Method and device for lane keeping control of eps based on four-wheel steering

Abstract

The embodiment of the application provides an EPS lane keeping control method and device based on four-wheel steering, and relates to the technical field of vehicle control. The method comprises the following steps: obtaining a steering angle request signal; judging the size relationship between a request steering angle in the steering angle request signal and a preset request steering angle threshold value to obtain a judgment result; and determining the direction of a rear wheel compensation torque in rear wheel steering according to the judgment result. The embodiment of the application improves the safety and stability of the four-wheel power steering system when controlling the vehicle lane keeping.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle control, in particular to an EPS lane keeping control method based on four-wheel steering, an EPS lane keeping control device based on four-wheel steering, an electronic device, a vehicle and a corresponding storage medium. BACKGROUND

[0002] At present, in the automobile industry, only considering safety and comfort cannot fully meet the needs of consumers for vehicles. The degree of intelligence and the degree of intelligent reliability have become the focus of future development of the automobile industry. The existing EPS lane keeping advanced function itself has many shortcomings and needs further improvement, and there are many directions for improvement.

[0003] For example, a lane keeping method and system of a four-wheel steering vehicle in the prior art controls four-wheel steering by controlling the torque parameter of the EPS electronic power steering system. However, since only the control strategy of the torque is considered, the front and rear wheel steering angles are not fully considered, and the method cannot be better applied to various working conditions and cannot better control the front and rear wheel steering angles according to actual conditions.

[0004] For another example, a vehicle control method, device, electronic device and storage medium in the prior art control the rear wheel steering angle only based on a simple proportional relationship when implementing the lane keeping function. However, the control scheme should be more flexible and diverse under different requested steering angles and different vehicle speeds in actual working conditions, and cannot be simply according to the fixed proportion of the front and rear wheel steering angles. SUMMARY

[0005] The purpose of the embodiments of the present application is to provide an EPS lane keeping control method and device based on four-wheel steering. A lane keeping (Lane Keep Assistance) control method with good control effect, fast response speed and strong robustness is developed based on the EPS electronic power steering system, to at least solve some of the problems in the background art.

[0006] To achieve the above-mentioned purpose, an EPS lane keeping control method based on four-wheel steering is provided in the present application, comprising: acquiring a steering angle request signal; determining the size relationship between the requested steering angle in the steering angle request signal and a preset requested steering angle threshold to obtain a determination result; and determining the direction of the rear wheel compensation torque in the rear wheel steering according to the determination result.

[0007] Preferably, the direction of the rear wheel compensation torque in the rear wheel steering is determined according to the judgment result, including: when the judgment result is that the requested steering angle is greater than the preset requested steering angle threshold, determining that the direction of the rear wheel compensation torque is opposite to the direction of the front wheel compensation torque; when the judgment result is that the requested steering angle is less than the preset requested steering angle threshold, determining that the direction of the rear wheel compensation torque is the same as the direction of the front wheel compensation torque.

[0008] Preferably, before determining the size relationship between the requested angle in the angle request signal and a preset requested angle threshold, the method further includes: determining that the angle of the requested angle is within a preset angle range; and / or determining that the angular velocity of the requested angle is within a preset angular velocity range.

[0009] Preferably, the method further includes: if the angle of the requested turning angle is not within a preset angle range, EPS assistance is not activated; if the angular velocity of the requested turning angle is not within a preset angular velocity range, control is exited after executing a preset number of times at the maximum responsive angular velocity.

[0010] Preferably, the method also includes: when the judgment result is that the requested steering angle is greater than a preset requested steering angle threshold, determining a first mapping relationship for calculating the value of the front wheel compensation torque and / or a third mapping relationship for calculating the value of the rear wheel compensation torque; and when the judgment result is that the requested steering angle is less than the preset requested steering angle threshold, determining a second mapping relationship for calculating the value of the front wheel compensation torque and / or a fourth mapping relationship for calculating the value of the rear wheel compensation torque; obtaining the value of the front wheel compensation torque or the value of the rear wheel compensation torque corresponding to the mapping relationship based on the requested steering angle in the steering angle request signal and at least one of the determined first mapping relationship, second mapping relationship, third mapping relationship, and fourth mapping relationship.

