Vehicle steering control method, program product, electronic device and vehicle

Abstract

The present disclosure relates to a control method, a program product, an electronic device and a vehicle for steering a vehicle; when the vehicle needs to turn, a first turning angle currently matched by the left rear wheel of the vehicle and a second turning angle currently matched by the right rear wheel are determined; the left rear wheel and the right rear wheel are controlled to steer according to the first turning angle and the second turning angle respectively; through the above technical scheme, the left and right rear wheels of the vehicle can be adjusted according to the first turning angle and the second turning angle respectively, so as to control the steering of the vehicle, and realize precise control of the turning angles of the left and right rear wheels of the vehicle, which is conducive to realizing Ackerman steering of the rear wheels of the vehicle, thereby effectively reducing the problem of rear axle tire wear during vehicle steering and reducing the degree of tire wear.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle control technology, and in particular, to a vehicle steering control method, a program product, an electronic device and a vehicle. Background Art

[0002] During the steering process, it is difficult to achieve Ackerman steering because the left and right rear wheels of the vehicle are usually controlled by the same steering signal. As the rear wheel turning angle gradually increases, the problem of unilateral tire drag is likely to occur, and the larger the rear wheel turning angle value, the more severe the dragging phenomenon, resulting in greater tire wear. Summary of the invention

[0003] The purpose of the present disclosure is to provide a vehicle steering control method, a program product, an electronic device and a vehicle.

[0004] In order to achieve the above object, the present disclosure provides a method for controlling vehicle steering, the method comprising:

[0005] When the vehicle needs to turn, determining a first turning angle currently matched by the left rear wheel of the vehicle and a second turning angle currently matched by the right rear wheel;

[0006] The left rear wheel and the right rear wheel are controlled to steer according to the first turning angle and the second turning angle respectively.

[0007] Optionally, when the left rear wheel and the right rear wheel are controlled to steer according to the first turning angle and the second turning angle respectively, the interval distance between the steering center of the left rear wheel and the steering center of the right rear wheel is less than or equal to a preset interval distance threshold.

[0008] Optionally, the first turning angle and the second turning angle are related to an ideal rear wheel turning angle difference currently matched by the vehicle, the ideal rear wheel turning angle difference being a rear wheel turning angle difference that enables the vehicle to achieve Ackerman steering, and the rear wheel turning angle difference is used to represent the turning angle difference between the left rear wheel and the right rear wheel.

[0009] Optionally, the first turning angle and the second turning angle are determined based on a basic rear wheel turning angle currently matched by the vehicle and a target rear wheel turning angle difference currently matched by the vehicle; the basic rear wheel turning angle is a rear wheel turning angle determined based on a steering wheel angle of the vehicle and a real-time operating condition of the vehicle; the target rear wheel turning angle difference is a rear wheel turning angle difference determined based on the ideal rear wheel turning angle difference and the basic rear wheel turning angle.

[0010] Optionally, the basic rear wheel steering angle is the product of the steering wheel steering angle and a real-time proportional coefficient, and the real-time proportional coefficient is related to the real-time operating condition.

[0011] Optionally, when the ideal rear wheel turning angle difference is greater than or equal to the basic rear wheel turning angle, the target rear wheel turning angle difference is the basic rear wheel turning angle; and / or,

[0012] When the ideal rear wheel turning angle difference is smaller than the basic rear wheel turning angle, the target rear wheel turning angle difference is the ideal rear wheel turning angle difference.

[0013] Optionally, the first turning angle and the second turning angle are determined based on a steering wheel angle direction corresponding to the steering wheel angle, the basic rear wheel turning angle and the target rear wheel turning angle difference.

[0014] Optionally, when the steering wheel angle direction is a left turn direction, the first angle is the sum of the difference between the basic rear wheel angle and the target rear wheel angle, and the second angle is the basic rear wheel angle; and / or,

[0015] When the steering wheel angle direction is a right turn direction, the first steering angle is the basic rear wheel steering angle, and the second steering angle is the sum of the difference between the basic rear wheel steering angle and the target rear wheel steering angle.

[0016] Optionally, when the turning direction is a left turn:

[0017] If the sum of the difference between the basic rear wheel turning angle and the target rear wheel turning angle is greater than or equal to a preset angle threshold, the first turning angle is the preset angle threshold, and the second turning angle is the basic rear wheel turning angle; and / or,

[0018] If the sum of the difference between the basic rear wheel turning angle and the target rear wheel turning angle is less than the preset angle threshold, the first turning angle is the sum of the difference between the basic rear wheel turning angle and the target rear wheel turning angle, and the second turning angle is the basic rear wheel turning angle.

[0019] Optionally, when the turning direction is a right turn direction:

[0020] If the sum of the difference between the basic rear wheel turning angle and the target rear wheel turning angle is greater than or equal to a preset angle threshold, the first turning angle is the basic rear wheel turning angle, and the second turning angle is the preset angle threshold; and / or,

[0021] If the sum of the difference between the basic rear wheel turning angle and the target rear wheel turning angle is less than the preset angle threshold, the first turning angle is the basic rear wheel turning angle, and the second turning angle is the sum of the difference between the basic rear wheel turning angle and the target rear wheel turning angle.

[0022] Optionally, the ideal rear wheel steering angle difference is determined by a preset correspondence and a target front wheel steering angle currently matched by the front wheels of the vehicle; wherein, the target front wheel steering angle is determined based on the steering wheel angle, and the preset correspondence includes a correspondence between multiple front wheel steering angle values ​​and multiple rear wheel steering angle differences that enable the vehicle to achieve Ackerman steering, and each front wheel steering angle value corresponds to a rear wheel steering angle difference.

