Rear wheel steering control method and device of vehicle, electronic equipment and vehicle

Abstract

The application discloses a rear wheel steering control method and device of a vehicle, an electronic device and the vehicle, and relates to the technical field of vehicle control. The method comprises the following steps: acquiring a front wheel steering angle of the vehicle, a rear wheel steering angle of the vehicle and a distance between the vehicle and a target obstacle; calculating a lateral displacement of a tail of the vehicle according to the front wheel steering angle and the rear wheel steering angle; and adjusting the rear wheel steering angle of the vehicle according to the distance between the vehicle and the target obstacle and the lateral displacement of the tail of the vehicle. The application considers the lateral displacement of the tail of the vehicle caused by the front wheel steering angle and the rear wheel steering angle, and controls the rear wheel steering angle according to the lateral displacement of the tail of the vehicle and the distance between the vehicle and the target obstacle, so that the rear wheel steering of the vehicle is not excessively limited in the case of no collision risk, and the limitation on the rear wheel steering of the vehicle is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, and more particularly, to a rear wheel steering control method and device for a vehicle, an electronic device, and a vehicle. BACKGROUND

[0002] For a rear wheel steering vehicle, the front wheel of the vehicle and the rear wheel of the vehicle are deflected during steering of the vehicle, so that the tail of the vehicle is offset to the left or right of the vehicle, which causes the tail of the vehicle to collide with an obstacle, resulting in a safety hazard. In the prior art, in order to avoid the safety hazard, the rear wheel is straightened when the distance between the vehicle and the obstacle is close. When the front and rear wheel steering angles of the vehicle are small and the distance between the vehicle and the obstacle is close, there is actually no collision risk between the vehicle and the obstacle, but the rear wheel is still straightened, and the restriction on the rear wheel steering of the vehicle is high. SUMMARY

[0003] An object of the present application is to provide a new technical solution for rear wheel steering of a vehicle to solve the technical problem of high restriction on rear wheel steering of the vehicle when there is no collision risk between the vehicle and an obstacle.

[0004] According to a first aspect of the present application, a control method for rear wheel steering of a vehicle is provided, comprising:

[0005] obtaining a front wheel steering angle of the vehicle, a rear wheel steering angle of the vehicle, and a distance between the vehicle and a target obstacle;

[0006] calculating a lateral displacement of a tail of the vehicle according to the front wheel steering angle and the rear wheel steering angle;

[0007] adjusting the rear wheel steering angle of the vehicle according to the distance between the vehicle and the target obstacle and the lateral displacement of the tail of the vehicle.

[0008] Optionally, adjusting the rear wheel steering angle of the vehicle according to the distance between the vehicle and the target obstacle and the lateral displacement of the tail of the vehicle comprises:

[0009] calculating a difference between the distance between the vehicle and the target obstacle and the lateral displacement of the tail of the vehicle;

[0010] adjusting the rear wheel steering angle of the vehicle according to the difference.

[0011] Optionally, determining the rear wheel steering angle of the vehicle according to the difference comprises:

[0012] in a case where the difference is less than or equal to a first threshold value, straightening the rear wheel of the vehicle.

[0013] Optionally, a plurality of blind area monitoring modules are installed on the vehicle, and after the rear wheels of the vehicle are controlled to correct, the method further comprises:

[0014] calculating a second lateral displacement of the rear of the vehicle according to the rear wheel turning angle of the rear wheels after correction;

[0015] calculating a second difference between the distance between the vehicle and the target obstacle and the second lateral displacement of the rear of the vehicle;

[0016] in the case where the second difference is greater than or equal to a second threshold value, which is greater than the first threshold value, detecting whether the target blind area monitoring module sends an alarm signal;

[0017] wherein, in the case where the vehicle turns to the left side, the target blind area monitoring module is located on the right side of the vehicle; in the case where the vehicle turns to the right side, the target blind area monitoring module is located on the left side of the vehicle;

[0018] in the case where it is detected that the target blind area monitoring module does not send an alarm signal, controlling the rear wheels of the vehicle to return to the rear wheel turning angle;