[0011] Preferably, the first mapping relationship, the second mapping relationship, the third mapping relationship and the fourth mapping relationship are obtained through a mapping relationship table or a mapping fitting diagram; the mapping relationship table or the mapping fitting diagram has at least the value of the front wheel compensation torque or the value of the rear wheel compensation torque corresponding to each vehicle speed and each turning angle.

[0012] Preferably, the value of the front wheel compensation torque or the value of the rear wheel compensation torque corresponding to the mapping relationship is obtained according to the requested corner in the corner request signal and at least one of the first mapping relationship, the second mapping relationship, the third mapping relationship, and the fourth mapping relationship, including: obtaining a current vehicle speed; matching the current vehicle speed with a vehicle speed setting value in at least one of the first mapping relationship, the second mapping relationship, the third mapping relationship, and the fourth mapping relationship; matching the requested corner with a corner setting value in at least one of the first mapping relationship, the second mapping relationship, the third mapping relationship, and the fourth mapping relationship; and obtaining the value of the front wheel compensation torque or the value of the rear wheel compensation torque according to the matching result.

[0013] Preferably, the method further includes: limiting the front wheel corner and / or the rear wheel corner by a vehicle speed calibration lookup table method to reduce the front and rear wheel steering angle difference value according to the current vehicle speed.

[0014] In the present application, an EPS lane keeping control device based on four-wheel steering is also provided, including: an acquisition module configured to acquire a corner request signal; a judgment module configured to judge a size relationship between a requested corner in the corner request signal and a preset requested corner threshold value to obtain a judgment result; and a direction module configured to determine a direction of a rear wheel compensation torque in rear wheel steering according to the judgment result.

[0015] In the present application, an electronic device is also provided, including: at least one processor; a memory connected with the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the at least one processor implements the steps of the EPS lane keeping control method based on four-wheel steering by executing the instructions stored in the memory.

[0016] In the present application, a vehicle is also provided, which has a four-wheel power steering function and includes the electronic device described above.

[0017] In the present application, a machine readable storage medium is also provided, which stores instructions, and the instructions, when executed by a processor, cause the processor to be configured to implement the steps of the EPS lane keeping control method based on four-wheel steering.

[0018] In the present application, a computer program product is also provided, which includes a computer program, and the computer program, when executed by a processor, implements the steps of the EPS lane keeping control method based on four-wheel steering.

[0019] The above technical solution has the following beneficial effects:

[0020] 1. The application is designed for different actual working conditions, different control mechanisms for front and rear axles, and the front and rear wheel steering systems work together to flexibly and efficiently combine the actual working conditions with ADAS and EPS electronic assistance system to realize LKA lane keeping function.

[0021] 2. The application is designed for vehicles with four-wheel steering, which fully utilizes the role of four-wheel steering system (non-four-wheel hub drive motor) in EPS electronic assistance advanced function LKA.

[0022] 3. The application combines the actual road conditions and the request angle value of ADAS, reallocates the front and rear wheel steering angle, realizes the real-time dynamic balance of the front and rear wheel steering angle, and limits the amplitude of the rear wheel steering angle through the vehicle speed parameter, better controls the stability and safety of the vehicle in the lane keeping process.

[0023] Other features and advantages of the embodiments of the application will be described in detail in the following specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0024] The accompanying drawings are used to provide a further understanding of the embodiments of the application, and constitute a part of the specification, and are used together with the following specific embodiments to explain the embodiments of the application, but do not constitute a limitation of the embodiments of the application. In the drawings:

[0025] Figure 1 The steps of the four-wheel steering based EPS lane keeping control method according to the embodiments of the application are schematically shown;

[0026] Figure 2 The flowchart of the four-wheel steering based EPS lane keeping control method according to the embodiments of the application is schematically shown;

[0027] Figure 3 The four-wheel steering control diagram for large turning angle driving road conditions according to the embodiments of the application is schematically shown;

[0028] Figure 4 The four-wheel steering control diagram for small turning angle driving road conditions according to the embodiments of the application is schematically shown;

[0029] Figure 5 The structure diagram of the four-wheel steering based EPS lane keeping control device according to the embodiments of the application is schematically shown;

[0030] Figure 6 The structure diagram according to the embodiments of the application is schematically shown. DETAILED DESCRIPTION

[0031] The specific implementation of the embodiments of the present application is described in detail below with reference to the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the embodiments of the present application, and is not used to limit the embodiments of the present application.