[0023] Optionally, when the vehicle is in a low-speed operating condition, the direction of the rear axle angle corresponding to the first angle and the second angle is opposite to the direction of the steering wheel angle corresponding to the steering wheel angle; and / or,

[0024] When the vehicle is in a high-speed operating condition, the direction of the rear axle angle corresponding to the first angle and the second angle is the same as the direction of the steering wheel angle corresponding to the steering wheel angle.

[0025] In a second aspect, the present disclosure provides a vehicle steering control device, the device comprising:

[0026] A determination module, used for determining a first turning angle currently matched by a left rear wheel and a second turning angle currently matched by a right rear wheel of the vehicle when the vehicle needs to turn;

[0027] A control module is used to control the left rear wheel and the right rear wheel to steer according to the first turning angle and the second turning angle respectively.

[0028] Optionally, when the left rear wheel and the right rear wheel are controlled to steer according to the first turning angle and the second turning angle respectively, the interval distance between the steering center of the left rear wheel and the steering center of the right rear wheel is less than or equal to a preset interval distance threshold.

[0029] Optionally, the first turning angle and the second turning angle are related to an ideal rear wheel turning angle difference currently matched by the vehicle, the ideal rear wheel turning angle difference being a rear wheel turning angle difference that enables the vehicle to achieve Ackerman steering, and the rear wheel turning angle difference is used to represent the turning angle difference between the left rear wheel and the right rear wheel.

[0030] Optionally, the first turning angle and the second turning angle are determined based on a basic rear wheel turning angle currently matched by the vehicle and a target rear wheel turning angle difference currently matched by the vehicle; the basic rear wheel turning angle is a rear wheel turning angle determined based on a steering wheel angle of the vehicle and a real-time operating condition of the vehicle; the target rear wheel turning angle difference is a rear wheel turning angle difference determined based on the ideal rear wheel turning angle difference and the basic rear wheel turning angle.

[0031] Optionally, the basic rear wheel steering angle is the product of the steering wheel steering angle and a real-time proportional coefficient, and the real-time proportional coefficient is related to the real-time operating condition.

[0032] Optionally, when the ideal rear wheel turning angle difference is greater than or equal to the basic rear wheel turning angle, the target rear wheel turning angle difference is the basic rear wheel turning angle; and / or,

[0033] When the ideal rear wheel turning angle difference is smaller than the basic rear wheel turning angle, the target rear wheel turning angle difference is the ideal rear wheel turning angle difference.

[0034] Optionally, the first turning angle and the second turning angle are determined based on a steering wheel angle direction corresponding to the steering wheel angle, the basic rear wheel turning angle and the target rear wheel turning angle difference.

[0035] Optionally, when the steering wheel angle direction is a left turn direction, the first angle is the sum of the difference between the basic rear wheel angle and the target rear wheel angle, and the second angle is the basic rear wheel angle; and / or,

[0036] When the steering wheel angle direction is a right turn direction, the first steering angle is the basic rear wheel steering angle, and the second steering angle is the sum of the difference between the basic rear wheel steering angle and the target rear wheel steering angle.

[0037] Optionally, when the turning direction is a left turn:

[0038] If the sum of the difference between the basic rear wheel turning angle and the target rear wheel turning angle is greater than or equal to a preset angle threshold, the first turning angle is the preset angle threshold, and the second turning angle is the basic rear wheel turning angle; and / or,

[0039] If the sum of the difference between the basic rear wheel turning angle and the target rear wheel turning angle is less than the preset angle threshold, the first turning angle is the sum of the difference between the basic rear wheel turning angle and the target rear wheel turning angle, and the second turning angle is the basic rear wheel turning angle.

[0040] Optionally, when the turning direction is a right turn direction:

[0041] If the sum of the difference between the basic rear wheel turning angle and the target rear wheel turning angle is greater than or equal to a preset angle threshold, the first turning angle is the basic rear wheel turning angle, and the second turning angle is the preset angle threshold; and / or,

[0042] If the sum of the difference between the basic rear wheel turning angle and the target rear wheel turning angle is less than the preset angle threshold, the first turning angle is the basic rear wheel turning angle, and the second turning angle is the sum of the difference between the basic rear wheel turning angle and the target rear wheel turning angle.

[0043] Optionally, the ideal rear wheel steering angle difference is determined by a preset correspondence and a target front wheel steering angle currently matched by the front wheels of the vehicle; wherein, the target front wheel steering angle is determined based on the steering wheel angle, and the preset correspondence includes a correspondence between multiple front wheel steering angle values ​​and multiple rear wheel steering angle differences that enable the vehicle to achieve Ackerman steering, and each front wheel steering angle value corresponds to a rear wheel steering angle difference.

[0044] Optionally, when the vehicle is in a low-speed operating condition, the direction of the rear axle angle corresponding to the first angle and the second angle is opposite to the direction of the steering wheel angle corresponding to the steering wheel angle; and / or,

[0045] When the vehicle is in a high-speed operating condition, the direction of the rear axle angle corresponding to the first angle and the second angle is the same as the direction of the steering wheel angle corresponding to the steering wheel angle.

[0046] In a third aspect, the present disclosure provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the vehicle steering control method described in the first aspect.

[0047] In a fourth aspect, the present disclosure provides a computer program product, comprising a computer program, which, when executed by a processor, implements the steps of the vehicle steering control method described in the first aspect.

[0048] In a fifth aspect, the present disclosure provides an electronic device, comprising a processor, wherein the processor is connected to a memory; the processor is used to execute the steps of the vehicle steering control method described in the first aspect above.

