Rear wheel steering control method, device and vehicle

Abstract

The application discloses a rear wheel steering control method and device and a vehicle, and applies to the technical field of vehicle control. The method comprises the following steps: performing handshake processing on a rear wheel steering actuator and at least one driving controller of the vehicle; in the case that the handshake between the rear wheel steering actuator and the at least one driving controller is successful, controlling the rear wheel steering working state of the vehicle to be switched to a controlled state according to a vehicle speed signal, a state signal and a steering wheel zero-crossing signal, the controlled state being the working state of the rear wheel steering actuator in the case that the rear wheel steering control is performed on the vehicle, and the steering wheel zero-crossing signal being used for representing that the steering wheel angle of the vehicle passes through a preset zero position; and in the case that the rear wheel working state is the controlled state, performing the rear wheel steering control on the vehicle according to the state signal and the rear wheel steering control signal of the at least one handshake-successful driving controller. The application improves the control precision of the rear wheel steering and realizes the rear wheel transient control.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle control, in particular to a rear wheel steering control method, device and vehicle. BACKGROUND

[0002] In order to realize the automatic driving control function, the automatic parking control function and the dynamic control function of the vehicle, the rear wheel steering technology of the vehicle is crucial. In the related technology, a rear wheel steering controller is configured to arbitrate and process the rear wheel steering requests sent by each driving controller, and then the rear wheel steering controller controls the rear wheel steering actuator to perform the rear wheel steering action based on the processing result, so as to realize the rear wheel steering control of the vehicle. However, the rear wheel steering control in the related technology is limited by the arbitration processing of the rear wheel steering controller, and there may be a phenomenon of rear wheel steering request response delay or response timeout, thereby affecting the rear wheel steering performance of the vehicle. SUMMARY

[0003] Embodiments of the present application provide a rear wheel steering control method, device and vehicle, which are used to improve the control accuracy of the rear wheel steering of the vehicle and realize the rear transient control.

[0004] In one aspect, the present application provides a rear wheel steering control method, which comprises the following steps:

[0005] Performing handshake processing on a rear wheel steering actuator and at least one driving controller of a vehicle;

[0006] In the case that the handshake between the rear wheel steering actuator and at least one driving controller is successful, controlling the rear working state of the vehicle to be switched to a controlled state according to a vehicle speed signal, a state signal and a steering wheel zero-crossing signal of the vehicle; wherein the controlled state is the working state of the rear wheel steering actuator in the case of controlling the rear wheel steering of the vehicle; and the steering wheel zero-crossing signal is used to represent that the steering angle of the vehicle passes through a preset zero position;

[0007] In the case that the rear working state is the controlled state, controlling the rear wheel steering of the vehicle according to the state signal and the rear wheel steering control signal of at least one driving controller whose handshake is successful.

[0008] In another aspect, the present application provides a rear wheel steering control device, which comprises:

[0009] A first processing module is configured to perform handshake processing on a rear wheel steering actuator and at least one driving controller of a vehicle;

[0010] the second processing module is configured to, in a case where the handshake between the rear wheel steering actuator and the at least one driving controller is successful, control the rear wheel steering working state of the vehicle to switch to a controlled state according to a vehicle speed signal, a state signal and a steering wheel zero-crossing signal of the vehicle, wherein the controlled state is a working state of the rear wheel steering actuator in a case where the vehicle is controlled by the rear wheel steering; and the steering wheel zero-crossing signal is used to represent that a steering wheel angle of the vehicle passes through a preset zero position.

[0011] the third processing module is configured to, in a case where the rear wheel steering working state is the controlled state, control the vehicle by the rear wheel steering according to the state signal and a rear wheel steering control signal of the at least one driving controller which has successfully performed the handshake.

[0012] In another aspect, an embodiment of the present application provides a vehicle, comprising:

[0013] at least one processor;

[0014] at least one memory configured to store at least one program;

[0015] when the at least one program is executed by the at least one processor, the at least one processor implements the rear wheel steering control method.

[0016] The present application has the beneficial effects that: the rear wheel steering control method, device and vehicle are provided, first, the handshake processing is performed on the rear wheel steering actuator and the at least one driving controller of the vehicle; then, in a case where the handshake between the rear wheel steering actuator and the at least one driving controller is successful, the rear wheel steering working state of the vehicle is controlled to switch to a controlled state according to a vehicle speed signal, a state signal and a steering wheel zero-crossing signal of the vehicle, wherein the controlled state is a working state of the rear wheel steering actuator in a case where the vehicle is controlled by the rear wheel steering; and the steering wheel zero-crossing signal is used to represent that a steering wheel angle of the vehicle passes through a preset zero position; finally, in a case where the rear wheel steering working state is the controlled state, the vehicle is controlled by the rear wheel steering according to the state signal and a rear wheel steering control signal of the at least one driving controller which has successfully performed the handshake, so that the rear wheel steering control of the vehicle is realized without the need to configure a rear wheel steering controller, thus effectively improving the response speed of the rear wheel steering request of each driving controller, reducing the phenomenon of rear wheel steering request response delay or response timeout, and improving the control precision and realizing the transient control of the rear wheel steering of the vehicle.