[0032] Figure 1 The steps of the four-wheel steering based EPS lane keeping control method according to the embodiments of the present application are schematically shown. As shown in Figure 1 , it includes:

[0033] S01, obtaining a steering angle request signal. In the prior art, whether there is EPS (Electronic Power Steering) assistance, after receiving the steering angle request signal, the steering system of the vehicle needs to make corresponding steering action to realize steering as a response to the steering angle request signal. In the vehicle with EPS, it is realized by the EPS assistance motor. The present embodiment is applied to a vehicle with rear wheel steering function, and the compensation parameter includes the direction of the rear wheel compensation torque, which is determined by the following steps.

[0034] S02, judging the size relationship between the request steering angle in the steering angle request signal and the preset request steering angle threshold value to obtain a judgment result; the preset request steering angle threshold value is an angle value, which is determined according to test calibration or experience. If the request steering angle is greater than the preset request steering angle threshold value, it is determined that the steering angle request signal is a large steering angle request signal. On the contrary, if the request steering angle is less than the preset request steering angle threshold value, it is determined that the steering angle request signal is a large steering angle request signal. When the request steering angle is equal to the preset request steering angle threshold value, it can be flexibly set according to the actual situation, which is not limited here.

[0035] S03, determining the direction of the rear wheel compensation torque in the rear wheel steering according to the judgment result. The direction of the rear wheel compensation torque includes the opposite direction and the same direction of the front wheel compensation torque direction, which is determined according to the judgment result.

[0036] Through the above embodiment, different direction strategies are set for the rear wheel steering according to different situations of the request steering angle in the steering angle request signal, so as to fully play the role of the four-wheel steering system (non-four-wheel hub drive motor) in the EPS electronic assistance advanced function LKA.

[0037] Further, in some embodiments, the direction of the rear wheel compensation torque in the rear wheel steering is determined according to the determination result, including: when the determination result is that the requested steering angle is greater than the preset requested steering angle threshold, i.e. in the large steering angle request signal condition, the direction of the rear wheel compensation torque is determined to be opposite to the direction of the front wheel compensation torque; and when the determination result is that the requested steering angle is less than the preset requested steering angle threshold, i.e. in the small steering angle request signal condition, the direction of the rear wheel compensation torque is determined to be the same as the direction of the front wheel compensation torque.

[0038] The present embodiment further sets two different conditions of the LKA control strategy under the ADAS large steering angle request and the LKA control strategy under the ADAS small steering angle request. According to different ADAS requested steering angles, the above two specific conditions are used to control the vehicle. When the receiving module receives the steering angle signal transmitted by the ADAS, the steering angle signal is directly transmitted to the decision module, and the decision module determines whether to start executing the lane keeping control. The control module controls the front and rear axle EPS motors according to different control strategies by different ADAS requested steering angles, outputs the front and rear axle torque, and realizes the lane keeping (LKA) function.

[0039] Through the above embodiments, the compensation torque parameters of the front and rear wheels can be more flexibly determined according to different current vehicle speeds and requested steering angles. The present embodiment also controls the direction of the rear wheel compensation torque parameter, so that the four-wheel steering system (non-four-wheel hub drive motor) can play a role in the EPS electronic assistance advanced function LKA.

[0040] Figure 2 A flowchart of an EPS lane keeping control method based on four-wheel steering according to the embodiments of the present application is schematically shown. As shown in Figure 2 The determination of whether the requested steering angle of the steering angle request signal is in a preset range includes: determining whether the angle of the requested steering angle is in a preset angle range; and / or determining whether the angular velocity of the requested steering angle is in a preset angular velocity range. In a specific implementation, when the EPS electronic assistance motor receives the ADAS requested steering angle signal, the current ADAS requested steering angle is first judged by limiting value, and the two kinds of over-limit judgments including angle and angular velocity are included. If the ADAS request angle is within a reasonable range, the EPS motor and the ADAS handshake successfully, and the ADAS requested steering angle is executed; and when the angular velocity is within a reasonable range, the subsequent control method is executed.