[0049] In a sixth aspect, the present disclosure provides a vehicle, comprising the electronic device described in the fifth aspect.

[0050] Through the above technical scheme, the left and right rear wheels of the vehicle can be adjusted respectively according to the first turning angle and the second turning angle, so as to control the steering of the vehicle, and realize precise control of the turning angles of the left and right rear wheels of the vehicle, which is conducive to enabling the rear wheels of the vehicle to realize Ackerman steering, thereby effectively reducing the problem of rear axle tire wear during vehicle steering and reducing the degree of tire wear.

[0051] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. The accompanying drawings are as follows.

[0053] Figure 1The figure is a schematic diagram showing a vehicle rear wheel control method according to an exemplary embodiment.

[0054] Figure 2 The figure is a flow chart of a method for controlling vehicle steering according to an exemplary embodiment.

[0055] Figure 3 The figure is a schematic diagram showing the corresponding relationship between the front wheel steering angle value and the rear wheel steering angle difference of a vehicle according to an exemplary embodiment.

[0056] Figure 4 The figure is a flow chart of another method for controlling vehicle steering according to an exemplary embodiment.

[0057] Figure 5 The invention is a block diagram of a vehicle steering control device according to an exemplary embodiment.

[0058] Figure 6 is a block diagram of an electronic device according to an exemplary embodiment.

[0059] Figure 7 is a block diagram of another electronic device according to an exemplary embodiment.

[0060] Figure 8 is a block diagram of a vehicle according to an exemplary embodiment. DETAILED DESCRIPTION

[0061] The specific implementation of the present disclosure is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the present disclosure, and is not used to limit the present disclosure.

[0062] First, the application scenario of the present disclosure is introduced. The present disclosure is applied in the scenario of vehicle steering. In the related art, a vehicle can be equipped with a split rear wheel steering system, such as Figure 1 The figure is a schematic diagram of a vehicle rear wheel control method. The vehicle can control the steering of the left and right rear wheels respectively through the left rear wheel steering system and the right rear wheel steering system. However, during the steering process, since the left and right rear wheels of the vehicle are usually controlled by the same steering signal, it is difficult to achieve Ackerman steering. As the rear wheel steering angle gradually increases, the problem of unilateral tire drag is prone to occur, and the larger the rear wheel steering angle value, the more serious the drag phenomenon, resulting in greater tire wear.

[0063] In order to solve the above problems, the present disclosure provides a vehicle steering control method, program product, electronic device and vehicle; when the vehicle needs to turn, determine the first turning angle currently matched by the left rear wheel of the vehicle and the second turning angle currently matched by the right rear wheel; control the left rear wheel and the right rear wheel to steer according to the first turning angle and the second turning angle respectively; through the above technical scheme, the left and right rear wheels of the vehicle can be adjusted according to the first turning angle and the second turning angle respectively, so as to control the steering of the vehicle, and realize precise control of the turning angles of the left and right rear wheels of the vehicle, which is conducive to enabling the rear wheels of the vehicle to realize Ackerman steering, thereby effectively reducing the problem of rear axle tire wear during vehicle steering and reducing the degree of tire wear.

[0064] Figure 2 FIG. 1 is a flow chart of a method for controlling vehicle steering according to an exemplary embodiment. Figure 2 As shown, the method may include the following steps.

[0065] S201. When a vehicle needs to turn, determine a first turning angle currently matched by a left rear wheel and a second turning angle currently matched by a right rear wheel of the vehicle.

[0066] S202: Control the left rear wheel and the right rear wheel to steer according to the first turning angle and the second turning angle respectively.

[0067] Through the above technical scheme, the left and right rear wheels of the vehicle can be adjusted respectively according to the first turning angle and the second turning angle, so as to control the steering of the vehicle, and realize precise control of the turning angles of the left and right rear wheels of the vehicle, which is conducive to enabling the rear wheels of the vehicle to realize Ackerman steering, thereby effectively reducing the problem of rear axle tire wear during vehicle steering and reducing the degree of tire wear.

[0068] In some embodiments, when the left rear wheel and the right rear wheel are controlled to steer according to the first turning angle and the second turning angle respectively, the spacing distance between the steering center of the left rear wheel and the steering center of the right rear wheel may be less than or equal to a preset spacing distance threshold.

[0069] For example, the preset interval distance threshold can be set by the user according to the running condition of the vehicle, which is not limited here. In this way, it can be determined whether the left and right rear wheels of the vehicle are in a suitable position according to the distance between the steering centers of the left and right rear wheels of the vehicle, thereby ensuring that the left and right rear wheels of the vehicle can achieve Ackerman steering.

[0070] In other embodiments, the first turning angle and the second turning angle are related to an ideal rear wheel turning angle difference currently matched by the vehicle, the ideal rear wheel turning angle difference being a rear wheel turning angle difference that enables the vehicle to achieve Ackerman steering, and the rear wheel turning angle difference is used to represent the turning angle difference between the left rear wheel and the right rear wheel.

[0071] For example, the left rear wheel may be the inner wheel or the outer wheel of the rear axle of the vehicle, and similarly, the right rear wheel may be the inner wheel or the outer wheel of the rear axle of the vehicle. When the vehicle turns left, the left rear wheel may be the inner wheel of the rear axle, and the right rear wheel may be the outer wheel of the rear axle; when the vehicle turns right, the left rear wheel may be the outer wheel of the rear axle, and the right rear wheel may be the inner wheel of the rear axle. Therefore, the rear axle turning angle difference may be the difference between the turning angle of the inner wheel of the rear axle and the turning angle of the outer wheel of the rear axle of the vehicle. In this way, the Ackerman steering of the left and right rear wheels can be realized according to the ideal rear wheel turning angle difference, ensuring the precise control of the left and right rear wheel turning angles of the vehicle.