[0019] in the case where the second difference is less than the second threshold value, controlling the rear wheels of the vehicle to correct;

[0020] Optionally, a plurality of blind area monitoring modules are installed on the vehicle, and the adjusting the rear wheel turning angle of the vehicle according to the difference comprises:

[0021] in the case where the difference is greater than a first threshold value, detecting whether the target blind area monitoring module sends an alarm signal;

[0022] wherein, in the case where the vehicle turns to the left side, the target blind area monitoring module is located on the right side of the vehicle; in the case where the vehicle turns to the right side, the target blind area monitoring module is located on the left side of the vehicle;

[0023] in the case where it is detected that the target blind area monitoring module sends an alarm signal, controlling the rear wheels of the vehicle to correct;

[0024] in the case where it is not detected that the target blind area monitoring module sends an alarm signal, determining that the rear wheel turning angle remains unchanged.

[0025] Optionally, in the case where the vehicle turns to the left side, the target obstacle is an obstacle on the right side of the vehicle;

[0026] in the case where the vehicle turns to the right side, the target obstacle is an obstacle on the left side of the vehicle.

[0027] Optionally, the calculating the lateral displacement of the vehicle tail according to the front wheel steering angle and the rear wheel steering angle comprises:

[0028] The lateral displacement Y of the vehicle tail is calculated according to the following formula rear :

[0029]

[0030] wherein L is the wheelbase of the vehicle, L rear is the distance between the rear axle of the vehicle and the vehicle tail, δ r is the rear wheel steering angle, δ f is the front wheel steering angle, B tire is the tire width of the vehicle.

[0031] According to a second aspect of the present application, there is provided a rear wheel steering control device of a vehicle, comprising:

[0032] an obtaining module, configured to obtain a front wheel steering angle of the vehicle, a rear wheel steering angle of the vehicle, and a distance between the vehicle and a target obstacle;

[0033] a calculating module, configured to calculate a lateral displacement of a vehicle tail according to the front wheel steering angle and the rear wheel steering angle;

[0034] a control module, configured to adjust the rear wheel steering angle of the vehicle according to the distance between the vehicle and the target obstacle and the lateral displacement of the vehicle tail.

[0035] According to a third aspect of the present application, there is provided an electronic device comprising a processor and a memory, the memory storing programs or instructions executable on the processor, the programs or instructions being executed by the processor to implement the steps of the rear wheel steering control method of the vehicle according to the first aspect of the present application.

[0036] According to a fourth aspect of the present application, there is provided a vehicle having the rear wheel steering control device of the vehicle according to the second aspect of the present application.

[0037] According to one embodiment of the present disclosure, the present application takes into account the lateral displacement of the vehicle tail caused by the front wheel steering angle and the rear wheel steering angle, and controls the rear wheel steering angle according to the lateral displacement of the vehicle tail and the distance between the vehicle and the target obstacle, thereby avoiding excessive limitation on the rear wheel steering in the case of no collision risk and reducing the limitation on the rear wheel steering of the vehicle.

[0038] Other features of the present application, and the advantages thereof over the prior art will become apparent from the following detailed description of illustrative embodiments thereof, which is to be read in connection with the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0039] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments of the invention and, together with their description, serve to explain the principles of the invention.

[0040] Figure 1 This is a flowchart of the rear-wheel steering control method for a vehicle in an embodiment of the present invention.

[0041] Figure 2 This is a schematic diagram of the steering of the front and rear wheels of a vehicle in an embodiment of the present invention.

[0042] Figure 3 This is a schematic diagram of the ADAS system of a vehicle in an embodiment of the present invention.

[0043] Figure 4 This is a flowchart of a rear-wheel steering control method for a vehicle according to another embodiment of the present invention.

[0044] Figure 5 This is a schematic diagram of the rear wheel steering control device of a vehicle in an embodiment of the present invention.

