Wheel control method, electronic device and vehicle

Abstract

The present disclosure relates to the field of vehicle control, and provides a wheel control method, electronic device, and vehicle. It is determined that the vehicle is in a target driving state, and a driving mode switching instruction is received in the current driving mode. The target front and rear wheel angle ratio change slope is determined according to the target driving mode corresponding to the driving mode switching instruction and the current driving mode; the vehicle front wheel angle is obtained, and the target rear wheel angle is determined according to the vehicle front wheel angle and the target front and rear wheel angle ratio change slope; the vehicle rear wheel angle is controlled to be adjusted from the current angle value to the target rear wheel angle. That is, during the vehicle driving process, the current angle is directly adjusted to the target rear wheel angle, without first adjusting the rear wheel angle or making the vehicle speed zero before adjustment, which reduces the adjustment threshold, reduces the cumbersome operations of the user, improves the driving stability, and makes the switching of modes corresponding to different driving styles and the corresponding rear wheel angle switching more convenient.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle control, and in particular to a wheel control method, electronic equipment and a vehicle. Background Art

[0002] With the rapid development of vehicle technology, vehicles have become an important means of transportation in people's daily lives. When the vehicle is turning, different rear wheel steering angles can be output according to different driving styles to meet the needs of the driver, thereby improving the steering stability.

[0003] Currently, when switching between different driving styles, the vehicle must meet certain conditions to achieve this, which is very inconvenient for users. Summary of the invention

[0004] In view of this, the purpose of the present disclosure is to propose a wheel control method, an electronic device and a vehicle to solve the problem that when switching between different driving styles, the vehicle needs to meet certain conditions to achieve it, which is very inconvenient for users.

[0005] Based on the above purpose, a first aspect of the present disclosure provides a wheel control method, the method comprising:

[0006] Determining that the vehicle is in a target driving state, receiving a driving mode switching instruction in a current driving mode, and determining a target front and rear wheel steering angle ratio change slope according to a target driving mode corresponding to the driving mode switching instruction and a current driving mode;

[0007] Obtaining a front wheel steering angle of the vehicle, and determining a target rear wheel steering angle according to the front wheel steering angle of the vehicle and the slope of the change in the ratio of the target front and rear wheel steering angles;

[0008] Control the vehicle's rear wheel steering angle from the current steering angle value to the target rear wheel steering angle.

[0009] Based on the same inventive concept, the second aspect of the present disclosure provides a wheel control device, the device comprising:

[0010] The command receiving module is configured to determine that the vehicle is in a target driving state, receive a driving mode switching command in a current driving mode, and determine a target front and rear wheel steering angle ratio change slope according to the target driving mode corresponding to the driving mode switching command and the current driving mode;

[0011] A turning angle determination module is configured to obtain a front wheel turning angle of the vehicle, and determine a target rear wheel turning angle according to the front wheel turning angle of the vehicle and a slope of a change in the ratio of the target front and rear wheel turning angles;

[0012] The adjustment module is configured to control the rear wheel steering angle of the vehicle to adjust from a current steering angle value to a target rear wheel steering angle.

[0013] Based on the same inventive concept, the third aspect of the present disclosure proposes an electronic device, including a memory, a processor, and a computer program stored in the memory and executable by the processor, wherein the processor implements the wheel control method as described above when executing the computer program.

[0014] Based on the same inventive concept, a fourth aspect of the present disclosure proposes a non-transitory computer-readable storage medium, which stores computer instructions for causing a computer to execute the wheel control method as described above.

[0015] Based on the same inventive concept, the fifth aspect of the present disclosure provides a vehicle, comprising the wheel control device described in the second aspect or the electronic device described in the third aspect or the storage medium described in the fourth aspect.

[0016] As can be seen from the above, the present disclosure proposes a wheel control method, an electronic device and a vehicle. When the vehicle is in a target driving state, a driving mode switching instruction is received in the current driving mode, which indicates that the user wants to switch the driving mode. The target front and rear wheel angle ratio change slope is determined according to the target driving mode corresponding to the driving mode switching instruction and the current driving mode, so as to determine the rear wheel angle according to the target front and rear wheel angle ratio change slope. The vehicle front wheel angle is obtained, and the target rear wheel angle is determined according to the vehicle front wheel angle and the target front and rear wheel angle ratio change slope, and the vehicle rear wheel angle value is controlled to be adjusted from the current angle value to the target rear wheel angle. That is, the current angle is directly adjusted to the target rear wheel angle during the vehicle driving process, without first adjusting the rear wheel angle or making the vehicle speed zero before adjustment, which reduces the adjustment threshold, reduces the cumbersome operations of the user, improves the driving stability, and makes the switching of modes corresponding to different driving styles and the corresponding rear wheel angle switching more convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present disclosure or related technologies, the drawings required for use in the embodiments or related technical descriptions are briefly introduced below. Obviously, the drawings described below are only embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0018] Figure 1 is a flow chart of a method for controlling a wheel according to an embodiment of the present disclosure;

[0019] Figure 2 is a structural block diagram of a wheel control device according to an embodiment of the present disclosure;

[0020] Figure 3It is a schematic diagram of the structure of an electronic device according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0021] In order to make the objectives, technical solutions and advantages of the present disclosure more clearly understood, the present disclosure is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings.