[0072] In some embodiments, the first turning angle and the second turning angle can be determined based on a basic rear wheel turning angle currently matched by the vehicle and a target rear wheel turning angle difference currently matched by the vehicle; the basic rear wheel turning angle is a rear wheel turning angle determined based on a steering wheel angle of the vehicle and a real-time operating condition of the vehicle; the target rear wheel turning angle difference is a rear wheel turning angle difference determined based on the ideal rear wheel turning angle difference and the basic rear wheel turning angle.

[0073] For example, the steering wheel angle of the vehicle can be determined according to the steering wheel angle signal of the vehicle. It should be noted that if the steering wheel angle is 0, it is considered that the vehicle is in a straight-ahead state and no steering control is required.

[0074] For example, the basic rear wheel steering angle may be a rear wheel steering angle determined according to the vehicle speed, the steering wheel angle of the vehicle, the yaw rate of the vehicle, and the acceleration of the vehicle in real-time operation. In this way, the first steering angle and the second steering angle may be determined in real time based on the difference between the basic rear wheel steering angle and the target rear wheel steering angle of the vehicle, thereby achieving precise control of the first steering angle and the second steering angle.

[0075] In some embodiments, the basic rear wheel steering angle is the product of the steering wheel angle and a real-time proportional coefficient, and the real-time proportional coefficient is related to the real-time operating conditions. For example, the real-time proportional coefficient can be a coefficient determined according to the vehicle speed, the steering wheel angle of the vehicle, the yaw rate of the vehicle, and the acceleration of the vehicle in the real-time operating conditions. In this way, the basic rear wheel steering angle can be determined according to the real-time operating conditions of the vehicle, thereby improving the accuracy of angle determination.

[0076] In other embodiments, when the ideal rear wheel turning angle difference is greater than or equal to the basic rear wheel turning angle, the target rear wheel turning angle difference is the basic rear wheel turning angle; and / or, when the ideal rear wheel turning angle difference is less than the basic rear wheel turning angle, the target rear wheel turning angle difference is the ideal rear wheel turning angle difference.

[0077] For example, the ideal rear wheel steering angle difference can be expressed by d d The basic rear wheel turning angle can be represented by the symbol d r The target rear wheel steering angle difference can be represented by the symbol d s For example, in d d ≥d r In the case of d r As d s ; and / or, in d d <d r In the case of d d As d s In this way, the minimum value between the ideal rear wheel steering angle difference and the basic rear wheel steering angle can be taken as the target rear wheel steering angle difference, thereby effectively preventing the problem of excessive steering angle difference and step problem between the left and right rear wheels when the rear wheel itself has a small angle and the steering wheel has a large steering angle, which is caused by the superposition of the ideal Ackerman calculation results only.

[0078] In some embodiments, the first turning angle and the second turning angle can be determined based on the steering wheel angle direction corresponding to the steering wheel angle, the basic rear wheel turning angle, and the target rear wheel turning angle difference. For example, the steering wheel angle direction can include a left turn direction or a right turn direction; the steering wheel angle corresponding to the left turn direction is positive, and the steering wheel angle corresponding to the right turn direction is negative. In this way, different turning angles can be set for the left and right rear wheels based on different turning angle directions, thereby achieving precise control of the left and right rear wheel turning angles of the vehicle.

[0079] In other embodiments, when the steering wheel angle direction is a left turn direction, the first angle may be the sum of the difference between the basic rear wheel angle and the target rear wheel angle, and the second angle may be the basic rear wheel angle; and / or, when the steering wheel angle direction is a right turn direction, the first angle may be the basic rear wheel angle, and the second angle may be the sum of the difference between the basic rear wheel angle and the target rear wheel angle. In this way, the corresponding first angle and second angle may be determined according to the steering wheel angle direction, thereby improving the accuracy of determining the left and right rear wheel angles of the vehicle.

[0080] In some embodiments, when the turning direction is a left turn: if the sum of the basic rear wheel turning angle and the target rear wheel turning angle difference is greater than or equal to a preset angle threshold, then the first turning angle is the preset angle threshold, and the second turning angle is the basic rear wheel turning angle; and / or, if the sum of the basic rear wheel turning angle and the target rear wheel turning angle difference is less than the preset angle threshold, then the first turning angle is the sum of the basic rear wheel turning angle and the target rear wheel turning angle difference, and the second turning angle is the basic rear wheel turning angle.

[0081] For example, the preset angle threshold may be a preset maximum turning angle value of the vehicle, which may be expressed as d max For example, in d r +d s ≥d max In the case of d max As the first corner, d r As the second corner. d r +d s <d max In the case of d r +d s As the first corner, d r In this way, it can be ensured that the first turning angle and the second turning angle do not exceed the maximum turning angle value of the vehicle, thereby reducing the driving overload caused by the first turning angle and the second turning angle being too large.

[0082] In some embodiments, when the turning direction is a right turn direction: if the sum of the basic rear wheel turning angle and the target rear wheel turning angle difference is greater than or equal to a preset angle threshold, then the first turning angle is the basic rear wheel turning angle, and the second turning angle is the preset angle threshold; and / or, if the sum of the basic rear wheel turning angle and the target rear wheel turning angle difference is less than the preset angle threshold, then the first turning angle is the basic rear wheel turning angle, and the second turning angle is the sum of the basic rear wheel turning angle and the target rear wheel turning angle difference.