[0045] Figure 6 This is a schematic diagram of an electronic device in an embodiment of the present invention. Detailed Implementation

[0046] Various exemplary embodiments of the present invention 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 invention.

[0047] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the invention or its application or use.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] like Figure 1 As shown in the figure, this embodiment introduces a method for controlling the rear wheel steering of a vehicle, including steps 1100-1300.

[0052] Step 1100: obtaining a front wheel steering angle of the vehicle, a rear wheel steering angle of the vehicle, and a distance between the vehicle and a target obstacle.

[0053] For a rear wheel steering vehicle, the front wheel of the vehicle and the rear wheel of the vehicle are both steered during steering. During low-speed driving of the vehicle, the front wheel and the rear wheel are steered in different directions, as shown in FIG. 1A. The front wheel is steered to the right side of the vehicle, and the rear wheel is steered to the left side of the vehicle. Figure 2

[0054] The driver can control the front wheel steering angle of the vehicle through a steering wheel. The vehicle controller calculates the rear wheel steering angle of the vehicle according to the front wheel steering angle of the vehicle. The front wheel steering angle and the rear wheel steering angle of the vehicle can be detected in real time during driving of the vehicle.

[0055] The target obstacle is an obstacle close to the tail of the vehicle. The distance between the vehicle and the target obstacle can be obtained by a radar installed on the vehicle. The radar emits a radar beam to the outside through an internal transmitting antenna, the radar beam is reflected by an obstacle, and the transmitted beam is received by a receiving antenna. The radar controller calculates parameters such as the size and position of the obstacle through a preset algorithm. The obstacle can be another vehicle, a wall, or the like.

[0056] In an embodiment, when the vehicle is steered to the left side, the target obstacle is an obstacle on the right side of the vehicle. When the vehicle is steered to the right side, the target obstacle is an obstacle on the left side of the vehicle.

[0057] The target obstacle is determined according to the steering of the vehicle. When the vehicle is steered to the left side, the front wheel of the vehicle is steered to the left side, the rear wheel of the vehicle is steered to the right side, and the tail of the vehicle is offset to the right side of the vehicle. At this time, the collision between the tail of the vehicle and an obstacle on the right side of the vehicle needs to be considered, and the target obstacle is an obstacle on the right side of the vehicle. When the vehicle is steered to the right side, the front wheel of the vehicle is steered to the right side, the rear wheel of the vehicle is steered to the left side, and the tail of the vehicle is offset to the left side of the vehicle. At this time, the collision between the tail of the vehicle and an obstacle on the left side of the vehicle needs to be considered.

[0058] Step 1200: calculating a lateral displacement of the tail of the vehicle according to the front wheel steering angle and the rear wheel steering angle.

[0059] The lateral displacement of the tail of the vehicle refers to the offset of the tail of the vehicle to the left side or the right side of the vehicle during steering of the vehicle. When the vehicle is steered to the left side, the tail of the vehicle is offset to the right side of the vehicle. At this time, the lateral displacement of the tail of the vehicle refers to the offset of the tail of the vehicle to the right side of the vehicle. When the vehicle is steered to the right side, the tail of the vehicle is offset to the left side of the vehicle. At this time, the lateral displacement of the tail of the vehicle refers to the offset of the tail of the vehicle to the left side of the vehicle. The front wheel steering angle and the rear wheel steering angle of the vehicle affect the lateral displacement of the tail of the vehicle.​

[0060] In an embodiment, the lateral displacement Ytail of the vehicle tail is calculated according to the following equation: rear The difference between the distance between the vehicle and the target obstacle and the lateral displacement of the vehicle tail is calculated according to the following equation:

[0061]

[0062] L is the wheelbase of the vehicle, which refers to the distance between the front axle of the vehicle and the rear axle of the vehicle. Lrear is the distance between the rear axle of the vehicle and the vehicle tail, and Btire is the tire width of the vehicle. rear Lrear is the distance between the rear axle of the vehicle and the vehicle tail, and Btire is the tire width of the vehicle. r δrear is the rear wheel steering angle of the vehicle. f δfront is the front wheel steering angle of the vehicle. tire Btire is the tire width of the vehicle. The wheelbase L of the vehicle, the distance Lrear between the rear axle of the vehicle and the vehicle tail, and the tire width Btire of the vehicle can be determined according to the model of the vehicle.