[0022] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present disclosure should be understood by people with ordinary skills in the field to which the present disclosure belongs. The "first", "second" and similar words used in the embodiments of the present disclosure do not indicate any order, quantity or importance, but are only used to distinguish different components. "Including" or "comprising" and similar words mean that the elements or objects appearing before the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0023] With the rapid development of vehicle technology, vehicles have become an important means of transportation in people's daily lives. When the vehicle is turning, different rear wheel steering angles can be output according to different driving styles to meet the needs of the driver, thereby improving the steering stability.

[0024] At present, when switching between different driving styles, the vehicle needs to meet certain conditions to achieve this. Specifically, with the rapid development of the field of vehicle technology, vehicles have become an important means of transportation in people's daily lives. When the vehicle turns, different rear wheel steering angles can be output according to different driving styles to meet the needs of the driver, thereby improving the stability of steering. At present, when switching between different driving styles, the vehicle needs to meet certain conditions to achieve this, which is very inconvenient for users.

[0025] Based on the above description, this embodiment proposes a wheel control method, such as Figure 1 As shown, the method includes:

[0026] Step 101, determining that the vehicle is in a target driving state, receiving a driving mode switching instruction in a current driving mode, and determining a target front and rear wheel steering angle ratio change slope according to a target driving mode corresponding to the driving mode switching instruction and a current driving mode.

[0027] In specific implementation, the driving state of the vehicle is judged, and when it is determined that the vehicle is in the target driving state, a driving mode switching instruction is received in the current driving mode, indicating that the user wants to switch the driving mode. In this embodiment, the target driving state indicates that the vehicle is in a turning state, and the turning state indicates that the current driving route of the vehicle is curved and non-linear, and the current vehicle speed is not 0. There is no limitation on whether the road on which the vehicle is traveling is curved.

[0028] The driving mode indicates that the vehicle can affect the power output state of the vehicle by selecting the driving mode according to the actual use situation. The driving mode includes at least one of the following: sports, energy saving, snow, off-road, standard (comfortable or normal). In this embodiment, the current driving mode and the target driving mode are different driving modes.

[0029] Determine a target driving mode corresponding to the driving mode switching instruction, and determine a target front and rear wheel angle ratio change slope according to the target driving mode and the current driving mode, wherein each value in the target front and rear wheel angle ratio change slope represents a target front and rear wheel angle ratio, that is, a ratio value of the front wheel angle to the rear wheel angle.

[0030] The triggering method of the driving mode switching command includes at least one of the following: generation through a touch screen, generation through a gesture command, generation through a voice command, generation through a physical button, generation through a virtual button, etc. The touch screen includes a central control screen in the vehicle, an armrest screen, etc., and the location of the touch screen includes at least one of the following: a vehicle door, a seat armrest, a vehicle ceiling, etc.

[0031] Exemplarily, a driving mode switching instruction is generated through a voice command, such as when user A says "switch to sports mode". When the vehicle computer recognizes the voice of user A, it means that user A wants to switch the driving mode.

[0032] Another example is to generate a driving mode switching instruction through a physical button, such as user B clicks the driving mode switching button on the vehicle steering wheel. At this time, after the vehicle computer recognizes the pressing operation of user B, it means that user B wants to switch the driving mode.

[0033] Step 102, obtaining the front wheel steering angle of the vehicle, and determining the target rear wheel steering angle according to the front wheel steering angle of the vehicle and the slope of the change in the ratio of the target front and rear wheel steering angles.

[0034] During specific implementation, the front wheel steering angle of the vehicle is obtained. The front wheel steering angle of the vehicle can be determined by the steering angle information corresponding to the user's steering wheel. The front wheel steering angle of the vehicle is multiplied by the slope of the target front and rear wheel steering angle ratio change to obtain the target rear wheel steering angle. The target rear wheel steering angle is the rear wheel steering angle corresponding to the target driving mode that the user wants to switch to.

[0035] Specifically, the vehicle front wheel turning angle is A, the target front and rear wheel turning angle ratio change slope is B, the target rear wheel turning angle is C, and the target rear wheel turning angle is expressed by the formula: C=A×B.

[0036] Exemplarily, the target front and rear wheel steering angle ratio change slope is 0.8, and the vehicle front wheel steering angle is 45 degrees. The target front and rear wheel steering angle ratio change slope is multiplied by the vehicle front wheel steering angle to obtain a target rear wheel steering angle of 36 degrees.

[0037] Step 103, controlling the rear wheel steering angle of the vehicle to adjust from the current steering angle value to the target rear wheel steering angle.

[0038] In specific implementation, after the target rear wheel steering angle is obtained, the rear wheel steering angle of the vehicle is controlled to be directly adjusted from the current steering angle value to the target rear wheel steering angle.

[0039] According to the above scheme, when the vehicle is driving on a curve, a driving mode switching instruction is received in the current driving mode, which indicates that the user wants to switch the driving mode. The target front and rear wheel angle ratio change slope is determined according to the target driving mode corresponding to the driving mode switching instruction and the current driving mode, so as to determine the rear wheel angle according to the target front and rear wheel angle ratio change slope. The vehicle front wheel angle is obtained, and the target rear wheel angle is determined according to the vehicle front wheel angle and the target front and rear wheel angle ratio change slope, and the vehicle rear wheel angle value is controlled to be adjusted from the current angle value to the target rear wheel angle. That is, the current angle is directly adjusted to the target rear wheel angle during the vehicle driving process, without first adjusting the rear wheel angle or making the vehicle speed zero before adjustment, which reduces the adjustment threshold, reduces the user's cumbersome operations, and makes the switching of driving modes and the corresponding rear wheel angle switching more convenient.