[0083] For example, in d r +d s ≥d max In the case of d r As the first corner, d max As the second corner. d r +d s <d max In the case of d r As the first corner, d r +d s In this way, the corresponding first and second turning angles can be determined according to the basic rear wheel turning angle, the target rear wheel turning angle difference and the preset angle threshold, ensuring that the first and second turning angles do not exceed the maximum turning angle value of the vehicle.

[0084] In some embodiments, the ideal rear wheel steering angle difference is determined by a preset correspondence and a target front wheel steering angle currently matched by the front wheels of the vehicle; wherein the target front wheel steering angle is determined based on the steering wheel angle, and the preset correspondence includes a correspondence between multiple front wheel steering angle values ​​and multiple rear wheel steering angle differences that enable the vehicle to achieve Ackerman steering, and each front wheel steering angle value corresponds to a rear wheel steering angle difference.

[0085] For example, a target front wheel angle corresponding to the steering wheel angle can be determined; through a preset corresponding relationship, the rear wheel angle difference corresponding to the front wheel angle value of the target front wheel angle is determined, and the rear wheel angle difference is used as the ideal rear wheel angle difference.

[0086] For example, the front wheel turning angle value may be the front outer wheel turning angle value of the vehicle, and the rear wheel turning angle difference may be the difference between the inner wheel turning angle and the outer wheel turning angle of the rear axle of the vehicle. The front wheel turning angle value may be a turning angle value obtained in advance according to the historical operation of the vehicle. The preset corresponding relationship may be an image obtained by feature fitting the front wheel turning angle value of the vehicle.

[0087] For example, if Figure 3 The figure shows a schematic diagram of the correspondence between the front wheel steering angle value and the rear wheel steering angle difference of a vehicle. The horizontal coordinate of the image is the front wheel steering angle value of the vehicle, and the vertical coordinate is the rear wheel steering angle difference of the vehicle. The rear wheel steering angle difference can increase as the front wheel steering angle value increases. In this way, the ideal rear wheel steering angle difference of the vehicle can be quickly determined by presetting the correspondence, thereby improving work efficiency.

[0088] In other embodiments, the rear wheel steering angle difference can be determined by: determining the angles of the vehicle's front axle outer wheel, front axle inner wheel, rear axle outer wheel and rear axle inner wheel; and determining the rear wheel steering angle difference based on the rear axle outer wheel and the rear axle inner wheel.

[0089] For example, the angles of the front axle outer wheel, the front axle inner wheel, the rear axle outer wheel, and the rear axle inner wheel of the vehicle may be determined according to the following function:

[0090] ;

[0091] ;

[0092] in, i 1, i 2, i 3. i 4 are the angles of the front axle outer wheel, the front axle inner wheel, the rear axle outer wheel and the rear axle inner wheel of the vehicle respectively; b is the wheelbase of the vehicle; l is the wheelbase of the vehicle.

[0093] In some embodiments, when the vehicle is in a low-speed condition, the direction of the rear axle angle corresponding to the first turning angle and the second turning angle is opposite to the direction of the steering wheel angle corresponding to the steering wheel angle; and / or, when the vehicle is in a high-speed condition, the direction of the rear axle angle corresponding to the first turning angle and the second turning angle is the same as the direction of the steering wheel angle corresponding to the steering wheel angle.

[0094] For example, the speed range corresponding to the low speed condition and the speed range corresponding to the high speed condition can be set by the user according to the vehicle conditions, and are not limited here. In this way, the steering under different speed conditions can be adapted, the adaptability range of the vehicle steering control can be expanded, and the flexibility of vehicle control can be improved.

[0095] Figure 4 FIG. 1 is a flow chart of another method for controlling vehicle steering according to an exemplary embodiment. Figure 4 As shown, the method may include the following steps.

[0096] S401: Obtain a steering wheel angle of a vehicle.

[0097] S402: Determine a steering wheel angle direction corresponding to the steering wheel angle.

[0098] When it is determined that the steering wheel angle direction is a left turn direction, executing S403-S410;

[0099] When it is determined that the steering wheel angle direction is a right turn direction, execute S4011-418;

[0100] When it is determined that the steering wheel angle direction is straight ahead, S419 is executed.

[0101] S403: Determine the ideal rear wheel steering angle difference that matches the current vehicle d d .

[0102] S404: Determine the basic rear wheel turning angle currently matched with the vehicle d r .

[0103] S405: Based on the ideal rear wheel steering angle difference d d and the base rear wheel turning angle d rThe target rear wheel steering angle difference of the vehicle is determined by the relationship between d s .

[0104] In determining d d ≥d r In the case of , executing S406;

[0105] In determining d d <d r In this case, execute S407.

[0106] S406: Determine the target rear wheel turning angle difference d s = the base rear wheel turning angle d r .

[0107] S407: Determine the target rear wheel turning angle difference d s = the ideal rear wheel steering angle difference d d .

[0108] S408: Based on the basic rear wheel turning angle d r The difference between the rear wheel turning angle and the target d s The sum of the values ​​and the preset angle threshold d max The size relationship is used to determine the first turning angle currently matched by the left rear wheel and the second turning angle currently matched by the right rear wheel of the vehicle.

[0109] In determining d r +d s ≥d max In the case of , execute S409;

[0110] In determining d r +d s <d max In this case, execute S410.

[0111] S409, determine the first turning angle = d max , the second turning angle = d r .

[0112] S410, determine the first turning angle = dr +d s , the second turning angle = d r .

[0113] S411: Determine the ideal rear wheel steering angle difference that matches the current vehicle d d .

[0114] S412: Determine the basic rear wheel turning angle currently matched with the vehicle d r .

[0115] S413: Based on the ideal rear wheel steering angle difference d d and the base rear wheel turning angle d r The target rear wheel steering angle difference of the vehicle is determined by the relationship between d s .

