclockwise in place, the wheels tend to rotate counterclockwise around the kingpin. At this time, the combined torque of the front axle steering motor or the rear axle steering motor can make the wheels rotate clockwise, thereby reducing the wheel steering caused by the different driving torque directions.

[0162] When a vehicle turns clockwise in place, the wheels tend to rotate clockwise and counterclockwise around the kingpin. At this time, the combined torque of the front axle steering motor or the rear axle steering motor can make the wheels rotate counterclockwise, thereby reducing the wheel steering caused by the different directions of the driving torque.

[0163] In this embodiment, on the one hand, the resultant torque of the steering motor in the vehicle is determined by the front axle load and the rear axle load, which conforms to the vehicle's motion characteristics. On the other hand, in the stationary steering mode, the vehicle's steering wheel is locked, and steering compensation is performed by controlling the steering motor according to the resultant torque. This avoids the situation where the lateral force of the wheel caused by the friction between the wheel and the ground drives the steering wheel to rotate when the wheel is turning in place. Furthermore, it avoids wheel deviation, which would prevent the vehicle from being unable to turn in place.

[0164] In one embodiment of this application, in conjunction with the above content, such as Figure 2As shown, when the front axle motor is controlled by the drive torque of the front axle motor, the rear axle motor by the drive torque of the rear axle motor, the front axle steering motor by the resultant torque of the front axle steering motor, and the rear axle steering motor by the resultant torque of the rear axle steering motor, the vehicle's current yaw rate changes. At this point, returning to step S1100 above, the vehicle will continue to turn in place.

[0165] This application also provides a vehicle stationary steering control device 500, such as... Figure 5 As shown, the vehicle stationary steering control device 500 includes:

[0166] The determination module 510 is used to determine the target yaw moment of the vehicle based on the vehicle status information when the vehicle is in stationary steering mode.

[0167] Control module 520 is used to control the vehicle to achieve on-the-spot turning based on the target yaw moment;

[0168] The vehicle status information includes a difference and a rate of change of the difference. The difference is the difference between the target yaw rate and the vehicle's current yaw rate. The rate of change of the difference is the rate of change of the difference over time.

[0169] In this application embodiment, a vehicle stationary steering control device is provided, such as... Figure 5 As shown, the system includes: a determination module, used to determine the target yaw moment of the vehicle based on vehicle status information when the vehicle is in stationary steering mode; and a control module, used to control the vehicle to achieve stationary steering based on the target yaw moment. The vehicle status information includes a difference and a rate of change of the difference, where the difference is the difference between the target yaw rate and the vehicle's current yaw rate; and the rate of change of the difference is the rate of change of the difference over time. In this embodiment, when the vehicle is stationary steering, the rate of change of the yaw rate of the same yaw moment differs under different adhesion coefficients of the road surface. Therefore, this application uses the rate of change of the difference as one of the parameters for determining the required target yaw moment, which allows the target yaw moment to match the adhesion coefficient of the road surface where the vehicle is currently located. The control method considers the influence of the ground adhesion coefficient on stationary steering and adjusts the target yaw moment in real time, making the vehicle's stationary steering more flexible and achieving adaptive stationary steering. In other words, the vehicle stationary steering control method provided in this embodiment can enable the vehicle to complete stationary steering under different adhesion coefficients.

[0170] In one embodiment of this application, the determining module 510 is specifically used for:

[0171] The control parameters for the current moment are determined based on the difference and the rate of change of the difference;

[0172] The target yaw moment is determined based on the difference and the control parameters at the current moment.

[0173] In one embodiment of this application, the difference, the rate of change of the difference, and the amount of change of the control parameter have a corresponding relationship;

[0174] The step of determining the control parameters at the current moment based on the difference and the rate of change of the difference includes:

[0175] The change in control parameters at the current moment is determined based on the correspondence.

[0176] The control parameters at the current moment are determined based on the control parameters at the previous moment and the change in the control parameters at the current moment.

[0177] In one embodiment of this application, the control parameters at the initial moment when the vehicle enters the stationary steering mode are preset values.

[0178] In one embodiment of this application, the determining module 510 is specifically used for: the control parameters including proportional coefficient, derivative coefficient and integral coefficient;

[0179] Determining the target yaw moment based on the control parameters at the current moment according to the difference includes:

[0180] The target yaw moment is determined using a PID controller based on the difference, the rate of change of the difference, and the control parameters at the current moment.