[0017] Other features and advantages of the present application will be set forth in the following description, and in part will become apparent to those skilled in the art from the description, or can be learned by practice of the present application. The objects and other advantages of the present application can be realized and attained by the structure particularly pointed out in the description, claims and drawings. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 is a flow chart of the rear wheel steering control method provided by the present application;

[0019] Figure 2 is a logic diagram of the rear wheel steering working state provided by the present application;

[0020] Figure 3 is a structure diagram of the rear wheel steering control architecture provided by the present application;

[0021] Figure 4 is a structure diagram of the rear wheel steering control device provided by the present application;

[0022] Figure 5 is an example diagram of a vehicle provided by the present application. DETAILED DESCRIPTION

[0023] In order to make the objects, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and should not be used to limit the present application.

[0024] The present application will be further described below in combination with the drawings and specific embodiments. The described embodiments should not be regarded as limiting the present application, and all other embodiments obtained by those skilled in the art without making creative efforts fall within the scope of protection of the present application.

[0025] In the following description, “some embodiments” are described, which describe a subset of all possible embodiments, but it can be understood that “some embodiments” can be the same subset or different subset of all possible embodiments, and can be combined with each other without conflict.

[0026] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs. The terms used herein are only for the purpose of describing the embodiments of the present application and are not intended to limit the present application.

[0027] In order to realize the automatic driving (HAD) control function, automatic parking (HAP) control function and vehicle dynamics control (VDC) function of the vehicle, the rear wheel steering technology of the vehicle is crucial.

[0028] Specifically, for the dynamic control function, when the dynamic control function is enabled, the driver controls the steering wheel to realize the rear wheel steering control of the vehicle, such as the U-turn, the low-speed steering, the lane changing and overtaking, the high-speed emergency avoidance, the manual parking and the like, at this time, the rear wheel steering angle of the vehicle is calculated by the dynamic controller according to the preset proportion, the corresponding rear wheel steering request is generated according to the rear wheel steering angle and is sent to the rear wheel steering actuator (RWS) of the vehicle, so that the rear wheel steering actuator performs the rear wheel steering action.

[0029] In the case of triggering the dynamic control function, the rear wheel steering feedforward control is usually used as the main control, and the feedback control of other actuators such as the electronic stability controller (ESC) is used as the auxiliary control, so as to realize the yaw stability control and the rear wheel steering control of the vehicle.

[0030] For the automatic driving control function, when the automatic driving control function is enabled, the vehicle is controlled to automatically drive, at this time, the rear wheel steering angle is calculated by the automatic driving controller according to the automatic driving trajectory line, the corresponding rear wheel steering request is generated according to the rear wheel steering angle and is sent to the rear wheel steering actuator, so that the rear wheel steering actuator performs the rear wheel steering action.

[0031] In the case of triggering the automatic driving control function, the implementation of the rear wheel steering control is relatively complex. For example, in order to reduce the influence of the rear wheel steering control on the automatic driving trajectory line calculation, the rear wheel steering angle of the vehicle needs to be controlled to remain at a preset zero position. For another example, in order to reduce the interference of the rear wheel steering control on the automatic driving control function, the rear wheel steering feedforward control is enabled, so that the rear wheel steering angle of the vehicle is only related to the steering wheel angle and the vehicle speed, and the rear wheel steering control can be realized through parameter calibration. For another example, in order to realize the functions of the quick steering response and the emergency avoidance of the vehicle, the front wheel steering angle and the rear wheel steering angle of the vehicle are independently controlled.

[0032] For the automatic parking control function, when the automatic parking control function is enabled, the vehicle is controlled to automatically park, at this time, the rear wheel steering angle is calculated by the automatic parking controller according to the automatic parking trajectory line, the corresponding rear wheel steering request is generated according to the rear wheel steering angle and is sent to the rear wheel steering actuator, so that the rear wheel steering actuator performs the rear wheel steering action.

[0033] In the case of triggering the automatic parking control function, the implementation of the rear wheel steering control is relatively simple. For example, when the automatic parking control function is enabled, the vehicle speed is required to be negatively related to the rear wheel steering angle of the vehicle, and the rear wheel steering angle is a reverse steering angle, that is, the lower the vehicle speed, the larger the required rear wheel steering angle and the reverse direction of the rear wheel steering angle, so as to be beneficial to achieve a smaller turning diameter, reduce the number of repeated parking and improve the efficiency of the automatic parking through the accurate calculation of the automatic parking trajectory line.

[0034] The three control functions described above may exist simultaneously or successively, and at the same time, the rear wheel steering actuator can only execute the rear wheel steering request of the driving controller to realize one of the advanced functions. In order to coordinate the rear wheel steering requests from different driving controllers at the same time, the related technology configures a rear wheel steering controller to arbitrate the rear wheel steering requests sent by each driving controller, and then controls the rear wheel steering actuator to execute the rear wheel steering action based on the processing result of the rear wheel steering controller, thereby realizing the rear wheel steering control of the vehicle. However, the rear wheel steering control of the related technology is limited by the arbitration processing of the rear wheel steering controller, and there may be a phenomenon of rear wheel steering request response delay or response timeout, thereby affecting the rear wheel steering performance of the vehicle.