[0040] In some embodiments, the method for determining whether the vehicle is traveling on a curve may be by acquiring the vehicle's driving environment, or by determining by the vehicle's steering wheel angle, and the specific method is not limited in this embodiment.

[0041] In some embodiments, if the vehicle is not traveling on a curve or the vehicle is on a curve but the speed is zero, when a driving mode switching instruction is received, the driving mode can be directly switched to the target driving mode, and the steering angle can be directly switched to the target rear wheel angle without determining the target front and rear wheel angle ratio change slope.

[0042] In some embodiments, step 101 specifically includes:

[0043] Step 1011, determining the vehicle driving state and vehicle speed, wherein the vehicle driving state is used to indicate the change of the vehicle driving speed.

[0044] Step 1012, determining a target front and rear wheel steering angle ratio change slope according to the vehicle driving state, the vehicle speed, the current driving mode and the target driving mode.

[0045] In a specific implementation, the vehicle driving state and vehicle speed are determined. The vehicle speed can be determined by a vehicle sensor. The vehicle driving state is used to indicate the change of the vehicle driving speed, specifically including acceleration or deceleration. The target front and rear wheel steering angle ratio change slope is determined according to the vehicle driving state, the vehicle speed, the current driving mode and the target driving mode.

[0046] Through the above scheme, in addition to considering the current driving mode and the target driving mode, the vehicle driving state and the specific vehicle speed are also comprehensively considered when determining the target front and rear wheel angle ratio change slope, so that the determined target front and rear wheel angle ratio change slope is more accurate.

[0047] In some embodiments, step 1012 specifically includes:

[0048] Step 10121, determining the initial front and rear wheel steering angle ratio change slope according to the vehicle speed, the current driving mode and the target driving mode.

[0049] Step 10122, determining a target safety factor according to the driving state of the vehicle.

[0050] Step 10123, multiplying the target safety factor by the initial front and rear wheel angle ratio change slope to obtain the target front and rear wheel angle ratio change slope.

[0051] In specific implementation, the database pre-stores the correspondence between the vehicle speed, the current driving mode, the target driving mode and the initial front and rear wheel angle ratio change slope. Therefore, a table is looked up according to the vehicle speed, the current driving mode and the target driving mode to determine the initial front and rear wheel angle ratio change slope.

[0052] The database pre-stores the corresponding relationship between the vehicle driving state and the safety factor, and determines the corresponding target safety factor according to the vehicle driving state. In this embodiment, if the vehicle driving state is accelerating, the target safety factor is a constant greater than 0 and less than 1, such as 0.8. If the vehicle driving state is decelerating, the target safety factor is a constant greater than 1, such as 1.2.

[0053] The target safety factor is multiplied by the initial front and rear wheel angle ratio change slope to obtain the target front and rear wheel angle ratio change slope.

[0054] Through the above scheme, after the initial front and rear wheel angle ratio change slope is determined according to the vehicle speed, the current driving mode and the target driving mode, the target safety factor is determined according to the vehicle driving state, and the target front and rear wheel angle ratio change slope is obtained by multiplying the target safety factor with the initial front and rear wheel angle ratio change slope. This takes into account the safety of driving in different driving states, ensures driving safety when switching driving modes, and improves the safety factor.

[0055] In some embodiments, before step 10122, the following steps are specifically included:

[0056] Step A: determining a first front and rear wheel turning angle ratio corresponding to the current driving mode.

[0057] Step B, obtaining a preset offset coefficient, multiplying the preset offset coefficient by the first front and rear wheel turning angle ratio to obtain a front and rear wheel ratio change threshold.

[0058] In some embodiments, step 10122 specifically includes:

[0059] In response to the initial front-rear wheel steering angle ratio change slope being greater than the front-rear wheel ratio change threshold, a target safety factor is determined according to the vehicle driving state.

[0060] In a specific implementation, the first front and rear wheel steering angle ratio corresponding to the current driving mode is obtained, and a preset offset coefficient is obtained, and the offset coefficient is used to ensure that the target driving mode can be successfully switched. The preset offset coefficient is multiplied by the first front and rear wheel steering angle ratio to obtain a front and rear wheel ratio change threshold, that is, the initial front and rear wheel steering angle ratio change slope must first be ensured to be greater than the front and rear wheel ratio change threshold to ensure that the target driving mode can be successfully switched.

[0061] The initial front and rear wheel steering angle ratio change slope is compared with the front and rear wheel ratio change threshold, and when the initial front and rear wheel steering angle ratio change slope is greater than the front and rear wheel ratio change threshold, a target safety factor is determined according to the vehicle driving state.

[0062] Through the above scheme, the front and rear wheel ratio change threshold is first determined. When the initial front and rear wheel angle ratio change slope is greater than the front and rear wheel ratio change threshold, it is guaranteed that the target driving mode can be successfully switched to and then the target safety factor and target rear wheel angle are determined to avoid adjustment failure.