[0181] In one embodiment of this application, the control module 520 is specifically used to determine the front axle allocation parameters and the rear axle allocation parameters based on the front axle load and the rear axle load;

[0182] The drive torque of the front axle motor is determined based on the front axle allocation parameters and the target yaw moment in order to control the front axle motor.

[0183] The drive torque of the rear axle motor is determined based on the rear axle allocation parameters and the target yaw moment in order to control the rear axle motor.

[0184] In one embodiment of this application, the vehicle stationary steering control device 500 further includes:

[0185] The acquisition module is used to acquire in-place turning commands.

[0186] The determining module 510 is also used to determine the direction of the target yaw moment based on the in-place turning direction indicated by the in-place turning command.

[0187] In one embodiment of this application, the vehicle stationary steering device 600 further includes:

[0188] A locking module is used to lock the steering wheel according to the stationary steering command;

[0189] The determining module 510 is also used to determine the resultant torque of the steering motor based on the target yaw moment;

[0190] The control module 520 is also used to control the steering motor according to the resultant torque.

[0191] In one embodiment of this application, the steering motor includes at least one front steering motor and a rear steering motor;

[0192] In this embodiment, the determining module 510 is further configured to: determine at least one of the front axle steering motor adjustment parameters and the rear axle steering motor adjustment parameters based on the front axle load and the rear axle load;

[0193] The step of determining the resultant torque of the steering motor based on the target yaw moment includes:

[0194] The resultant torque of the front steering motor is determined based on the target yaw moment and the adjustment parameters of the front axle steering motor.

[0195] The resultant torque of the rear steering motor is determined based on the target yaw moment and the adjustment parameters of the rear axle steering motor.

[0196] This application embodiment also provides a vehicle controller 600, which includes a vehicle stationary steering control device 500 as provided in any of the above device embodiments;

[0197] Or, such as Figure 6 As shown, it includes a memory 610 and a processor 620. The memory 610 is used to store computer instructions, and the processor 620 is used to call the computer instructions from the memory 610 to execute the vehicle stationary steering control method as described in any of the above method embodiments.

[0198] This application embodiment also provides a vehicle, the vehicle including as follows: Figure 6 The vehicle controller shown.

[0199] This application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the vehicle stationary steering control method according to any one of the above method embodiments.

[0200] This application may be a system, method, and / or computer program product. A computer program product may include a computer-readable storage medium having computer-readable program instructions loaded thereon for causing a processor to implement various aspects of this application.

[0201] Computer-readable storage media can be tangible devices capable of holding and storing instructions for use by an instruction execution device. Computer-readable storage media can be, for example—but not limited to—electrical storage devices, magnetic storage devices, optical storage devices, electromagnetic storage devices, semiconductor storage devices, or any suitable combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static random access memory (SRAM), portable compact disc read-only memory (CD-ROM), digital multifunction disc (DVD), memory sticks, floppy disks, mechanical encoding devices, such as punch cards or recessed protrusions storing instructions thereon, and any suitable combination thereof. The computer-readable storage media used herein are not to be construed as transient signals themselves, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., light pulses through fiber optic cables), or electrical signals transmitted through wires.

[0202] The computer-readable program instructions described herein can be downloaded from computer-readable storage media to various computing / processing devices, or downloaded via a network, such as the Internet, local area network, wide area network, and / or wireless network, to an external computer or external storage device. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. A network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards them to the computer-readable storage media in the respective computing / processing device.

[0203] The computer program instructions used to perform the operations of this application may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk, C++, etc., and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The computer-readable program instructions may be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or may be connected to an external computer (e.g., via the Internet using an Internet service provider). In some embodiments, electronic circuits, such as programmable logic circuits, field-programmable gate arrays (FPGAs), or programmable logic arrays (PLAs), are personalized by utilizing state information from the computer-readable program instructions. These electronic circuits can execute the computer-readable program instructions to implement various aspects of this application.

[0204] Various aspects of this application are described herein with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer-readable program instructions.

[0205] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that, when executed by the processor of the computer or other programmable data processing apparatus, they create means for implementing the functions / actions specified in one or more blocks of the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium that causes a computer, programmable data processing apparatus, and / or other device to operate in a particular manner; thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing aspects of the functions / actions specified in one or more blocks of the flowchart and / or block diagram.

[0206] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to perform the functions / actions specified in one or more boxes of a flowchart and / or block diagram.