[0035] Therefore, the embodiments of the present application provide a rear wheel steering control method and device and a vehicle, which aims to improve the rear wheel steering accuracy and realize the rear transient control of the vehicle.

[0036] Firstly, the implementation steps of the rear wheel steering control method provided by the embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0037] The rear wheel steering control method provided by the embodiments of the present application can be applied to a terminal, can be applied to a server, and can also be software running in a terminal or a server. The terminal can be a tablet computer, a notebook computer, a desktop computer, etc., but is not limited thereto. The server can be a standalone physical server, can be a server cluster or a distributed system composed of multiple physical servers, can be a cloud server providing cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, content distribution networks (CDN), and basic cloud computing services such as big data and artificial intelligence platforms. In addition, the server can also be a node server in a blockchain network, but is not limited thereto. The blockchain is a new application mode of computer technologies such as distributed data storage, peer-to-peer transmission, consensus mechanism, and encryption algorithm.

[0038] Referring to Figure 1 , Figure 1 is a flowchart of the rear wheel steering control method provided by the present application, which can include the following steps S101-S103:

[0039] S101, performing handshake processing on the rear wheel steering actuator of the vehicle and at least one driving controller;

[0040] S102, in the case that the handshake between the rear wheel steering actuator and the at least one driving controller is successful, controlling the rear steering working state of the vehicle to switch to a controlled state according to a vehicle speed signal, a state signal and a steering wheel zero-crossing signal of the vehicle; wherein the controlled state is a working state of the rear wheel steering actuator in the case that the rear wheel steering control of the vehicle is performed; the steering wheel zero-crossing signal is used to represent that the steering wheel angle of the vehicle passes through a preset zero position;

[0041] S103, in the case that the rear steering working state is the controlled state, performing the rear wheel steering control of the vehicle according to the state signal and the rear wheel steering control signal of the at least one handshake-successful driving controller.

[0042] In the embodiment of the application, first, the handshake processing is performed on the rear wheel steering actuator and the at least one driving controller of the vehicle; then, in the case that the handshake between the rear wheel steering actuator and the at least one driving controller is successful, the rear steering working state of the vehicle is controlled to switch to a controlled state according to a vehicle speed signal, a state signal and a steering wheel zero-crossing signal of the vehicle; wherein the controlled state is a working state of the rear wheel steering actuator in the case that the rear wheel steering control of the vehicle is performed; the steering wheel zero-crossing signal is used to represent that the steering wheel angle of the vehicle passes through a preset zero position; finally, in the case that the rear steering working state is the controlled state, the rear wheel steering control of the vehicle is performed according to the state signal and the rear wheel steering control signal of the at least one handshake-successful driving controller.

[0043] It can be seen that, by controlling the rear wheel steering actuator to directly handshake with each driving controller, in the case that the handshake is successful, the rear steering working state of the vehicle is controlled to switch to a controlled state in full consideration of the relationship between the steering wheel of the vehicle and the preset zero position, and the actual state and actual speed of the vehicle, and then the rear wheel steering control of the vehicle is performed based on the actual state of the vehicle and the rear wheel steering control signal of the at least one handshake-successful driving controller, so that the rear wheel steering control of the vehicle is realized without the need to configure a rear wheel steering controller, thus effectively improving the response speed of the rear wheel steering request of each driving controller, reducing the phenomenon of rear wheel steering request response delay or response timeout, and improving the control precision and realizing the rear steering transient control of the vehicle.

[0044] In the step S101, after the vehicle is powered on, the handshake processing is performed on the rear wheel steering actuator and the at least one driving controller of the vehicle, so that the rear wheel steering actuator directly communicates with the at least one driving controller.

[0045] The rear wheel steering actuator mentioned above refers to a mechanical actuator, an electronic actuator or a combination of the two used to perform the rear wheel steering action of the vehicle.

[0046] The driving controller refers to an electronic controller used for controlling the vehicle to realize functions such as automatic driving, automatic parking, and dynamic control.

[0047] The driving controller can be set according to actual conditions, and embodiments of the present application do not make specific limitations thereto.

[0048] For example, the driving controller can be a dynamic controller used for realizing the dynamic control function of the vehicle, or the driving controller can be an automatic driving controller used for realizing the automatic driving control function of the vehicle, but is not limited thereto.

[0049] The handshake process of the rear wheel steering actuator and the at least one driving controller of the vehicle can include controlling the rear wheel steering actuator to send a handshake signal to each driving controller, so that the driving controller generates a response signal based on the handshake signal and returns it to the rear wheel steering actuator, and controlling the rear wheel steering actuator to handshake with the driving controller that returns the response signal, but is not limited thereto.