[0041] The embodiment also provides a processing measure for the request corner of the request corner signal not in the preset range, so as to enhance the robustness of the method. The method also includes: if the angle of the request corner is not in the preset angle range, the EPS assistance is not activated; if the angular velocity of the request corner is not in the preset angular velocity range, the preset number of times is executed according to the maximum response angular velocity, and then the control is exited. If the ADAS request angular velocity is out of limit, the EPS will continuously execute 5 times according to the current maximum corner angle, and then the control is exited.

[0042] Figure 3 A large corner driving road condition control four-wheel steering schematic diagram according to the embodiment of the application is schematically shown. As shown in Figure 3 the drawing, Y is the forward direction of the automobile, and R is the turning radius of the vehicle. After the EPS assistance system receives the large corner request signal of the ADAS, the EPS assistance system identifies that the current working condition is the large corner driving working condition, and then the large corner- front and rear wheel steering system joint control mode is started. In this mode, the directions of the steering angles of the front wheels and the rear wheels are opposite. As shown in the drawing, the steering directions of the left front wheel and the right front wheel are left, and the steering directions of the left rear wheel and the right rear wheel are right. The front wheels and the rear wheels respectively obtain corresponding compensation torque parameters through respective mapping relationships.

[0043] Figure 4 A small corner driving road condition control four-wheel steering schematic diagram according to the embodiment of the application is schematically shown. As shown in Figure 4 the drawing, similarly, after the EPS assistance system receives the large corner request signal of the ADAS, the EPS assistance system identifies that the current working condition is the small corner driving working condition, and then the small corner- front and rear wheel steering system joint control mode is started. In this mode, the directions of the steering angles of the front wheels and the rear wheels are the same. As shown in the drawing, the steering directions of the left front wheel and the right front wheel are left, and the steering directions of the left rear wheel and the right rear wheel are also left. The front wheels and the rear wheels respectively obtain corresponding compensation torque parameters through respective mapping relationships.

[0044] In the foregoing embodiment, the direction of the rear wheel compensation torque has been determined, and in the present embodiment, the calculation method of the value of the rear wheel compensation torque is also provided. When the steering angle request signal is a large steering angle request signal, a first mapping relationship for calculating the value of the front wheel compensation torque and / or a third mapping relationship for calculating the value of the rear wheel compensation torque is determined; and when the steering angle request signal is a small steering angle request signal, a second mapping relationship for calculating the value of the front wheel compensation torque and / or a fourth mapping relationship for calculating the value of the rear wheel compensation torque is determined; the first mapping relationship, the second mapping relationship, the third mapping relationship, and the fourth mapping relationship each include at least a corresponding relationship between a request steering angle and a value of the front wheel compensation torque or the rear wheel compensation torque; and a value of the front wheel compensation torque or a value of the rear wheel compensation torque corresponding to the mapping relationship is obtained according to a request steering angle in the steering angle request signal and at least one of the determined first mapping relationship, the second mapping relationship, the third mapping relationship, and the fourth mapping relationship.

[0045] The first mapping relationship, the second mapping relationship, the third mapping relationship, and the fourth mapping relationship are each a mapping relationship table or a mapping fitting graph obtained through trial calibration; the mapping relationship table or the mapping fitting graph has at least a front wheel compensation torque parameter or a rear wheel compensation torque parameter corresponding to each current vehicle speed and each request steering angle in each possible combination of a current vehicle speed range and a request steering angle range. The data in the above mapping relationships can be the same or different. In some scenarios, some mapping relationships can be reused, and the above four mapping relationships can be reduced to a certain extent. As can be seen, in the present embodiment, the front wheel and the rear wheel are respectively determined through different mapping relationships to obtain compensation torque parameters, so that the compensation torque distribution is more flexible and efficient.

[0046] The mapping relationship in the foregoing embodiment adds another parameter, i.e., the current vehicle speed, as an input parameter in the case of taking the request steering angle as an input parameter, which considers the factor of the vehicle driving speed, so as to improve the driving safety and the driving comfort of the vehicle.