[0063] In some embodiments, before determining the target front and rear wheel steering angle ratio change slope according to the target driving mode corresponding to the driving mode switching instruction and the current driving mode in step 101, the method further includes:

[0064] Step 101A, determining a first front and rear wheel steering angle ratio corresponding to the current driving mode and a second front and rear wheel steering angle ratio corresponding to the target driving mode.

[0065] Step 101B: performing difference processing on the first front and rear wheel turning angle ratio and the second front and rear wheel turning angle ratio to obtain a front and rear wheel turning angle ratio difference.

[0066] In some embodiments, step 101 specifically includes:

[0067] The yaw rate and vehicle speed change value of the vehicle are obtained, and a target front and rear wheel steering angle ratio change slope is determined according to the vehicle speed, the vehicle speed change value, the front and rear wheel steering angle ratio difference and the yaw rate.

[0068] In specific implementation, a first front and rear wheel turning angle ratio corresponding to the current driving mode and a second front and rear wheel turning angle ratio corresponding to the target driving mode are obtained, and the first front and rear wheel turning angle ratio is subtracted from the second front and rear wheel turning angle ratio to obtain the front and rear wheel turning angle ratio difference.

[0069] The yaw rate and vehicle speed change value of the vehicle are obtained, wherein the vehicle speed change value is the vehicle speed change value within a unit period. The database pre-stores the corresponding relationship between the vehicle speed, the vehicle speed change value, the front and rear wheel angle ratio difference, and the yaw rate and the target front and rear wheel angle ratio change slope.

[0070] According to the vehicle speed, the vehicle speed change value, the front and rear wheel angle ratio difference and the yaw rate, a table is looked up to determine the target front and rear wheel angle ratio change slope. Correspondingly, the higher the current vehicle speed, the smaller the output. The greater the speed change value within a unit cycle, the greater the output. The greater the absolute value of the ratio difference, the greater the output. The greater the absolute value of the current actual yaw rate of the vehicle, the smaller the output.

[0071] Through the above scheme, in addition to considering the current driving mode and the target driving mode, the vehicle speed, the vehicle yaw rate, and the vehicle speed change value are also comprehensively considered when determining the target front and rear wheel angle ratio change slope, so that the target front and rear wheel angle ratio change slope is determined more accurately.

[0072] In some embodiments, step 101C determines the target front and rear wheel angle ratio change slope, and the target safety factor can also be determined according to the vehicle driving state, and the target safety factor is multiplied by the target front and rear wheel angle ratio change slope to obtain the final front and rear wheel angle ratio change slope. Subsequently, the target rear wheel angle can be determined according to the final front and rear wheel angle ratio change slope, so that on the basis of ensuring that the final front and rear wheel angle ratio change slope is more accurate, the safety of the adjustment is further guaranteed, and the potential safety hazards are reduced.

[0073] In some embodiments, step 103 specifically includes:

[0074] Step 1031, in the process of controlling the rear wheel steering angle value of the vehicle to adjust from the current steering angle value to the target rear wheel steering angle, monitoring the vehicle driving state and / or vehicle steering angle information, wherein the vehicle steering angle information includes the vehicle steering wheel angle and yaw angular velocity.

[0075] Step 1032, determine whether the vehicle driving state and / or the vehicle turning angle information has changed, and obtain a determination result.

[0076] Step 1033, determining a new rear wheel steering angle according to the judgment result, and controlling the rear wheel steering angle value of the vehicle to adjust from the current steering angle value to the new target rear wheel steering angle.

[0077] In a specific implementation, in the process of controlling the rear wheel steering angle value of the vehicle to be adjusted from the current steering angle value to the target rear wheel steering angle, the vehicle driving state and / or vehicle steering angle information is monitored in real time to determine whether the vehicle driving state and / or vehicle steering angle information has changed during the rear wheel steering angle adjustment process. The vehicle steering angle information includes the vehicle steering wheel angle and yaw angular velocity.

[0078] Determine whether the vehicle driving state and / or the vehicle turning angle information has changed, and obtain a determination result, wherein the determination result includes any one of the following: the vehicle driving state has changed, the vehicle turning angle information has changed, or both the vehicle driving state and the vehicle turning angle information have changed. Determine a new rear wheel turning angle based on the determination result, and control the rear wheel turning angle value of the vehicle to be adjusted from the current turning angle value to the new target rear wheel turning angle.

[0079] Through the above scheme, by judging whether the vehicle driving state and / or the vehicle turning angle information have changed, a new rear wheel turning angle is determined, thereby avoiding the failure of switching the target driving mode by still using the original rear wheel turning angle when changes occur.

[0080] In some embodiments, step 1033 specifically includes:

[0081] Step 10331, in response to the judgment result that the vehicle driving state has changed, obtaining the changed vehicle driving state and the changed vehicle speed.

[0082] Step 10332, re-determine a new target front and rear wheel steering angle ratio change slope based on the changed vehicle driving state, the changed vehicle speed, the current driving mode and the target driving mode.

[0083] Step 10333, determining a new rear wheel steering angle according to the front wheel steering angle of the vehicle and the new target front and rear wheel steering angle ratio change slope.

[0084] In specific implementation, when the judgment result is that the vehicle driving state has changed, it means that the vehicle may change from accelerating to decelerating, or from decelerating to accelerating. At this time, the changed vehicle driving state and the changed vehicle speed are obtained.