[0063] Step 1300: Adjusting the rear wheel steering angle of the vehicle according to the distance between the vehicle and the target obstacle and the lateral displacement of the vehicle tail.

[0064] The distance between the vehicle and the target obstacle and the lateral displacement of the vehicle tail can be used to determine whether the vehicle will collide with the target obstacle during the steering of the vehicle. If the lateral displacement of the vehicle tail is large and the distance between the vehicle and the target obstacle is small, the vehicle may collide with the target obstacle during the steering of the vehicle. At this time, the lateral displacement of the vehicle tail can be controlled by adjusting the rear wheel steering angle of the vehicle to avoid the collision of the vehicle with the target obstacle. If the lateral displacement of the vehicle tail is small and the distance between the vehicle and the target obstacle is large, the vehicle may not collide with the target obstacle during the steering of the vehicle, and the rear wheel steering angle of the vehicle can be kept unchanged at this time.

[0065] The embodiment considers the lateral displacement of the vehicle tail caused by the front wheel steering angle and the rear wheel steering angle of the vehicle, and controls the rear wheel steering angle according to the lateral displacement of the vehicle tail and the distance between the vehicle and the target obstacle, to avoid excessive restriction of the rear wheel steering in the case of no collision risk and to reduce the restriction of the rear wheel steering of the vehicle.

[0066] In the embodiment, step 1300 includes steps 1310-1320.

[0067] Step 1310: Calculating the difference between the distance between the vehicle and the target obstacle and the lateral displacement of the vehicle tail.

[0068] The difference between the distance between the vehicle and the target obstacle and the lateral displacement of the vehicle's rear is calculated. This difference represents the collision risk between the vehicle and the target obstacle. The smaller the difference, the greater the collision risk. The larger the difference, the lower the collision risk.

[0069] Step 1320: Adjust the rear wheel angle of the vehicle according to the difference.

[0070] In one implementation, step 1320 includes: controlling the subsequent cycle to be positive if the difference is less than or equal to a first threshold.

[0071] If the difference is less than or equal to the first threshold, it indicates that the vehicle may collide with the target obstacle during the turning process, posing a collision risk. In this case, the rear wheels are steered back to center, the rear wheel angle becomes 0°, and the lateral displacement of the rear of the vehicle is reduced to avoid a collision with the target obstacle. The first threshold can be determined based on the actual function of the vehicle; for example, the first threshold could be 0.2m.

[0072] like Figure 4 As shown, after calculating the difference between the distance between the vehicle and the target obstacle and the lateral displacement of the vehicle's rear, it is determined whether parameter D is 1. Since the initial value of parameter D is 0, it is determined that the value of parameter D is not 1. Then, it is determined whether the difference is less than or equal to 0.2m. If the difference is less than or equal to 0.2m, the value of parameter D is set to 1, controlling the rear wheels to return to center, and the rear wheel steering angle becomes 0°.

[0073] In one embodiment, when the difference between the distance between the vehicle and the target obstacle and the lateral displacement of the vehicle's rear is less than or equal to a first threshold, the rear wheels of the vehicle are controlled to return to center. After the rear wheels return to center, the method further includes: calculating a second lateral displacement of the vehicle's rear based on the rear wheel rotation angle after the rear wheels return to center; calculating a second difference between the distance between the vehicle and the target obstacle and the second lateral displacement of the vehicle's rear; when the second difference is greater than a second threshold, detecting whether the target blind spot monitoring module issues an alarm signal; wherein, when the vehicle turns to the left, the target blind spot monitoring module is located on the right side of the vehicle; when the vehicle turns to the right, the target blind spot monitoring module is located on the left side of the vehicle; when the target blind spot monitoring module does not issue an alarm signal, the rear wheels of the vehicle are controlled to return to the rear wheel rotation angle; when the second difference is less than the second threshold, the rear wheels of the vehicle are controlled to return to center.