[0047] Based on the foregoing mapping relationship, taking the value of the rear wheel compensation torque as an example, the calculation steps are as follows: obtaining the current vehicle speed; matching the current vehicle speed with the vehicle speed set value in the third mapping relationship (in the case of a large steering angle request signal) or the fourth mapping relationship (in the case of a small steering angle request signal) stored in the electronic storage unit; matching the request steering angle with the steering angle set value in the foregoing mapping relationship stored in the electronic storage unit; and obtaining the value of the rear wheel compensation torque according to the matching result. The mapping relationship stored in the electronic storage unit in the embodiment is at least one of the determined first mapping relationship, second mapping relationship, third mapping relationship, and fourth mapping relationship. Based on the selected mapping relationship, the obtained compensation torque parameter is the front wheel compensation torque parameter or the rear wheel compensation torque parameter. However, the mapping steps are similar, and can be referred to the following steps. Taking the large steering angle request signal as an example, the following steps are explained:

[0048] Step 1: After the EPS assistance system receives the large steering angle request signal of the ADAS, the EPS assistance system identifies that the current working condition is a large steering angle driving working condition, and then the large steering angle-front and rear wheel steering system joint control mode is started. At the same time, the vehicle speed sensor of the vehicle will collect data in real time, including: the real-time vehicle speed V of the vehicle;

[0049] Step 2: matching the real-time vehicle speed V of the vehicle with the vehicle speed set value V def in the electronic storage unit;

[0050] Step 3: matching the ADAS request steering angle θ with the steering angle set value θ def in the electronic storage unit;

[0051] Step 4: through the matching of the set values, the ADAS large steering angle request-front wheel torque Map (i.e., the first mapping relationship) obtained by the test calibration is used. The variables of the Map are the vehicle driving speed V def and the ADAS request steering angle, and the longitudinal axis result is the compensation parameter provided by the front axle EPS system to the assistance motor under the current vehicle speed and ADAS request steering angle, and the EPS assistance system outputs the front wheel compensation torque for assistance compensation, so as to ensure that the steering wheel steering angle can adapt to the ADAS request angle after the LKA lane keeping function is activated, so that the vehicle keeps the expected lane and does not produce a dangerous working condition of yawing.

[0052] At the same time, the EPS assistance system of the rear wheel axle cooperates with the front wheel at the same time, and the lane keeping function needs the vehicle to quickly and sensitively adapt to the change of the lane in the large steering angle request working condition. If the reaction speed is too slow, a dangerous working condition of rushing out of the lane will occur.

[0053] In order to realize smooth and comfortable lane change, the rear axle EPS assistance system provides a rear wheel assistance parameter according to an ADAS large corner request-rear wheel compensation map (i.e. the third mapping relationship). The variables of the map are the vehicle driving speed and the ADAS request corner, and the longitudinal axis result is the compensation parameter provided by the rear axle EPS system to the assistance motor when the ADAS large corner request. The assistance motor provides a reverse compensation torque parameter to the rear wheel and the front wheel according to the parameter, so that the rear wheel steering direction is opposite to the front wheel, the vehicle turning radius R is reduced, the vehicle lane keeping process is more rapid and sensitive, and the driving flexibility is improved.

[0054] The remaining mapping operations refer to the description of the embodiment, which will not be repeated here. In the small corner request signal working condition, the front wheel assistance parameter and the rear wheel assistance parameter are obtained through the second mapping relationship and the fourth mapping relationship respectively. The assistance motor provides a same direction compensation torque parameter to the rear wheel and the front wheel according to the parameter, so that the rear wheel steering direction is the same as the front wheel, the vehicle turning radius R is increased, the vehicle lane keeping process is more stable and smooth, the vehicle spin-out is significantly reduced, and the driving stability and comfort are improved.

[0055] In some embodiments of the present application, the method further comprises: limiting the front wheel corner and / or the rear wheel corner through a vehicle speed calibration lookup table method to reduce the front and rear wheel steering angle difference according to the current vehicle speed. When the vehicle is in a high-speed motion state and in a large corner steering working condition, the front and rear wheel steering angles are opposite, which greatly improves the steering sensitivity. However, if the front and rear wheel steering angle difference is too large, a dangerous vehicle spin-out working condition is easily generated. At this time, the rear wheel corner needs to be limited to appropriately reduce the angle difference of the front and rear wheel steering angles and appropriately increase the vehicle turning radius R, so as to improve the rapidity of large angle lane keeping under the premise of ensuring safe driving at the current speed (no high-speed spin-out working condition occurs) and improve the flexibility. The front and rear wheel corner limiting parameters can be obtained through a vehicle speed calibration lookup table method. The embodiment limits the rear wheel corner through the vehicle speed to prevent dangerous working conditions from occurring, thereby improving the safety when the embodiment is applied.