[0116] In determining d d ≥d r In the case of , executing S414;

[0117] In determining d d <d r In this case, execute S415.

[0118] S414: Determine the target rear wheel turning angle difference d s = the base rear wheel turning angle d r .

[0119] S415: Determine the target rear wheel turning angle difference d s = the ideal rear wheel steering angle difference d d .

[0120] S416: Based on the basic rear wheel turning angle d r The difference between the rear wheel turning angle and the target d s The sum of the values ​​and the preset angle threshold d max The size relationship is used to determine the first turning angle currently matched by the left rear wheel and the second turning angle currently matched by the right rear wheel of the vehicle.

[0121] In determining d r +d s ≥d max In the case of , execute S417;

[0122] In determining d r +d s <d max In this case, execute S418.

[0123] S417, determine the first turning angle = d r , the second turning angle = d max .

[0124] S418, determine the first turning angle = d r , the second turning angle = d r +d s .

[0125] S419: Determine the first turning angle = 0, the second turning angle = 0.

[0126] S420: Control the left rear wheel and the right rear wheel to steer according to the first turning angle and the second turning angle respectively.

[0127] Through the above technical scheme, the left and right rear wheels of the vehicle can be adjusted respectively according to the first turning angle and the second turning angle, so as to control the steering of the vehicle, and realize precise control of the turning angles of the left and right rear wheels of the vehicle, which is conducive to enabling the rear wheels of the vehicle to realize Ackerman steering, thereby effectively reducing the problem of rear axle tire wear during vehicle steering and reducing the degree of tire wear.

[0128] Figure 5 FIG. 5 is a block diagram of a vehicle steering control device 500 according to an exemplary embodiment. Figure 5 As shown, the apparatus 500 may include a determination module 510 and a control module 520;

[0129] The determination module 510 is used to determine a first turning angle currently matched by the left rear wheel and a second turning angle currently matched by the right rear wheel of the vehicle when the vehicle needs to turn;

[0130] The control module 520 is used to control the left rear wheel and the right rear wheel to steer according to the first turning angle and the second turning angle respectively.

[0131] Through the above technical scheme, the left and right rear wheels of the vehicle can be adjusted respectively according to the first turning angle and the second turning angle, so as to control the steering of the vehicle, realize precise control of the turning angles of the left and right rear wheels of the vehicle, so that the rear wheels of the vehicle can also realize Ackerman steering, effectively reducing the problem of rear axle tire wear during vehicle steering and reducing the degree of tire wear.

[0132] Optionally, when the left rear wheel and the right rear wheel are controlled to steer according to the first turning angle and the second turning angle respectively, the interval distance between the turning center of the left rear wheel and the turning center of the right rear wheel is less than or equal to a preset interval distance threshold.

[0133] Optionally, the first turning angle and the second turning angle are related to an ideal rear wheel turning angle difference currently matched by the vehicle, the ideal rear wheel turning angle difference being a rear wheel turning angle difference that enables the vehicle to achieve Ackerman steering, and the rear wheel turning angle difference is used to represent the turning angle difference between the left rear wheel and the right rear wheel.

[0134] Optionally, the first turning angle and the second turning angle are determined based on a basic rear wheel turning angle currently matched by the vehicle and a target rear wheel turning angle difference currently matched by the vehicle; the basic rear wheel turning angle is a rear wheel turning angle determined based on a steering wheel angle of the vehicle and a real-time operating condition of the vehicle; the target rear wheel turning angle difference is a rear wheel turning angle difference determined based on the ideal rear wheel turning angle difference and the basic rear wheel turning angle.

[0135] Optionally, the basic rear wheel steering angle is the product of the steering wheel steering angle and a real-time proportional coefficient, and the real-time proportional coefficient is related to the real-time operating condition.

[0136] Optionally, when the ideal rear wheel turning angle difference is greater than or equal to the basic rear wheel turning angle, the target rear wheel turning angle difference is the basic rear wheel turning angle; and / or,

[0137] When the ideal rear wheel turning angle difference is smaller than the basic rear wheel turning angle, the target rear wheel turning angle difference is the ideal rear wheel turning angle difference.

[0138] Optionally, the first turning angle and the second turning angle are determined based on a steering wheel angle direction corresponding to the steering wheel angle, the basic rear wheel turning angle and the target rear wheel turning angle difference.

[0139] Optionally, when the steering wheel angle direction is a left turn direction, the first angle is the sum of the difference between the basic rear wheel angle and the target rear wheel angle, and the second angle is the basic rear wheel angle; and / or,

[0140] When the steering wheel angle direction is a right turn direction, the first steering angle is the basic rear wheel steering angle, and the second steering angle is the sum of the difference between the basic rear wheel steering angle and the target rear wheel steering angle.

[0141] Optionally, when the direction of the corner is a left turn:

[0142] If the sum of the difference between the basic rear wheel turning angle and the target rear wheel turning angle is greater than or equal to a preset angle threshold, the first turning angle is the preset angle threshold, and the second turning angle is the basic rear wheel turning angle; and / or,

[0143] If the sum of the difference between the basic rear wheel turning angle and the target rear wheel turning angle is less than the preset angle threshold, the first turning angle is the sum of the difference between the basic rear wheel turning angle and the target rear wheel turning angle, and the second turning angle is the basic rear wheel turning angle.

[0144] Optionally, when the turning direction is a right turn:

[0145] If the sum of the difference between the basic rear wheel turning angle and the target rear wheel turning angle is greater than or equal to a preset angle threshold, the first turning angle is the basic rear wheel turning angle, and the second turning angle is the preset angle threshold; and / or,

[0146] If the sum of the difference between the basic rear wheel turning angle and the target rear wheel turning angle is less than the preset angle threshold, the first turning angle is the basic rear wheel turning angle, and the second turning angle is the sum of the difference between the basic rear wheel turning angle and the target rear wheel turning angle.