[0074] The blind area monitoring module can detect the state of the obstacle around the vehicle, including the position, size, speed, acceleration and other parameters of the obstacle. The blind area monitoring module determines whether there is a collision risk according to the state of the obstacle and the state of the vehicle itself. If there is a collision risk, the blind area monitoring module sends an alarm signal.

[0075] As shown in Figure 3 The advanced driving assistance system (ADAS) includes multiple radars, one radar is installed on each side of the rear of the vehicle. The radar installed on the right side of the vehicle is used to detect the obstacle on the right side of the vehicle, and the radar installed on the left side of the vehicle is used to detect the obstacle on the left side of the vehicle. When the vehicle turns to the left, the alarm signal sent by the radar installed on the right side of the vehicle can be received. When the vehicle turns to the right, the alarm signal sent by the radar installed on the left side of the vehicle can be received.

[0076] After the rear wheel of the vehicle is returned to normal, the turning angle of the rear wheel becomes 0°, at this time the second lateral displacement of the rear of the vehicle is recalculated, and the second difference between the distance between the vehicle and the target obstacle and the second lateral displacement of the rear of the vehicle is recalculated. Determine whether the second difference is greater than the second threshold value. The second threshold value is greater than the first threshold value, for example, the first threshold value is 0.2m, and the second threshold value is 0.4m. If the difference is greater than the second threshold value, it means that the distance between the vehicle and the target obstacle after the lateral displacement of the vehicle is larger, and the vehicle may not collide with the target obstacle. At this time, it is judged whether the target blind area monitoring module sends an alarm signal. If the target blind area monitoring module does not send an alarm signal, the turning angle of the rear wheel is restored. If the target blind area monitoring module sends an alarm signal, the state of the rear wheel is maintained, and the turning angle of the rear wheel is 0°. If the second difference is less than the second threshold value, the state of the rear wheel is maintained, and the turning angle of the rear wheel is 0°.

[0077] As shown in Figure 4 In the case where it is determined that the difference between the distance between the vehicle and the target obstacle and the lateral displacement of the rear of the vehicle is less than or 0.2m, the value of parameter D is set to 1. After the second difference is calculated, since the value of parameter D is 1, it is determined whether the second difference is greater than or equal to 0.4m. If the second difference is less than 0.4m, the turning angle of the rear wheel is set to 0° to control the rear wheel to return to normal. If the second difference is greater than or equal to 0.4m, the value of parameter D is set to 0, and it is determined whether the target blind area monitoring module sends an alarm signal. If the target blind area monitoring module sends an alarm signal, the turning angle of the rear wheel is set to 0° to control the rear wheel to return to normal. If the target blind area monitoring module does not send an alarm signal, the turning angle of the rear wheel is restored.

[0078] In one embodiment, multiple blind spot monitoring modules are installed on the vehicle. Step 1320 includes: detecting whether the target blind spot monitoring module issues an alarm signal when the difference is greater than a first threshold; controlling the rear wheels of the vehicle to return to center when an alarm signal is detected from the target blind spot monitoring module; and determining that the rear wheel steering angle remains unchanged when no alarm signal is detected from the target blind spot monitoring module. Specifically, when the vehicle is turning to the left, the target blind spot monitoring module is located on the right side of the vehicle; and when the vehicle is turning to the right, the target blind spot monitoring module is located on the left side of the vehicle.

[0079] If the difference is greater than the first threshold, it indicates a low risk of collision between the vehicle and the target obstacle. If an alarm signal is received from the target blind spot monitoring module, it indicates a collision risk; in this case, the rear wheels are straightened, and the rear wheel angle becomes 0° to reduce the collision risk. If no alarm signal is received from the target blind spot monitoring module, it indicates no collision risk; the rear wheel angle remains unchanged.