[0207] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of an instruction containing one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions. It will be well known to those skilled in the art that implementation in hardware, implementation in software, and implementation using a combination of software and hardware are equivalent.

[0208] The various embodiments of this application have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical applications, or technical improvements to the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein. The scope of this application is defined by the appended claims.

Claims

1. A method for controlling vehicle steering in place, characterized in that, The method includes: When the vehicle is in stationary turning mode, the target yaw moment of the vehicle is determined based on the vehicle status information. The vehicle is controlled to achieve in-situ turning based on the target yaw moment; The vehicle status information includes a difference and a rate of change of the difference. The difference is the difference between the target yaw rate and the vehicle's current yaw rate. The rate of change of the difference is the rate of change of the difference over time. The step of determining the target yaw moment of the vehicle based on the vehicle status information includes: The control parameters for the current moment are determined based on the difference and the rate of change of the difference; The target yaw moment is determined based on the difference and the control parameters at the current moment.

2. The method according to claim 1, characterized in that, The difference, the rate of change of the difference, and the change in the control parameter are related. The step of determining the control parameters at the current moment based on the difference and the rate of change of the difference includes: The change in control parameters at the current moment is determined based on the correspondence. The control parameters at the current moment are determined based on the control parameters at the previous moment and the change in the control parameters at the current moment.

3. The method according to claim 2, characterized in that, The control parameters at the initial moment when the vehicle enters the stationary steering mode are preset values.

4. The method according to any one of claims 1-3, characterized in that, The control parameters include proportional coefficient, derivative coefficient, and integral coefficient; Determining the target yaw moment based on the difference and the control parameters at the current moment includes: The target yaw moment is determined using a PID controller based on the difference and the control parameters at the current moment.

5. The method according to claim 1, characterized in that, The step of controlling the vehicle to achieve in-situ turning based on the target yaw moment includes: Determine the front axle load and rear axle load distribution parameters based on the front axle load and rear axle load. The drive torque of the front axle motor is determined based on the front axle allocation parameters and the target yaw moment in order to control the front axle motor. The drive torque of the rear axle motor is determined based on the rear axle allocation parameters and the target yaw moment in order to control the rear axle motor.

6. The method according to claim 1, characterized in that, The method further includes: Obtain the in-place turn command; The direction of the target yaw moment is determined according to the in-place turning direction indicated by the in-place turning command.

7. The method according to claim 6, characterized in that, The method further includes: Lock the steering wheel according to the stationary turning command; Based on the target yaw moment, determine the resultant torque of the steering motor; The steering motor is controlled based on the resultant torque.

8. The method according to claim 7, characterized in that, The steering motor includes at least one front axle steering motor and a rear axle steering motor; The method further includes: Determine at least one of the front axle steering motor adjustment parameters and the rear axle steering motor adjustment parameters based on the front axle load and the rear axle load; The step of determining the resultant torque of the steering motor based on the target yaw moment includes: The resultant torque of the front axle steering motor is determined based on the target yaw moment and the adjustment parameters of the front axle steering motor. The resultant torque of the rear axle steering motor is determined based on the target yaw moment and the adjustment parameters of the rear axle steering motor.

9. A vehicle stationary steering control device, characterized in that, The device includes: The determination module is used to determine the target yaw moment of the vehicle based on the vehicle status information when the vehicle is in stationary steering mode. The control module is used to control the vehicle to achieve on-the-spot turning based on the target yaw moment; The vehicle status information includes a difference and a rate of change of the difference. The difference is the difference between the target yaw rate and the vehicle's current yaw rate. The rate of change of the difference is the rate of change of the difference over time. Specifically, the determining module is used to determine the control parameters at the current moment based on the difference and the rate of change of the difference; The target yaw moment is determined based on the difference and the control parameters at the current moment.

10. A vehicle controller, characterized in that, The vehicle controller includes the vehicle stationary steering control device as described in claim 9; Alternatively, it may include a memory and a processor, the memory for storing computer instructions, and the processor for retrieving the computer instructions from the memory to execute the vehicle stationary steering control method as described in any one of claims 1-8.

11. A vehicle, characterized in that, The vehicle includes the vehicle controller as described in claim 10.

12. A computer-readable storage medium, characterized in that, It stores a computer program that, when executed by a processor, implements the vehicle stationary steering control method according to any one of claims 1-8.

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