[0050] In step S102, if it is detected that the handshake between the rear wheel steering actuator and the at least one driving controller is successful, it means that the rear wheel steering actuator can receive the rear wheel steering demand of the at least one driving controller and realize the rear wheel steering control corresponding to the rear wheel steering demand. At this time, based on the vehicle speed signal, the state signal, and the steering wheel zero-crossing signal of the vehicle, the rear working state of the vehicle is controlled to switch to a controlled state, that is, the rear wheel steering actuator is controlled to enter a controlled state, so that in the controlled state, the rear wheel steering control is realized by using the state signal of the vehicle and the rear wheel steering control signal sent by the at least one successfully handshaked driving controller.

[0051] The vehicle speed signal is used to represent the vehicle speed.

[0052] The vehicle speed signal can be a signal sent by the Anti-lock Braking System (ABS) controller of the vehicle, but is not limited thereto.

[0053] The state signal is used to represent the driving state of the vehicle.

[0054] The state signal can be a signal sent by the Vehicle Control Unit (VCU) of the vehicle, but is not limited thereto.

[0055] The driving state of the vehicle can be set according to actual conditions, and embodiments of the present application do not make specific limitations thereto.

[0056] For example, the driving state described above can be an automatic driving state, which refers to a state of the vehicle when the vehicle triggers an automatic driving function, but is not limited thereto.

[0057] The steering wheel zero-crossing signal described above is used to represent that the steering wheel angle of the vehicle passes through a preset zero position, and the steering wheel zero-crossing signal maps the mutual relationship between the steering wheel angle of the vehicle and the preset zero position.

[0058] The steering wheel zero-crossing signal described above can be a signal sent by an electric power steering (EPS) controller of the vehicle, but is not limited thereto.

[0059] The controlled state described above refers to the working state of the rear wheel steering actuator when the rear wheel steering control is performed on the vehicle, and in the controlled state, the rear wheel steering actuator will perform the corresponding rear wheel steering action based on the rear wheel steering control signal sent by the at least one handshake-successful driving controller.

[0060] The above-mentioned control of the rear steering working state of the vehicle to the controlled state according to the vehicle speed signal, the state signal and the steering wheel zero-crossing signal can include determining the driving stability coefficient of the vehicle according to the vehicle speed signal, the state signal and the steering wheel zero-crossing signal in combination with a machine learning method, the driving stability coefficient being used to represent the stability of the vehicle when the vehicle is driving; if the driving stability coefficient is greater than a preset driving stability threshold, the rear steering working state of the vehicle is controlled to switch to the controlled state, but is not limited thereto.

[0061] The machine learning method described above can be set according to actual conditions, and the embodiments of the present application do not make specific limitations thereto.

[0062] For example, the machine learning method described above can be a support vector machine (SVM); or the machine learning method described above can be a random forest (RF), but is not limited thereto.

[0063] In step S103 described above, when the rear steering working state is the controlled state, the rear wheel steering control is performed on the vehicle by using the state signal of the vehicle and the rear wheel steering control signal sent by the at least one handshake-successful driving controller, so that the rear wheel steering actuator performs the rear wheel steering action, thereby realizing the rear wheel steering control of the vehicle without the need to configure a rear wheel steering controller.

[0064] The rear wheel steering control signal is used to request the rear wheel steering actuator to perform a rear wheel steering action. The rear wheel steering control signal can be understood as a rear wheel steering request or a rear wheel steering demand.

[0065] The rear wheel steering control of the vehicle according to the state signal and the rear wheel steering control signal of the handshake successful driving controller can include determining the handshake successful driving controller corresponding to the state signal as a target controller, and then controlling the rear wheel steering of the vehicle according to the rear wheel steering control signal of the target controller, but is not limited thereto.

[0066] The above steps will be further described below. Figure 2 The above steps will be further described below.

[0067] In some embodiments, the handshake process of the rear wheel steering actuator of the vehicle and the at least one driving controller can include:

[0068] The handshake signal of the at least one driving controller is verified.

[0069] The rear wheel steering actuator is controlled to handshake with the driving controller whose handshake signal verification is passed.

[0070] In this embodiment, first, the handshake signal of the at least one driving controller is obtained; then, for each driving controller, the handshake signal of the driving controller is verified, if the handshake signal verification is passed, the rear wheel steering actuator is controlled to handshake with the driving controller, if the handshake signal verification is not passed, the rear wheel steering actuator is controlled not to handshake with the driving controller. In this way, by verifying the handshake signal of each driving controller, the communication security of each driving controller and the rear wheel steering actuator can be improved, and the risk of the rear wheel steering actuator being illegally controlled can be reduced. In addition, by controlling the rear wheel steering actuator to handshake with the driving controller whose handshake signal verification is passed, the rear wheel steering actuator can directly handshake with each driving controller, the transmission delay and response delay of the rear wheel steering control signal can be reduced, and the rear wheel steering control of the vehicle can be realized without the need to configure a rear wheel steering controller.

[0071] The verification of the handshake signal of the at least one driving controller can include signal quality verification of the handshake signal of the at least one driving controller, i.e., verification of the signal quality of the handshake signal of the at least one driving controller. For each driving controller, if the signal quality of the handshake signal of the driving controller does not reach a preset quality threshold, it is determined that the handshake signal verification of the driving controller is not passed, if the signal quality of the handshake signal of the driving controller reaches the preset quality threshold, it is determined that the handshake signal verification of the driving controller is passed, but is not limited thereto.