[0080] like Figure 4 As shown, if the difference is greater than 0.2m, it is determined whether the target blind spot monitoring module has issued an alarm signal. If the target blind spot monitoring module issues an alarm signal, the rear wheel steering angle is set to 0° to control the rear wheels to return to center. If the target blind spot monitoring module does not issue an alarm signal, the rear wheel steering angle remains unchanged.

[0081] This embodiment calculates the difference between the distance between the vehicle and the target obstacle and the lateral position of the vehicle's rear. Based on this difference and the alarm signal issued by the blind spot monitoring module, it comprehensively judges whether there is a collision risk, thereby improving the accuracy of the collision risk judgment. Based on the collision risk judgment, it controls the steering angle of the vehicle's rear wheels, making the optimization of the rear wheel steering control strategy more reasonable.

[0082] like Figure 5 As shown, this embodiment introduces a rear-wheel steering control device 400 for a vehicle, including:

[0083] The acquisition module 401 is used to acquire the front wheel steering angle of the vehicle, the rear wheel steering angle of the vehicle, and the distance between the vehicle and the target obstacle;

[0084] Calculation module 402 is used to calculate the lateral displacement of the rear of the vehicle based on the front wheel steering angle and the rear wheel steering angle;

[0085] The control module 403 is used to adjust the rear wheel angle of the vehicle based on the distance between the vehicle and the target obstacle and the lateral displacement of the rear of the vehicle.

[0086] The embodiment considers the lateral displacement of the vehicle tail caused by the front wheel angle and the rear wheel angle of the vehicle, and controls the rear wheel angle according to the lateral displacement of the vehicle tail and the distance between the vehicle and the target obstacle, to avoid excessive limitation on the rear wheel steering in the case of no collision risk, and to reduce the limitation on the rear wheel steering of the vehicle.

[0087] Optionally, the control module is specifically configured to:

[0088] calculate a difference between the distance between the vehicle and the target obstacle and the lateral displacement of the vehicle tail;

[0089] adjust the rear wheel angle of the vehicle according to the difference.

[0090] Optionally, the control module is further specifically configured to:

[0091] in the case that the difference is less than or equal to a first threshold value, control the rear wheel of the vehicle to return to normal.

[0092] Optionally, a plurality of blind area monitoring modules are installed on the vehicle, and the control module is further specifically configured to:

[0093] calculate a second lateral displacement of the vehicle tail according to the rear wheel angle after the rear wheel returns to normal;

[0094] calculate a second difference between the distance between the vehicle and the target obstacle and the second lateral displacement of the vehicle tail;

[0095] in the case that the second difference is greater than a second threshold value, detect whether the target blind area monitoring module sends an alarm signal, the second threshold value being greater than the first threshold value;

[0096] in the case that it is detected that the target blind area monitoring module does not send an alarm signal, control the rear wheel of the vehicle to return to the rear wheel angle;

[0097] wherein, in the case that the vehicle turns to the left side, the target blind area monitoring module is located on the right side of the vehicle; and in the case that the vehicle turns to the right side, the target blind area monitoring module is located on the left side of the vehicle.

[0098] Optionally, a plurality of blind area monitoring modules are installed on the vehicle, and the control module is further specifically configured to:

[0099] in the case that the difference is greater than a first threshold value, detect whether the target blind area monitoring module sends an alarm signal;

[0100] in the case that it is detected that the target blind area monitoring module sends an alarm signal, control the rear wheel of the vehicle to return to normal;

[0101] In the case that the target blind area monitoring module does not send an alarm signal, it is determined that the rear wheel turning angle remains unchanged.

[0102] In the case that the vehicle turns to the left, the target blind area monitoring module is located on the right side of the vehicle, and in the case that the vehicle turns to the right, the target blind area monitoring module is located on the left side of the vehicle.

[0103] Optionally, in the case that the vehicle turns to the left, the target obstacle is an obstacle on the right side of the vehicle.

[0104] In the case that the vehicle turns to the right, the target obstacle is an obstacle on the left side of the vehicle.