[0056] Based on the same inventive concept, the present application also provides an EPS lane keeping control device based on four-wheel steering. Figure 5 The structure schematic diagram of the EPS lane keeping control device based on four-wheel steering according to the embodiment of the present application is schematically shown. As shown in the figure, the device comprises: an acquisition module for acquiring a corner request signal; a judgment module for judging the size relationship between the request corner in the corner request signal and a preset request corner threshold to obtain a judgment result; and a direction module for determining the direction of the rear wheel compensation torque in the rear wheel steering according to the judgment result. Figure 5

[0057] ​In some optional embodiments, the direction of the rear wheel compensation torque in the rear wheel steering is determined according to the result of the judgment, including: when the request steering angle is greater than the preset request steering angle threshold, the direction of the rear wheel compensation torque is opposite to the direction of the front wheel compensation torque; and when the request steering angle is less than the preset request steering angle threshold, the direction of the rear wheel compensation torque is the same as the direction of the front wheel compensation torque.

[0058] In some optional embodiments, before judging the size relationship between the request steering angle in the steering request signal and the preset request steering angle threshold, the device further includes a range determination module configured to: determine that the angle of the request steering angle is in a preset angle range; and / or determine that the angular velocity of the request steering angle is in a preset angular velocity range.

[0059] In some optional embodiments, the device further includes an exception processing module configured to: if the angle of the request steering angle is not in the preset angle range, not activate the EPS assistance; and if the angular velocity of the request steering angle is not in the preset angular velocity range, execute a preset number of times at the maximum responsive angular velocity and then exit the control.

[0060] In some optional embodiments, the device further includes a mapping relationship determination module configured to: when the request steering angle is greater than the preset request steering angle threshold, determine a first mapping relationship for calculating the value of the front wheel compensation torque and / or a third mapping relationship for calculating the value of the rear wheel compensation torque; and when the request steering angle is less than the preset request steering angle threshold, determine a second mapping relationship for calculating the value of the front wheel compensation torque and / or a fourth mapping relationship for calculating the value of the rear wheel compensation torque; and according to the request steering angle in the steering request signal and at least one of the determined first mapping relationship, second mapping relationship, third mapping relationship, and fourth mapping relationship, obtain the value of the front wheel compensation torque or the value of the rear wheel compensation torque corresponding to the mapping relationship.

[0061] In some optional embodiments, the first mapping relationship, the second mapping relationship, the third mapping relationship, and the fourth mapping relationship are obtained through a mapping relationship table or a mapping fitting graph; and the mapping relationship table or the mapping fitting graph has at least the value of the front wheel compensation torque or the value of the rear wheel compensation torque corresponding to each vehicle speed and each steering angle.

[0062] In some optional embodiments, the value of the front wheel compensation torque or the value of the rear wheel compensation torque corresponding to the mapping relationship is obtained based on the requested angle in the angle request signal and at least one of the determined first mapping relationship, second mapping relationship, third mapping relationship, and fourth mapping relationship, including: obtaining the current vehicle speed; matching the current vehicle speed with the vehicle speed setting value in at least one of the first mapping relationship, second mapping relationship, third mapping relationship, and fourth mapping relationship; matching the requested angle with the angle setting value in at least one of the first mapping relationship, second mapping relationship, third mapping relationship, and fourth mapping relationship; and obtaining the value of the front wheel compensation torque or the value of the rear wheel compensation torque based on the matching result.

[0063] In some optional embodiments, the device further includes a difference limiting module for limiting the front wheel angle and / or rear wheel angle according to the current vehicle speed by using a vehicle speed calibration table lookup method to reduce the difference in front and rear wheel steering angles.