[0072] The signal quality can be set according to actual conditions, and the embodiment is not limited in this regard.

[0073] For example, the signal quality can be a signal-to-noise ratio (SNR), or the signal quality can be a signal to interference plus noise ratio (SINR), but is not limited thereto.

[0074] The handshake between the rear wheel steering actuator and the driving controller that passes the handshake signal check can include handshake between the rear wheel steering actuator and the driving controller that passes the handshake signal check, and setting a corresponding handshake flag for the driving controller that passes the handshake signal check.

[0075] In some embodiments, the handshake signal of the at least one driving controller can be checked, which can include:

[0076] In the case that the rear wheel steering angle of the vehicle is at a preset zero position and the rear wheel working state is in an activation pending state, the handshake signal of the at least one driving controller is obtained; the activation pending state is a working state of the rear wheel steering actuator when the vehicle is powered on and the rear wheel steering actuator self-checks successfully.

[0077] The handshake signal of the at least one driving controller is checked for validity.

[0078] In the embodiment, when the rear wheel steering angle is at a preset zero position and the rear wheel working state is in an activation pending state, it indicates that the rear wheel steering actuator self-checks successfully and waits for handshake processing, at this time, the handshake signal sent by the at least one driving controller is obtained, and the handshake signal of the at least one driving controller is checked for validity, that is, whether the handshake signal of the driving controller is valid is checked; for each driving controller, if the handshake signal of the driving controller is valid, it is determined that the handshake signal of the driving controller passes the check, and if the handshake signal of the driving controller is invalid, it is determined that the handshake signal of the driving controller fails the check. In this way, by checking the validity of the handshake signal of each driving controller, the communication safety of each driving controller and the rear wheel steering actuator can be improved, and the risk of illegal control of the rear wheel steering actuator can be reduced.

[0079] The activation pending state refers to a working state of the rear wheel steering actuator when the vehicle is powered on and the rear wheel steering actuator self-checks successfully, and in the activation pending state, the rear wheel steering actuator waits for handshake with the at least one driving controller.

[0080] The self-checking refers to checking whether the rear wheel steering actuator is abnormal and controlling the rear wheel steering actuator to perform at least one preset task. If the rear wheel steering actuator is normal and all preset tasks are performed, it is determined that the self-checking of the rear wheel steering actuator is successful.

[0081] The implementation manner of checking whether the rear wheel steering actuator is abnormal and the preset task can be set according to actual conditions, and the embodiment is not limited in this regard.

[0082] For example, the checking whether the rear wheel steering actuator is abnormal can include checking whether the mechanical structure of the rear wheel steering actuator is abnormal, but is not limited thereto.

[0083] For another example, the preset task can be that if the rear wheel steering angle of the vehicle is not at a preset zero position before the vehicle is powered on, the rear wheel steering actuator is controlled to perform zero return processing, so that the rear wheel steering angle of the vehicle returns to the preset zero position, but is not limited thereto.

[0084] The effectiveness verification of the handshake signal of the at least one driving controller can include, for each driving controller, determining an expected value of the handshake signal corresponding to the driving controller from preset mapping data, and obtaining an actual value of the handshake signal of the driving controller. If the expected value of the handshake signal is equal to the actual value of the handshake signal, it is determined that the handshake signal verification of the driving controller is passed, otherwise it is determined that the handshake signal verification of the driving controller is not passed.

[0085] Alternatively, the effectiveness verification of the handshake signal of the at least one driving controller can include, for each driving controller, determining an expected value of the handshake signal corresponding to the driving controller from preset mapping data, and obtaining an actual value of the handshake signal of the driving controller. The absolute value of the difference value of the expected value of the handshake signal relative to the actual value of the handshake signal is calculated as an absolute difference value. If the absolute difference value is greater than a preset signal threshold, it is determined that the handshake signal verification of the driving controller is not passed, otherwise it is determined that the handshake signal verification of the driving controller is passed, but is not limited thereto.

[0086] The preset mapping data can include a plurality of preset driving controllers and an expected value of the handshake signal corresponding to each preset driving controller.

[0087] The preset mapping data can be chart data or table data, but is not limited thereto.

[0088] In some embodiments, the control of the rear steering working state of the vehicle to the controlled state according to the vehicle speed signal, the state signal and the steering wheel zero-crossing signal can include:

[0089] In the case that the rear turning working state is in the standby activated state, the rear turning working state is switched from the standby activated state to the activated state according to the vehicle speed signal, in combination with the handshake signal of the at least one driving controller and the rear wheel turning angle of the vehicle; the activated state is the working state of the rear wheel turning actuator in the case that the rear wheel turning actuator is activated;

[0090] In the case that the rear turning working state is in the activated state, the rear turning working state is switched from the activated state to the controlled state according to the vehicle speed signal, the state signal and the steering wheel zero-crossing signal.