[0085] A new target front and rear wheel angle ratio change slope is re-determined based on the changed vehicle driving state, the changed vehicle speed, the current driving mode and the target driving mode. The specific process of determining the new target front and rear wheel angle ratio change slope is the same as the above embodiment and will not be repeated here.

[0086] After determining the new target front and rear wheel angle ratio change slope, the front wheel angle is reacquired, and the vehicle front wheel angle and the new target front and rear wheel angle ratio change slope are multiplied to determine the new rear wheel angle.

[0087] Through the above scheme, when the vehicle driving state changes during the rear wheel steering angle adjustment process, the changed vehicle driving state and the changed vehicle speed should be immediately re-determined, and then the new target front and rear wheel steering angle ratio change slope is re-determined according to the changed vehicle driving state, the changed vehicle speed, the current driving mode and the target driving mode, so as to avoid safety problems in vehicle driving caused by using the original rear wheel steering angle, thereby improving driving safety.

[0088] In some embodiments, step 1033 specifically includes:

[0089] Step 1033A, in response to the judgment result that the vehicle turning angle information has changed, determining the change state of the vehicle turning angle information, wherein the change state represents an increase or decrease in the angle value corresponding to the vehicle turning angle information.

[0090] Step 1033B, determining the target equivalent coefficient according to the change state.

[0091] Step 1033C, multiplying the target equivalent coefficient by the target front and rear wheel angle ratio change slope to obtain a new target front and rear wheel angle ratio change slope.

[0092] Step 1033D, determining a new rear wheel steering angle based on the vehicle's front wheel steering angle and the new target front and rear wheel steering angle ratio change slope.

[0093] In a specific implementation, when the judgment result is that the vehicle turning angle information has changed, this may be equivalent to an acceleration or deceleration action. The change state of the vehicle turning angle information is determined, wherein the change state indicates an increase or decrease in the angle value corresponding to the vehicle turning angle information. For example, if the driver increases the steering wheel angle or increases the absolute value of the yaw angular velocity, it is equivalent to an acceleration action, and if the driver reduces the steering wheel angle or reduces the absolute value of the yaw angular velocity, it is equivalent to a deceleration action.

[0094] The target equivalent coefficient is determined according to the change state. For example, if the change state is an increase in the angle value corresponding to the vehicle turning angle information, the target equivalent coefficient is a constant greater than 0 and less than 1, such as 0.8. If the change state is a decrease in the angle value corresponding to the vehicle turning angle information, the target equivalent coefficient is a constant greater than 1, such as 1.2.

[0095] The target equivalent coefficient is multiplied by the target front and rear wheel angle ratio change slope to obtain a new target front and rear wheel angle ratio change slope. The front wheel angle is reacquired, and the vehicle front wheel angle and the new target front and rear wheel angle ratio change slope are multiplied to determine a new rear wheel angle.

[0096] Through the above scheme, when the vehicle steering angle information changes during the rear wheel steering angle adjustment process, even if the vehicle speed does not change, it can still be equivalently regarded as an acceleration and deceleration operation. Determine the target equivalent coefficient, determine the corresponding new target front and rear wheel steering angle ratio change slope according to the target equivalent coefficient, and then determine the new rear wheel steering angle, so that the control of the vehicle rear wheel is more accurate.

[0097] In some embodiments, if the vehicle steering angle information and the vehicle driving status have not changed during the rear wheel steering angle adjustment process, there is no need to determine a new rear wheel steering angle, and the vehicle rear wheel steering angle is directly controlled to be adjusted from the current steering angle value to the target rear wheel steering angle.

[0098] Based on the same inventive concept, another embodiment of the present disclosure provides a method for controlling a wheel, specifically comprising:

[0099] The driver is driving on a curve and requests to switch the driving mode to monitor changes in the vehicle status during driving.

[0100] Output the front and rear wheel angle ratio change slope absolute value target according to the current vehicle speed, the speed change value within a unit cycle, the absolute value of the front wheel / rear wheel angle ratio difference between the current driving mode and the target driving mode, and the current actual yaw rate of the vehicle. Specifically, the higher the current vehicle speed, the smaller the output. The larger the speed change value within a unit cycle, the larger the output. The larger the absolute value of the ratio difference, the larger the output. The larger the absolute value of the current actual yaw rate of the vehicle, the smaller the output.

[0101] The absolute value target of the slope change of the front and rear wheel steering angle ratio is limited. The value must be greater than k times the absolute value of the current driving mode ratio change, where k is the offset coefficient.

[0102] The target absolute value of the front and rear wheel angle ratio change slope is multiplied by the safety factor to obtain the target absolute value of the front and rear wheel angle ratio change slope. If the vehicle speed is in a continuously decreasing state, the safety factor is greater than 1. If the vehicle speed is in an accelerating state, the safety factor is between 0 and 1.

[0103] The front wheel steering angle of the vehicle is obtained, and the target rear wheel steering angle is determined according to the front wheel steering angle of the vehicle and the slope of the change of the target front and rear wheel steering angle ratio, and the rear wheel steering angle of the vehicle is controlled to be adjusted from the current steering angle value to the target rear wheel steering angle to achieve the switching of the driving mode.

[0104] If the vehicle's acceleration or deceleration state changes during the process of switching driving modes (not completed), a parallel curve of the current driving mode is generated at the current proportional point, and this parallel curve is equated with the current driving mode proportional curve. The above steps are repeated to determine the new absolute value of the target front and rear wheel steering angle proportional change slope based on the current vehicle speed.