[0147] Optionally, the ideal rear wheel steering angle difference is determined by a preset correspondence and a target front wheel steering angle currently matched by the front wheels of the vehicle; wherein the target front wheel steering angle is determined based on the steering wheel angle, and the preset correspondence includes a correspondence between multiple front wheel steering angle values ​​and multiple rear wheel steering angle differences that enable the vehicle to achieve Ackerman steering, and each front wheel steering angle value corresponds to a rear wheel steering angle difference.

[0148] Optionally, when the vehicle is in a low-speed operating condition, the direction of the rear axle angle corresponding to the first angle and the second angle is opposite to the direction of the steering wheel angle corresponding to the steering wheel angle; and / or,

[0149] When the vehicle is in a high-speed operating condition, the directions of the rear axle angles corresponding to the first angle and the second angle are the same as the directions of the steering wheel angles corresponding to the steering wheel angle.

[0150] In summary, the present disclosure provides a control method for vehicle steering, a program product, an electronic device and a vehicle; when the vehicle needs to turn, a first turning angle currently matched by the left rear wheel and a second turning angle currently matched by the right rear wheel of the vehicle are determined; the left rear wheel and the right rear wheel are controlled to steer according to the first turning angle and the second turning angle respectively; through the above technical scheme, the left and right rear wheels of the vehicle can be adjusted according to the first turning angle and the second turning angle respectively, so as to control the steering of the vehicle, and achieve precise control of the turning angles of the left and right rear wheels of the vehicle, which is conducive to enabling the rear wheels of the vehicle to achieve Ackerman steering, thereby effectively reducing the problem of rear axle tire wear during vehicle steering and reducing the degree of tire wear.

[0151] Figure 6 FIG. 1 is a block diagram of an electronic device according to an exemplary embodiment. Figure 6 As shown, the electronic device 600 may include: a processor 601 and a memory 602. The electronic device 600 may also include one or more of a multimedia component 603, an input / output interface 604, and a communication component 605.

[0152] The processor 601 is used to control the overall operation of the electronic device 600 to complete all or part of the steps in the above-mentioned vehicle steering control method. The memory 602 is used to store various types of data to support the operation of the electronic device 600. For example, these data may include instructions for any application or method used to operate on the electronic device 600, and application-related data, such as contact data, messages sent and received, pictures, audio, video, etc. The memory 602 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (Static Random Access Memory, referred to as SRAM), electrically erasable programmable read-only memory (Electrically Erasable Programmable Read-Only Memory, referred to as EEPROM), erasable programmable read-only memory (Erasable Programmable Read-Only Memory, referred to as EPROM), programmable read-only memory (Programmable Read-Only Memory, referred to as PROM), read-only memory (Read-Only Memory, referred to as ROM), magnetic memory, flash memory, magnetic disk or optical disk. The multimedia component 603 may include a screen and an audio component. The screen may be, for example, a touch screen, and the audio component is used to output and / or input audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signal may be further stored in the memory 602 or sent through the communication component 605. The audio component also includes at least one speaker for outputting audio signals. The input / output interface 604 provides an interface between the processor 601 and other interface modules, and the other interface modules may be keyboards, mice, buttons, etc. These buttons may be virtual buttons or physical buttons. The communication component 605 is used for wired or wireless communication between the electronic device 600 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G, 4G, NB-IOT, eMTC, or other 5G, etc., or a combination of one or more of them, is not limited here. Therefore, the corresponding communication component 605 may include: Wi-Fi module, Bluetooth module, NFC module, etc.

[0153] In an exemplary embodiment, the electronic device 600 can be implemented by one or more application specific integrated circuits (ASIC), digital signal processors (DSP), digital signal processing devices (DSPD), programmable logic devices (PLD), field programmable gate arrays (FPGA), controllers, microcontrollers, microprocessors or other electronic components to execute the above-mentioned vehicle steering control method.

[0154] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided, and when the program instructions are executed by a processor, the steps of the above-mentioned vehicle steering control method are implemented. For example, the computer-readable storage medium can be the above-mentioned memory 602 including program instructions, and the above-mentioned program instructions can be executed by the processor 601 of the electronic device 600 to complete the above-mentioned vehicle steering control method.

[0155] Figure 7 is a block diagram of another electronic device 700 according to an exemplary embodiment. For example, the electronic device 700 may be provided as a server. Figure 7 The electronic device 700 includes a processor 722, which may be one or more, and a memory 732 for storing a computer program executable by the processor 722. The computer program stored in the memory 732 may include one or more modules, each corresponding to a set of instructions. In addition, the processor 722 may be configured to execute the computer program to perform the above-mentioned vehicle steering control method.

[0156] In addition, the electronic device 700 may further include a power supply component 726 and a communication component 750, wherein the power supply component 726 may be configured to perform power management of the electronic device 700, and the communication component 750 may be configured to implement communication, for example, wired or wireless communication, of the electronic device 700. In addition, the electronic device 700 may further include an input / output interface 758. The electronic device 700 may operate based on an operating system stored in the memory 732.

[0157] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided, and when the program instructions are executed by a processor, the steps of the above-mentioned vehicle steering control method are implemented. For example, the non-transitory computer-readable storage medium can be the above-mentioned memory 732 including program instructions, and the above-mentioned program instructions can be executed by the processor 722 of the electronic device 700 to complete the above-mentioned vehicle steering control method.