[0091] In the embodiment, when the vehicle is powered on and the rear wheel turning actuator self-checking is successful, the rear turning working state is in the standby activated state, at this time, the rear turning working state is switched from the standby activated state to the activated state by using the vehicle speed signal and the rear wheel turning angle of the vehicle and the handshake signal of the at least one driving controller, that is, the rear wheel turning actuator is controlled to enter the activated state to activate the rear wheel turning actuator; in the case that the rear turning working state is in the activated state, the rear turning working state is switched from the activated state to the controlled state by using the vehicle speed signal, the state signal and the steering wheel zero-crossing signal, that is, the rear wheel turning actuator is controlled to enter the controlled state, so that in the controlled state, the rear wheel turning control is realized by using the state signal of the vehicle and the rear wheel turning control signal sent by the at least one handshake successful driving controller.

[0092] It can be seen that before the rear wheel turning control is realized, the activated state is used as the transfer state between the standby activated state and the controlled state, the rear turning working state is switched from the standby activated state to the activated state by using the vehicle speed signal, the rear wheel turning angle and the handshake signal of the at least one driving controller to activate the rear wheel turning actuator, so that the preparation work of the vehicle for the rear wheel turning control can be ensured before the rear wheel turning control is realized, which is beneficial to optimizing the response speed of the rear wheel turning request of each driving controller, in addition, the rear turning working state of the vehicle is switched from the activated state to the controlled state by fully considering the mutual relationship between the steering wheel turning angle and the preset zero position of the vehicle and the actual state and actual speed of the vehicle, so that the rear wheel turning control is realized, which is beneficial to improving the rear wheel turning precision of the vehicle and realizing the rear turning transient control.

[0093] The activated state mentioned above refers to the working state of the rear wheel turning actuator in the case that the rear wheel turning actuator is activated, in the activated state, the rear wheel turning actuator successfully hands with the at least one driving controller and waits to execute the corresponding rear wheel turning action.

[0094] The rear wheel turning actuator activation mentioned above refers to that the rear wheel turning actuator successfully hands with the at least one driving controller.

[0095] The control of the rear turning working state from the standby activation state to the activation state according to the vehicle speed signal, the handshake signal of the at least one driving controller and the rear wheel turning angle of the vehicle can include: if the handshake signal of the at least one driving controller is received, the activation stability coefficient of the vehicle is predicted according to the vehicle speed signal and the rear wheel turning angle and a machine learning method, the activation stability coefficient is used to represent the stability of the vehicle when the rear wheel turning actuator is activated; and if the activation stability coefficient is greater than or equal to a preset activation stability threshold, the rear turning working state is controlled from the standby activation state to the activation state, but the present application is not limited thereto.

[0096] The control of the rear turning working state from the standby activation state to the activation state according to the vehicle speed signal, the handshake signal of the at least one driving controller and the rear wheel turning angle of the vehicle can include: if the handshake signal of the at least one driving controller is received, the activation stability coefficient of the vehicle is predicted according to the vehicle speed signal and the rear wheel turning angle and a machine learning method, the activation stability coefficient is used to represent the stability of the vehicle when the rear wheel turning actuator is activated; and if the activation stability coefficient is greater than or equal to a preset activation stability threshold, the rear turning working state is controlled from the standby activation state to the activation state, but the present application is not limited thereto.

[0097] In some embodiments, the control of the rear turning working state from the standby activation state to the activation state according to the vehicle speed signal, the handshake signal of the at least one driving controller and the rear wheel turning angle of the vehicle can include:

[0098] In the case of receiving the handshake signal of the at least one driving controller, if the vehicle speed signal is less than a first preset threshold and the rear wheel turning angle is at a preset zero position, the rear turning working state is controlled from the standby activation state to the activation state.

[0099] In the embodiment, when the vehicle is powered on and the rear wheel steering actuator self-check is successful, the rear steering working state is in the standby activation state, i.e., the rear wheel steering actuator is in the standby activation state. In this case, if the vehicle speed signal, the rear wheel steering angle and the handshake signal of the at least one driving controller all meet the activation condition, the rear steering working state is switched from the standby activation state to the activation state to activate the rear wheel steering actuator. In this way, the activation state is used as a transition state between the standby activation state and the controlled state, which can ensure that the vehicle completes the preparation work for the rear wheel steering control before the rear wheel steering control is implemented, and is beneficial to optimizing the response speed of the rear wheel steering request of each driving controller. The activation condition can include receiving the handshake signal of the at least one driving controller, the vehicle speed signal being less than a first preset threshold and the rear wheel steering angle being at a preset zero position. The handshake signal of the at least one driving controller is used to indicate that the rear wheel steering actuator successfully hands with the at least one driving controller. The vehicle speed signal being less than the first preset threshold is used to indicate that when the rear steering working state is in the standby activation state, the vehicle speed is within a normal range. The rear wheel steering angle being at the preset zero position is used to indicate that when the rear steering working state is in the standby activation state, the rear wheel steering angle of the vehicle is normal.

[0100] The first preset threshold can be set according to actual conditions, which is not specifically limited in the embodiment.

[0101] For example, the first preset threshold can be 3 kph, but is not limited thereto.