[0105] Optionally, the calculation module is specifically configured to:

[0106] The lateral displacement Y of the rear of the vehicle is calculated according to the following formula rear :

[0107]

[0108] wherein L is the wheelbase of the vehicle, L rear is the distance between the rear axle of the vehicle and the rear of the vehicle, δ r is the rear wheel turning angle, δ f is the front wheel turning angle, B tire is the tire width of the vehicle.

[0109] As Figure 6 shown in the embodiment, an electronic device 500 is introduced, which includes a processor 501 and a memory 502, the memory 502 stores programs or instructions executable on the processor 501, and the programs or instructions are executed by the processor 501 to implement the steps of the rear wheel turning control method of the vehicle according to any embodiment of the present application.

[0110] The present application can be a system, a method, and / or a computer program product. The computer program product can include a computer readable storage medium having computer readable program instructions embodied therewith, which are executable by a processor to implement various aspects of the present application.

[0111] Computer readable storage media can be tangible storage media which can retain and store instructions for use by an instruction execution device. Computer readable storage media can be, for example, but is not limited to, an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of computer readable storage media include the following: a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), a static random access memory (SRAM), a portable compact disc read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanically encoded device such as punch-cards or raised structures in a groove having instructions recorded thereon, and any suitable combination of the foregoing. A computer readable storage medium, as used herein, is not to be construed as being transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission media (e.g., light pulses passing through a fiber-optic cable), or electrical signals transmitted through a wire.

[0112] Computer readable program instructions described herein can be downloaded to respective computing / processing devices from a computer readable storage medium or to an external computer or external storage device via a network, for example, the Internet, a local area network, a wide area network and / or a wireless network. The network can comprise copper transmission cables, optical transmission fibers, wireless transmission, routers, firewalls, switches, gateway computers and / or edge servers. A network adapter card or network interface in each computing / processing device receives computer readable program instructions from the network and forwards the computer readable program instructions for storage in a computer readable storage medium within the respective computing / processing device.

[0113] Computer readable program instructions for carrying out operations of the present application can be assembler instructions, instruction-set-architecture (ISA) instructions, machine instructions, machine dependent instructions, microcode, firmware instructions, state-setting data, or either source code or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer readable program instructions can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider). In some embodiments, electronic circuitry including, for example, programmable logic circuitry, field-programmable gate array (FPGA), or programmable logic array (PLA) can execute the computer readable program instructions by utilizing state information of the computer readable program instructions to personalize the electronic circuitry, in order to perform aspects of the present application.

[0114] The computer readable program instructions can 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 apparatus or other device to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0115] These computer readable program instructions can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks. These computer readable program instructions can also be stored in a computer readable storage medium that can include random access memory (RAM), read only memory (ROM), electrically erasable programmable read only memory (EEPROM), flash memory or nonvolatile memory, or a suitable combination of the different types of computer readable storage media. The computer readable program instructions can also be downloaded to a computer, other programmable data processing apparatus, or other device from a computer readable storage medium or to an external computer or external storage device via a data signal that can be transmitted for example via a wired medium or a wireless medium such as the Internet or Wireless Application Protocol (WAP) signaling.

[0116] The computer readable program instructions can 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 such that the instructions which execute on the computer, other programmable data processing apparatus, or other device implement the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0117] The flow diagrams and the block diagrams in the drawings are presented to illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flow diagrams and the block diagrams can represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logic functions. In some alternative implementations, the functions noted in the blocks can occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks can sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and / or flow diagrams, and combinations thereof, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and

[0118] Embodiments of the application have been described above, and the description is intended to be illustrative of the embodiments of the application and not exhaustive. Numerous modifications and adaptations thereof will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The scope of the application is defined by the appended claims.