[0064] The specific definition of each functional module in the above-mentioned EPS lane keeping control device based on four-wheel steering can be found in the above-mentioned definition of the EPS lane keeping control method based on four-wheel steering, which will not be repeated here. Each module in the above-mentioned device can be implemented in whole or in part by software, hardware and their combination. The above-mentioned modules can be embedded in or independent of the processor in the computer device in hardware form, or can be stored in the memory of the computer device in software form, so that the processor can call and execute the operations corresponding to the above modules. It also has the advantages of flexibility, efficiency, stability and safety in the collaborative work of the front and rear wheel steering systems.

[0065] Figure 6 The schematic diagram of the structure according to the embodiment of the present application is shown schematically. Figure 6 As shown, it illustrates the possible location of the method or device in the present application in the vehicle. The integrated system includes an information collection module, a decision module, a control module 1 and a control module 2 (collectively referred to as a control module) and an execution module. Among them, the information collection module is used to collect vehicle information in real time and provide decision data for the control system, including: an ADAS angle signal receiving module, a vehicle speed sensor and a steering wheel angle sensor. The decision module determines whether the system starts to execute the LKA function by receiving the information transmitted by the information collection module. The decision information is transmitted to the control module, and the control module is controlled by a pre-designed algorithm program and transmits the signal to the execution module. The control module is a hardware device or apparatus for executing the aforementioned EPS lane keeping control method based on four-wheel steering. The control module can be further divided into control module 1 and control module 2 according to its function, or the same control module can be used and determined according to the actual scenario. The execution module is the front and rear axle steering assist motor system.

[0066] In some embodiments of the present application, an electronic device is also provided, comprising: at least one processor; a memory connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the at least one processor executes the steps of the four-wheel steering based EPS lane keeping control method as described above. The control module or processor herein has the functions of numerical calculation and logical operation, and has at least a central processing unit (CPU) with data processing capability, a random access memory (RAM), a read-only memory (ROM), various I / O ports, and an interrupt system, etc. The processor contains a core which retrieves corresponding program units from the memory. The core can be one or more, and the aforementioned method is realized by adjusting the core parameters. The memory can include non-permanent memory in a computer readable medium, random access memory (RAM) and / or non-volatile memory such as read-only memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.

[0067] In the present application, a vehicle is also provided, which has a four-wheel power steering function and comprises the electronic device or apparatus as described above. The four-wheel steering based EPS lane keeping control method in the present application is applied to the vehicle, so that the vehicle has the advantages of flexible steering and safe and stable driving, and the user experience is significantly improved.

[0068] In an embodiment provided in the present application, a machine readable storage medium is provided, which stores instructions, and the instructions, when executed by a processor, cause the processor to be configured to execute the steps of the four-wheel steering based EPS lane keeping control method as described above.

[0069] In an embodiment provided in the present application, a computer program product is provided, which comprises a computer program, and the computer program, when executed by a processor, realizes the steps of the four-wheel steering based EPS lane keeping control method as described above.

[0070] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can be in the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can be in the form of a computer program product implemented on one or more computer usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer usable program code.

[0071] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks.

[0072] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks.

[0073] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks.

[0074] In one typical configuration, the computing device includes one or more processors (CPU's), input / output interfaces, network interfaces, and memory.

[0075] The memory can include non-persistent memory and / or persistent memory, such as flash memory, read-only memory (ROM), and / or volatile or non-volatile random access memory (RAM), among others. The memory is an example of computer-readable media.

[0076] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The 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 technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0077] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0078] The above are merely embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

Claims

1. A four-wheel steering EPS lane keeping control method, characterized in that: The method includes: Get the corner request signal; determining a magnitude relationship between a requested turning angle in the turning angle request signal and a preset requested turning angle threshold to obtain a determination result; determining the direction of the rear wheel compensation torque in the rear wheel steering according to the judgment result, including: when the judgment result is that the requested steering angle is greater than a preset requested steering angle threshold, determining that the direction of the rear wheel compensation torque is opposite to the direction of the front wheel compensation torque; when the judgment result is that the requested steering angle is less than the preset requested steering angle threshold, determining that the direction of the rear wheel compensation torque is the same as the direction of the front wheel compensation torque; The method further includes: limiting the front wheel steering angle and / or the rear wheel steering angle according to the current vehicle speed by using a vehicle speed calibration table lookup method to reduce the difference between the front and rear wheel steering angles.