[0105] If the vehicle is in a constant speed state for a long time during the process of switching driving modes (not completed), the driver's increasing the steering wheel angle / increasing the absolute value of the yaw rate is equivalent to acceleration, and the driver's decreasing the steering wheel angle / decreasing the absolute value of the yaw rate is equivalent to deceleration. Increase the equivalent coefficient (increasing / decreasing the absolute value of the yaw rate is equivalent to acceleration and deceleration, and the coefficient is obtained by actual vehicle calibration), multiply the target equivalent coefficient and the target front and rear wheel angle ratio change slope to obtain a new target front and rear wheel angle ratio change slope.

[0106] If the vehicle is in the process of switching driving modes (not completed), and the driver's steering angle / vehicle speed has not changed, the target front and rear wheel steering angle ratio change slope remains at the previous value and does not change.

[0107] It should be noted that the method of the embodiment of the present disclosure can be performed by a single device, such as a computer or a server. The method of the present embodiment can also be applied in a distributed scenario and completed by multiple devices cooperating with each other. In the case of such a distributed scenario, one of the multiple devices can only perform one or more steps in the method of the embodiment of the present disclosure, and the multiple devices will interact with each other to complete the described method.

[0108] It should be noted that the above describes some embodiments of the present disclosure. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the above embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0109] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present disclosure also provides a wheel control device.

[0110] refer to Figure 2 , Figure 2 The wheel control device of the embodiment includes:

[0111] The instruction receiving module 201 is configured to determine that the vehicle is in a target driving state, receive a driving mode switching instruction in a current driving mode, and determine a target front and rear wheel steering angle ratio change slope according to the target driving mode corresponding to the driving mode switching instruction and the current driving mode;

[0112] The turning angle determination module 202 is configured to obtain the front wheel turning angle of the vehicle, and determine the target rear wheel turning angle according to the front wheel turning angle of the vehicle and the slope of the change of the target front and rear wheel turning angle ratio;

[0113] The adjustment module 203 is configured to control the rear wheel steering angle of the vehicle to be adjusted from a current steering angle value to a target rear wheel steering angle.

[0114] In some embodiments, the instruction receiving module 201 specifically includes:

[0115] A data acquisition unit is configured to determine a vehicle driving state and a vehicle speed, wherein the vehicle driving state is used to indicate a change in the vehicle driving speed;

[0116] The slope determination unit is configured to determine a target front and rear wheel steering angle ratio change slope according to the vehicle driving state, the vehicle speed, the current driving mode and the target driving mode.

[0117] In some embodiments, the slope determination unit specifically includes:

[0118] an initial slope determination subunit, configured to determine an initial front and rear wheel steering angle ratio change slope according to the vehicle speed, the current driving mode and the target driving mode;

[0119] a safety factor determination subunit, configured to determine a target safety factor according to the driving state of the vehicle;

[0120] The target slope determination subunit is configured to multiply the target safety factor by the initial front and rear wheel angle ratio change slope to obtain a target front and rear wheel angle ratio change slope.

[0121] In some embodiments, the apparatus further includes a threshold determination module, and the threshold determination module is specifically configured to:

[0122] Determine a first front and rear wheel steering angle ratio corresponding to the current driving mode;

[0123] Obtaining a preset offset coefficient, and multiplying the preset offset coefficient by the first front and rear wheel turning angle ratio to obtain a front and rear wheel ratio change threshold;

[0124] In some embodiments, the safety factor determination subunit is specifically configured as follows:

[0125] In response to the initial front-rear wheel steering angle ratio change slope being greater than the front-rear wheel ratio change threshold, a target safety factor is determined according to the vehicle driving state.

[0126] In some embodiments, the device further includes a ratio difference module, and the ratio difference determination module is specifically configured to:

[0127] Determine a first front and rear wheel steering angle ratio corresponding to the current driving mode and a second front and rear wheel steering angle ratio corresponding to the target driving mode;

[0128] Performing difference processing on the first front and rear wheel turning angle ratio and the second front and rear wheel turning angle ratio to obtain a front and rear wheel turning angle ratio difference;

[0129] In some embodiments, the instruction receiving module 201 is specifically configured to:

[0130] The yaw rate and vehicle speed change value of the vehicle are obtained, and a target front and rear wheel steering angle ratio change slope is determined according to the vehicle speed, the vehicle speed change value, the front and rear wheel steering angle ratio difference and the yaw rate.

[0131] In some embodiments, the adjustment module 203 specifically includes:

[0132] a monitoring unit configured to monitor the vehicle driving state and / or vehicle steering angle information during the process of controlling the rear wheel steering angle value of the vehicle to be adjusted from the current steering angle value to the target rear wheel steering angle, wherein the vehicle steering angle information includes the vehicle steering wheel angle and yaw angular velocity;

[0133] a judgment unit, configured to judge whether the vehicle driving state and / or the vehicle turning angle information has changed, and obtain a judgment result;

[0134] The adjustment unit is configured to determine a new rear wheel steering angle according to the judgment result, and control the rear wheel steering angle value of the vehicle to be adjusted from the current steering angle value to the new target rear wheel steering angle.