Claims

1. A method for controlling rear-wheel steering of a vehicle, characterized in that, include: Obtain the front wheel steering angle of the vehicle, the rear wheel steering angle of the vehicle, and the distance between the vehicle and the target obstacle; The lateral displacement of the rear of the vehicle is calculated based on the front wheel steering angle and the rear wheel steering angle; Calculate the difference between the distance between the vehicle and the target obstacle and the lateral displacement of the rear of the vehicle; If the difference is less than or equal to a first threshold, the rear wheels of the vehicle are controlled to return to positive. The second lateral displacement of the rear of the vehicle is calculated based on the rear wheel rotation angle after the rear wheels are straightened; Calculate a second difference between the distance between the vehicle and the target obstacle and the second lateral displacement of the rear of the vehicle; If the second difference is greater than or equal to the second threshold, the target blind spot monitoring module issues an alarm signal, wherein the second threshold is greater than the first threshold; wherein, when the vehicle turns to the left, the target blind spot monitoring module is located on the right side of the vehicle; when the vehicle turns to the right, the target blind spot monitoring module is located on the left side of the vehicle; If the target blind spot monitoring module does not issue an alarm signal, the vehicle's rear wheels are controlled to return to the rear wheel steering angle. If the second difference is less than the second threshold, the rear wheels of the vehicle are controlled to return to center.

2. The method according to claim 1, characterized in that, The method further includes: If the difference is greater than the first threshold, the target blind spot monitoring module will issue an alarm signal. If an alarm signal is detected from the target blind spot monitoring module, the rear wheels of the vehicle are controlled to return to center. If the target blind spot monitoring module does not issue an alarm signal, it is determined that the rear wheel angle remains unchanged.

3. The method according to claim 1, characterized in that, When the vehicle turns to the left, the target obstacle is the obstacle on the right side of the vehicle; When the vehicle turns to the right, the target obstacle is the obstacle on the left side of the vehicle.

4. The method according to claim 1, characterized in that, The calculation of the lateral displacement of the vehicle's rear end based on the front wheel steering angle and the rear wheel steering angle includes: The lateral displacement Y of the rear of the vehicle is calculated using the following formula. rear : Where L is the wheelbase of the vehicle, L rear δ is the distance between the rear axle and the rear of the vehicle. r Let δ be the rear wheel steering angle. f B is the front wheel steering angle. tire The width of the vehicle's tires.

5. A rear-wheel steering control device for a vehicle, characterized in that, include: The acquisition module is used to acquire the front wheel steering angle of the vehicle, the rear wheel steering angle of the vehicle, and the distance between the vehicle and the target obstacle; The calculation module is used to calculate the lateral displacement of the rear of the vehicle based on the front wheel steering angle and the rear wheel steering angle; The control module is used to adjust the rear wheel steering angle of the vehicle based on the distance between the vehicle and the target obstacle and the lateral displacement of the rear of the vehicle. When adjusting the rear wheel steering angle of the vehicle, the control module is used to: Calculate the difference between the distance between the vehicle and the target obstacle and the lateral displacement of the rear of the vehicle; If the difference is less than or equal to a first threshold, the rear wheels of the vehicle are controlled to return to positive. The second lateral displacement of the rear of the vehicle is calculated based on the rear wheel rotation angle after the rear wheels are straightened; Calculate a second difference between the distance between the vehicle and the target obstacle and the second lateral displacement of the rear of the vehicle; If the second difference is greater than or equal to the second threshold, the target blind spot monitoring module issues an alarm signal, wherein the second threshold is greater than the first threshold; wherein, when the vehicle turns to the left, the target blind spot monitoring module is located on the right side of the vehicle; when the vehicle turns to the right, the target blind spot monitoring module is located on the left side of the vehicle; If the target blind spot monitoring module does not issue an alarm signal, the vehicle's rear wheels are controlled to return to the rear wheel steering angle; and, If the second difference is less than the second threshold, the rear wheels of the vehicle are controlled to return to center.

6. An electronic device, characterized in that, It includes a processor and a memory, the memory storing programs or instructions that can run on the processor, the programs or instructions being executed by the processor to implement the steps of the rear-wheel steering control method for a vehicle as described in any one of claims 1-4.

7. A vehicle, characterized in that, The vehicle has the rear wheel steering control device as described in claim 5.

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