[0102] In some embodiments, the control of the rear steering working state from the activation state to the controlled state according to the vehicle speed signal, the state signal and the steering wheel zero-crossing signal can include:

[0103] In the case where the vehicle speed signal of the vehicle is less than a second preset threshold, if the state signal is valid, the rear steering working state is switched from the activation state to the controlled state.

[0104] Or, in the case where the vehicle speed signal of the vehicle is greater than or equal to the second preset threshold, if the state signal and the steering wheel zero-crossing signal are both valid, the rear steering working state is switched from the activation state to the controlled state.

[0105] In the embodiment, when the rear wheel steering actuator is activated, the rear steering working state is in the activation state, i.e., the rear wheel steering actuator is in the activation state, and at this time, the rear wheel steering actuator successfully hands with the at least one driving controller. In this case, the size of the vehicle speed signal is used for corresponding controlled state processing.

[0106] Specifically, the vehicle speed signal is compared with a second preset threshold value; when the vehicle speed signal is less than the second preset threshold value, it indicates that the vehicle speed is within a normal range in the case that the rear turning working state is in the activated state, at this time, only the validity of the state signal needs to be considered, if the state signal is valid, the rear turning working state is switched from the activated state to the controlled state; when the vehicle speed signal is greater than or equal to the second preset threshold value, it indicates that the vehicle speed is abnormal in the case that the rear turning working state is in the activated state, at this time, in order to ensure the driving safety and driving stability of the vehicle, not only the validity of the state signal needs to be considered, but also the validity of the steering wheel zero-crossing signal needs to be considered, if both the state signal and the steering wheel zero-crossing signal are valid, the rear turning working state is switched from the activated state to the controlled state.

[0107] It can be seen that, in the case of normal vehicle speed, the validity of the state signal is used to control the rear turning working state of the vehicle to switch from the activated state to the controlled state, which is conducive to improving the rear wheel turning precision of the vehicle and realizing the rear turning transient control. In addition, in the case of abnormal vehicle speed, the validity of the state signal and the steering wheel zero-crossing signal is used to control the rear turning working state of the vehicle to switch from the activated state to the controlled state, which not only ensures the driving safety and driving stability of the vehicle, but also is conducive to improving the rear wheel turning precision of the vehicle and realizing the rear turning transient control.

[0108] The second preset threshold value can be set according to actual conditions, and the embodiment is not limited in this regard.

[0109] For example, the second preset threshold value can be 10 kph, but is not limited thereto.

[0110] In some embodiments, the rear wheel turning control of the vehicle according to the state signal and the rear wheel turning control signal of the at least one handshake successful driving controller can include:

[0111] The target driving state of the vehicle is determined according to the vehicle speed signal and the state signal; the target driving state includes any one of an automatic driving state, an automatic parking state or a dynamic control state;

[0112] The rear wheel turning control of the vehicle is performed according to the target driving state and the rear wheel turning control signal of the at least one handshake successful driving controller.

[0113] In the embodiment, when the rear wheel steering working state is a controlled state, the target driving state of the vehicle is determined by the vehicle speed signal and the state signal, and the target driving state can include any one of an automatic driving state, an automatic parking state or a dynamic control state; after the target driving state of the vehicle is determined, the rear wheel steering control of the vehicle is performed based on the target driving state and the rear wheel steering control signal of the at least one handshake successful driving controller, so as to not only improve the adaptation degree of the rear wheel steering control of the vehicle to the target driving state of the vehicle, but also improve the response speed of the rear wheel steering request of each driving controller, ensure that the rear wheel steering actuator quickly responds to the rear wheel steering control signal of the at least one handshake successful driving controller, thereby improving the rear wheel steering precision of the vehicle and realizing transient control.

[0114] The target driving state includes any one of an automatic driving state, an automatic parking state or a dynamic control state.

[0115] The automatic driving state refers to a state of the vehicle when the vehicle triggers an automatic driving function.

[0116] The automatic parking state refers to a state of the vehicle when the vehicle triggers an automatic parking function.

[0117] The dynamic control state refers to a state of the vehicle when only a dynamic control function is triggered.

[0118] The target driving state of the vehicle can be determined according to the vehicle speed signal and the state signal in combination with a machine learning method, but is not limited thereto.

[0119] The rear wheel steering control of the vehicle can be performed according to the target driving state and the rear wheel steering control signal of the at least one handshake successful driving controller, which can include selecting a handshake successful driving controller corresponding to the target driving state as a target controller, and performing the rear wheel steering control of the vehicle according to the rear wheel steering control signal of the target controller, but is not limited thereto.

[0120] In some embodiments, the target driving state of the vehicle can be determined according to the vehicle speed signal and the state signal, which can include:

[0121] The vehicle speed signal and the state signal are verified.

[0122] If the vehicle speed signal and the state signal are both verified, a preset driving state corresponding to the state signal is determined as the target driving state.

[0123] In the embodiment, first, the vehicle speed signal and the state signal are checked; if the vehicle speed signal and the state signal are both checked, the preset driving state corresponding to the state signal is determined as the target driving state; if the vehicle speed signal and / or the state signal is not checked, the step of checking the vehicle speed signal and the state signal is returned to, so as to realize the cyclic detection, and thus the accuracy and authenticity of the vehicle speed signal and the state signal are ensured, and the precision of the target driving state is improved.