[0135] In some embodiments, the adjustment unit is specifically configured to:

[0136] In response to the determination result that the vehicle driving state has changed, acquiring the changed vehicle driving state and the changed vehicle speed;

[0137] re-determining a new target front and rear wheel steering angle ratio change slope according to the changed vehicle driving state, the changed vehicle speed, the current driving mode and the target driving mode;

[0138] A new rear wheel steering angle is determined according to the vehicle front wheel steering angle and the new target front and rear wheel steering angle ratio change slope.

[0139] In some embodiments, the adjustment unit is specifically configured to:

[0140] In response to the determination result that the vehicle turning angle information has changed, determining a change state of the vehicle turning angle information, wherein the change state indicates an increase or decrease in an angle value corresponding to the vehicle turning angle information;

[0141] determining a target equivalence coefficient according to the change state;

[0142] The target equivalent coefficient is multiplied by the target front and rear wheel steering angle ratio change slope to obtain a new target front and rear wheel steering angle ratio change slope;

[0143] A new rear wheel steering angle is determined according to the vehicle front wheel steering angle and the new target front and rear wheel steering angle ratio change slope.

[0144] For the convenience of description, the above device is described by dividing it into various modules according to its functions. Of course, when implementing the present disclosure, the functions of each module can be implemented in the same or multiple software and / or hardware.

[0145] The device of the above embodiment is used to implement the corresponding wheel control method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0146] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments, the present disclosure also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the wheel control method described in any of the above embodiments is implemented.

[0147] Figure 3A more specific schematic diagram of the hardware structure of an electronic device provided in this embodiment is shown, and the device may include: a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040 are connected to each other through the bus 1050 in the device.

[0148] The processor 1010 can be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0149] The memory 1020 may be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 1020 may store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program codes are stored in the memory 1020 and are called and executed by the processor 1010.

[0150] The input / output interface 1030 is used to connect the input / output module to realize information input and output. The input / output module can be configured in the device as a component (not shown in the figure), or it can be externally connected to the device to provide corresponding functions. The input device may include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output device may include a display, a speaker, a vibrator, an indicator light, etc.

[0151] The communication interface 1040 is used to connect a communication module (not shown) to realize communication interaction between the device and other devices. The communication module can realize communication through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

[0152] The bus 1050 includes a path that transmits information between the various components of the device (eg, the processor 1010 , the memory 1020 , the input / output interface 1030 , and the communication interface 1040 ).

[0153] It should be noted that, although the above device only shows the processor 1010, the memory 1020, the input / output interface 1030, the communication interface 1040 and the bus 1050, in the specific implementation process, the device may also include other components necessary for normal operation. In addition, it can be understood by those skilled in the art that the above device may also only include the components necessary for implementing the embodiments of the present specification, and does not necessarily include all the components shown in the figure.

[0154] The electronic device of the above embodiment is used to implement the corresponding wheel control method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0155] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present disclosure also provides a non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the wheel control method described in any of the above embodiments.

[0156] The computer-readable medium of this embodiment includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device.

[0157] The computer instructions stored in the storage medium of the above embodiments are used to enable the computer to execute the wheel control method described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0158] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the present application also provides a vehicle, including the wheel control device in the above-mentioned embodiment, the electronic device in the above-mentioned embodiment, and the computer-readable storage medium in the above-mentioned embodiment, and the vehicle equipment implements the wheel control method described in any of the above embodiments.

[0159] The vehicle of the above-mentioned embodiment is used to implement the wheel control method described in any of the above-mentioned embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0160] It is understandable that before using the technical solutions of each embodiment of the present disclosure, the type, scope of use, usage scenarios, etc. of the personal information involved will be informed to the user in an appropriate manner, and the user's authorization will be obtained.

[0161] For example, in response to receiving an active request from a user, a prompt message is sent to the user to clearly remind the user that the operation requested to be performed will require obtaining and using the user's personal information. Thus, the user can independently choose whether to provide personal information to software or hardware such as an electronic device, application, server, or storage medium that performs the operation of the technical solution of the present disclosure according to the prompt message.

[0162] As an optional but non-limiting implementation, in response to receiving the user's active request, the prompt information may be sent to the user in the form of a pop-up window, in which the prompt information may be presented in text form. In addition, the pop-up window may also carry a selection control for the user to choose "agree" or "disagree" to provide personal information to the electronic device.

[0163] It is understandable that the above notification and the process of obtaining user authorization are merely illustrative and do not constitute a limitation on the implementation of the present disclosure. Other methods that meet relevant laws and regulations may also be applied to the implementation of the present disclosure.

[0164] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present disclosure is limited to these examples. Based on the concept of the present disclosure, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the embodiments of the present disclosure as described above, which are not provided in detail for the sake of simplicity.

[0165] In addition, to simplify the description and discussion, and in order not to obscure the embodiments of the present disclosure, known power / ground connections to integrated circuit (IC) chips and other components may or may not be shown in the provided figures. In addition, devices may be shown in the form of block diagrams to avoid obscuring the embodiments of the present disclosure, and this also takes into account the fact that the details of the implementation of these block diagram devices are highly dependent on the platform on which the embodiments of the present disclosure are to be implemented (i.e., these details should be fully within the scope of understanding of those skilled in the art). Where specific details (e.g., circuits) are set forth to describe exemplary embodiments of the present disclosure, it is apparent to those skilled in the art that the embodiments of the present disclosure may be implemented without these specific details or with variations in these specific details. Therefore, these descriptions should be considered illustrative rather than restrictive.