[0158] In another exemplary embodiment, a computer program product is also provided. The computer program product includes a computer program executable by a programmable device, and the computer program has a code portion for executing the above-mentioned vehicle steering control method when executed by the programmable device.

[0159] Figure 8 FIG. 1 is a block diagram of a vehicle according to an exemplary embodiment. Figure 8 As shown, the vehicle 800 may include the electronic device 600 described above.

[0160] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings; however, the present disclosure is not limited to the specific details in the above embodiments. Within the technical concept of the present disclosure, a variety of simple modifications can be made to the technical solution of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0161] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0162] In addition, various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

1. A method for controlling vehicle steering, characterized in that: The method comprises: When the vehicle needs to turn, determining a first turning angle currently matched by the left rear wheel of the vehicle and a second turning angle currently matched by the right rear wheel; Controlling the left rear wheel and the right rear wheel to steer respectively according to the first turning angle and the second turning angle; The first turning angle and the second turning angle are related to an ideal rear wheel turning angle difference currently matched by the vehicle, the ideal rear wheel turning angle difference is a rear wheel turning angle difference that enables the vehicle to achieve Ackerman steering, and the rear wheel turning angle difference is used to represent a turning angle difference between the left rear wheel and the right rear wheel; The first turning angle and the second turning angle are determined based on a basic rear wheel turning angle currently matched by the vehicle and a target rear wheel turning angle difference currently matched by the vehicle; the basic rear wheel turning angle is a rear wheel turning angle determined according to a steering wheel angle of the vehicle and a real-time operating condition of the vehicle; the target rear wheel turning angle difference is a rear wheel turning angle difference determined according to the ideal rear wheel turning angle difference and the basic rear wheel turning angle.

2. The method according to claim 1, characterized in that When the left rear wheel and the right rear wheel are controlled to steer according to the first turning angle and the second turning angle respectively, the interval distance between the turning centers of the left rear wheel and the right rear wheel is less than or equal to a preset interval distance threshold.

3. The method according to claim 1, characterized in that The basic rear wheel steering angle is the product of the steering wheel steering angle and a real-time proportional coefficient, and the real-time proportional coefficient is related to the real-time operating condition.

4. The method according to claim 1, characterized in that: In the case where the ideal rear wheel turning angle difference is greater than or equal to the basic rear wheel turning angle, the target rear wheel turning angle difference is the basic rear wheel turning angle; and / or, When the ideal rear wheel turning angle difference is smaller than the basic rear wheel turning angle, the target rear wheel turning angle difference is the ideal rear wheel turning angle difference.

5. The method according to claim 1, characterized in that The first turning angle and the second turning angle are determined based on a steering wheel angle direction corresponding to the steering wheel angle, the basic rear wheel turning angle, and the target rear wheel turning angle difference.

6. The method according to claim 5, characterized in that When the steering wheel angle direction is a left turn direction, the first angle is the sum of the difference between the basic rear wheel angle and the target rear wheel angle, and the second angle is the basic rear wheel angle; and / or, When the steering wheel angle direction is a right turn direction, the first steering angle is the basic rear wheel steering angle, and the second steering angle is the sum of the difference between the basic rear wheel steering angle and the target rear wheel steering angle.

7. The method according to claim 6, characterized in that When the turning direction is a left turn: If the sum of the difference between the basic rear wheel turning angle and the target rear wheel turning angle is greater than or equal to a preset angle threshold, the first turning angle is the preset angle threshold, and the second turning angle is the basic rear wheel turning angle; and / or, If the sum of the difference between the basic rear wheel turning angle and the target rear wheel turning angle is less than the preset angle threshold, the first turning angle is the sum of the difference between the basic rear wheel turning angle and the target rear wheel turning angle, and the second turning angle is the basic rear wheel turning angle.

8. The method according to claim 6, characterized in that When the turning direction is a right turn: If the sum of the difference between the basic rear wheel turning angle and the target rear wheel turning angle is greater than or equal to a preset angle threshold, the first turning angle is the basic rear wheel turning angle, and the second turning angle is the preset angle threshold; and / or, If the sum of the difference between the basic rear wheel turning angle and the target rear wheel turning angle is less than the preset angle threshold, the first turning angle is the basic rear wheel turning angle, and the second turning angle is the sum of the difference between the basic rear wheel turning angle and the target rear wheel turning angle.

9. The method according to claim 1, characterized in that: The ideal rear wheel steering angle difference is determined by a preset correspondence and a target front wheel steering angle currently matched by the front wheels of the vehicle; wherein the target front wheel steering angle is determined based on the steering wheel angle, and the preset correspondence includes a correspondence between a plurality of front wheel steering angle values ​​and a plurality of rear wheel steering angle differences that enable the vehicle to achieve Ackerman steering, and each front wheel steering angle value corresponds to a rear wheel steering angle difference.

10. The method according to claim 1, characterized in that When the vehicle is in a low-speed operating condition, the direction of the rear axle angle corresponding to the first angle and the second angle is opposite to the direction of the steering wheel angle corresponding to the steering wheel angle; and / or, When the vehicle is in a high-speed operating condition, the direction of the rear axle angle corresponding to the first angle and the second angle is the same as the direction of the steering wheel angle corresponding to the steering wheel angle.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 10 are implemented.

12. A computer program product, characterized in that The invention comprises a computer program, which, when executed by a processor, implements the steps of the method according to any one of claims 1 to 10.

13. An electronic device, characterized in that: The electronic device comprises a processor connected to a memory, and the processor is configured to execute the method according to any one of claims 1 to 10.

14. A vehicle, characterized in that: The vehicle includes the electronic device of claim 13.

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