2. The method according to claim 1, characterized in that Before determining the magnitude relationship between the requested turning angle in the turning angle request signal and a preset requested turning angle threshold, the method further includes: Determining that the angle of the requested rotation angle is within a preset angle range; And / or determining that the angular velocity of the requested rotation angle is within a preset angular velocity range.

3. The method according to claim 2, characterized in that The method further comprises: If the requested turning angle is not within the preset angle range, the EPS power assist is not activated; If the angular velocity of the requested rotation angle is not within the preset angular velocity range, the control is exited after executing a preset number of times at the maximum responsive angular velocity.

4. The method according to claim 1, wherein The method further comprises: When the judgment result is that the requested turning angle is greater than a preset requested turning angle threshold, determining a first mapping relationship for calculating a value of a front wheel compensation torque and / or a third mapping relationship for calculating a value of a rear wheel compensation torque; and When the judgment result is that the requested steering angle is less than a preset requested steering angle threshold, determining a second mapping relationship for calculating a value of a front wheel compensation torque and / or a fourth mapping relationship for calculating a value of a rear wheel compensation torque; According to the requested steering angle in the steering angle request signal and at least one of the determined first mapping relationship, second mapping relationship, third mapping relationship, and fourth mapping relationship, a value of the front wheel compensation torque or the rear wheel compensation torque corresponding to the mapping relationship is obtained.

5. The method according to claim 4, characterized in that The first mapping relationship, the second mapping relationship, the third mapping relationship, and the fourth mapping relationship are obtained through a mapping relationship table or a mapping fitting diagram; the mapping relationship table or the mapping fitting diagram has at least a value of the front wheel compensation torque or a value of the rear wheel compensation torque corresponding to each vehicle speed and each turning angle.

6. The method according to claim 4, characterized in that Obtaining a front wheel compensation torque value or a rear wheel compensation torque value corresponding to the mapping relationship according to the requested steering angle in the steering angle request signal and at least one of the determined first mapping relationship, the second mapping relationship, the third mapping relationship, and the fourth mapping relationship, including: Get the current vehicle speed; matching the current vehicle speed with a vehicle speed setting value in at least one of the first mapping relationship, the second mapping relationship, the third mapping relationship, and the fourth mapping relationship; matching the requested turning angle with a turning angle setting value in at least one of the first mapping relationship, the second mapping relationship, the third mapping relationship, and the fourth mapping relationship; The value of the front wheel compensation torque or the value of the rear wheel compensation torque is obtained according to the matching result.

7. An EPS lane keeping control device based on four-wheel steering, characterized in that: The device includes: An acquisition module, used for acquiring a turning angle request signal; a determination module, configured to determine a magnitude relationship between a requested turning angle in the turning angle request signal and a preset requested turning angle threshold, and obtain a determination result; and a direction module, configured to determine a direction of a rear wheel compensation torque in rear wheel steering according to the determination result, including: determining that the direction of the rear wheel compensation torque is opposite to the direction of the front wheel compensation torque when the determination result is that the requested steering angle is greater than a preset requested steering angle threshold; and determining that the direction of the rear wheel compensation torque is the same as the direction of the front wheel compensation torque when the determination result is that the requested steering angle is less than the preset requested steering angle threshold; The device further comprises: limiting the front wheel turning angle and / or the rear wheel turning angle according to the current vehicle speed by means of a vehicle speed calibration lookup table to reduce the difference between the front and rear wheel steering angles.

8. An electronic device, characterized in that: include: at least one processor; a memory connected to the at least one processor; Wherein, the memory stores instructions that can be executed by the at least one processor, and the at least one processor implements the steps of the EPS lane keeping control method based on four-wheel steering as described in any one of claims 1 to 6 by executing the instructions stored in the memory.

9. A vehicle, characterized in that: The vehicle has a four-wheel power steering function and includes the EPS lane keeping control device based on four-wheel steering as described in claim 7 or the electronic device in claim 8.

10. A computer-readable storage medium having a computer program / instruction stored thereon, characterized in that: When the computer program / instruction is executed by a processor, the steps of the EPS lane keeping control method based on four-wheel steering described in any one of claims 1 to 6 are implemented.

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