[0166] Although the present disclosure has been described in conjunction with specific embodiments of the present disclosure, many alternatives, modifications and variations of these embodiments will be apparent to those skilled in the art from the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may use the discussed embodiments.

[0167] The embodiments of the present disclosure are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the present application. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present disclosure should be included in the protection scope of the present disclosure.

Claims

1. A wheel control method, characterized in that: include: Determining that the vehicle is in a target driving state, receiving a driving mode switching instruction in a current driving mode, and determining a target front and rear wheel steering angle ratio change slope according to a target driving mode corresponding to the driving mode switching instruction and a current driving mode; Obtaining a front wheel steering angle of the vehicle, and determining a target rear wheel steering angle according to the front wheel steering angle of the vehicle and the slope of the change in the ratio of the target front and rear wheel steering angles; Control the rear wheel steering angle of the vehicle to adjust from the current steering angle value to the target rear wheel steering angle; The step of determining the target front and rear wheel steering angle ratio change slope according to the target driving mode corresponding to the driving mode switching instruction and the current driving mode includes: Determining a vehicle driving state and a vehicle speed, wherein the vehicle driving state is used to indicate a change in the vehicle driving speed; Determining a target front and rear wheel steering angle ratio change slope according to the vehicle driving state, the vehicle speed, the current driving mode and the target driving mode; The determining the target front and rear wheel steering angle ratio change slope according to the vehicle driving state, the vehicle speed, the current driving mode and the target driving mode includes: Determining an initial front and rear wheel steering angle ratio change slope according to the vehicle speed, the current driving mode and the target driving mode; determining a target safety factor according to the driving state of the vehicle; The target safety factor is multiplied by the initial front and rear wheel angle ratio change slope to obtain a target front and rear wheel angle ratio change slope; Before determining the target safety factor according to the vehicle driving state, the method further includes: Determine a first front and rear wheel steering angle ratio corresponding to the current driving mode; Obtaining a preset offset coefficient, and multiplying the preset offset coefficient by the first front and rear wheel turning angle ratio to obtain a front and rear wheel ratio change threshold; The determining of the target safety factor according to the vehicle driving state comprises: In response to the initial front-rear wheel steering angle ratio change slope being greater than the front-rear wheel ratio change threshold, a target safety factor is determined according to the vehicle driving state.

2. The method according to claim 1, characterized in that Before determining the target front and rear wheel steering angle ratio change slope according to the target driving mode corresponding to the driving mode switching instruction and the current driving mode, the method further includes: Determine a first front and rear wheel steering angle ratio corresponding to the current driving mode and a second front and rear wheel steering angle ratio corresponding to the target driving mode; Performing difference processing on the first front and rear wheel turning angle ratio and the second front and rear wheel turning angle ratio to obtain a front and rear wheel turning angle ratio difference; The step of determining the target front and rear wheel steering angle ratio change slope according to the target driving mode corresponding to the driving mode switching instruction and the current driving mode includes: The yaw rate and vehicle speed change value of the vehicle are obtained, and a target front and rear wheel steering angle ratio change slope is determined according to the vehicle speed, the vehicle speed change value, the front and rear wheel steering angle ratio difference and the yaw rate.

3. The method according to claim 1, characterized in that: The controlling the rear wheel steering angle value of the vehicle to adjust from the current steering angle value to the target rear wheel steering angle includes: In the process of controlling the rear wheel steering angle value of the vehicle to be adjusted from the current steering angle value to the target rear wheel steering angle, monitoring the vehicle driving state and / or vehicle steering angle information, wherein the vehicle steering angle information includes the vehicle steering wheel angle and yaw angular velocity; Determine whether the vehicle driving state and / or the vehicle turning angle information has changed, and obtain a determination result; A new rear wheel steering angle is determined according to the judgment result, and the rear wheel steering angle value of the vehicle is controlled to be adjusted from the current steering angle value to the new target rear wheel steering angle.

4. The method according to claim 3, characterized in that: The determining a new rear wheel turning angle according to the judgment result comprises: In response to the determination result that the vehicle driving state has changed, acquiring the changed vehicle driving state and the changed vehicle speed; re-determining a new target front and rear wheel steering angle ratio change slope according to the changed vehicle driving state, the changed vehicle speed, the current driving mode and the target driving mode; A new rear wheel steering angle is determined according to the vehicle front wheel steering angle and the new target front and rear wheel steering angle ratio change slope.

5. The method according to claim 3, characterized in that: The determining a new rear wheel turning angle according to the judgment result comprises: In response to the determination result that the vehicle turning angle information has changed, determining a change state of the vehicle turning angle information, wherein the change state indicates an increase or decrease in an angle value corresponding to the vehicle turning angle information; determining a target equivalence coefficient according to the change state; The target equivalent coefficient is multiplied by the target front and rear wheel steering angle ratio change slope to obtain a new target front and rear wheel steering angle ratio change slope; A new rear wheel steering angle is determined according to the vehicle front wheel steering angle and the new target front and rear wheel steering angle ratio change slope.

6. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method according to any one of claims 1 to 5 when executing the program.

7. A vehicle, characterized in that: An electronic device comprising the electronic device described in claim 6.

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