[0124] The checking of the vehicle speed signal and the state signal can include validity checking of the vehicle speed signal and the state signal.

[0125] Alternatively, the checking of the vehicle speed signal and the state signal can include signal quality checking of the vehicle speed signal and the state signal, but is not limited thereto.

[0126] In some embodiments, the rear wheel steering control of the vehicle according to the target driving state and the rear wheel steering control signal of the at least one handshake successful driving controller can include:

[0127] selecting the rear wheel steering control signal corresponding to the target driving state from the rear wheel steering control signals of the at least one handshake successful driving controller as a target control signal;

[0128] controlling the rear wheel steering of the vehicle according to the target control signal.

[0129] In the embodiment, after the target driving state is determined, the rear wheel steering control signals of the handshake successful driving controllers are arbitrated to determine the control signal that the rear wheel steering actuator responds first, i.e., the target control signal. Specifically, the rear wheel steering control signal corresponding to the target driving state is selected from the rear wheel steering control signals of the at least one handshake successful driving controller as the target control signal. For example, if the target driving state is the automatic driving state, the rear wheel steering control signal of the automatic driving controller is selected as the target control signal. For another example, if the target driving state is the automatic parking state, the rear wheel steering control signal of the automatic parking controller is selected as the target control signal. For another example, if the target driving state is the dynamic control state, the rear wheel steering control signal of the dynamic controller is selected as the target control signal. After the target control signal is obtained, the rear wheel steering of the vehicle is controlled according to the target control signal, so that the rear wheel steering actuator responds to the target control signal. In this way, the rear wheel steering precision of the vehicle is improved and the rear wheel transient state control is realized.

[0130] In some embodiments, the method can further include:

[0131] In a case where the vehicle speed signal is less than a third preset threshold, if the state signal changes, the target driving state of the vehicle is updated according to the changed state signal.

[0132] Alternatively, in a case where the vehicle speed signal is greater than or equal to the third preset threshold, if the state signal changes and a steering wheel zero-crossing signal is received, the target driving state of the vehicle is updated according to the steering wheel zero-crossing signal and the changed state signal.

[0133] In this embodiment, in order to ensure the driving safety of the vehicle, the driving state of the vehicle is switched according to the vehicle speed signal, the state signal and the steering wheel zero-crossing signal.

[0134] Specifically, the vehicle speed signal is compared with the third preset threshold; when the vehicle speed signal is less than the third preset threshold, it indicates that the vehicle speed is within a normal range, and at this time, the driving state of the vehicle can be directly switched, that is, if the state signal changes, the target driving state of the vehicle is updated according to the changed state signal; when the vehicle speed signal is greater than or equal to the third preset threshold, it indicates that the vehicle speed is abnormal, and at this time, in order to ensure the driving safety and stability of the vehicle, the driving state of the vehicle cannot be directly switched, but the driving state of the vehicle is switched after fully considering the state signal and the steering wheel zero-crossing signal, that is, if the state signal changes and the steering wheel zero-crossing signal is received, the target driving state of the vehicle is updated according to the steering wheel zero-crossing signal and the changed state signal.

[0135] It can be seen that in the case of normal vehicle speed, the driving state of the vehicle is directly switched, which can timely respond to the switching demand of the driving state, improve the switching efficiency of each driving state, and in the case of abnormal vehicle speed, the driving state of the vehicle is switched through the state signal and the steering wheel zero-crossing signal, which can ensure the smoothness of the driving state switching in the case of abnormal vehicle speed, and improve the driving safety and stability of the vehicle.

[0136] The third preset threshold can be set according to actual conditions, which is not limited in this embodiment.

[0137] For example, the third preset threshold can be 10 kph, but is not limited thereto.

[0138] The target driving state of the vehicle is updated according to the changed state signal, which can include directly determining a preset driving state corresponding to the changed state signal as the target driving state.

[0139] Or, the updating the target driving state of the vehicle according to the changed state signal can include: if the vehicle speed signal and the changed state signal are both verified, determining the preset driving state corresponding to the changed state signal as the target driving state.

[0140] The updating the target driving state of the vehicle according to the changed state signal can include: if the vehicle speed signal and the changed state signal are both verified, determining the preset driving state corresponding to the changed state signal as the target driving state.

[0141] The verification can be validity verification, or the verification can be signal quality verification, but is not limited thereto.

[0142] In some embodiments, the updating the target driving state of the vehicle according to the changed state signal can include:

[0143] Determining the steering wheel rotation angle according to the steering wheel zero-crossing signal.

[0144] If the steering wheel rotation angle is the preset zero position, updating the target driving state of the vehicle according to the changed state signal.

[0145] In the embodiment, in the case that the vehicle speed signal is greater than or equal to the third preset threshold and the state signal changes, and the steering wheel zero-crossing signal is received, first, the steering wheel rotation angle is determined by the steering wheel zero-crossing signal; then, it is judged whether the steering wheel rotation angle is the preset zero position; if not, return to the step of judging whether the steering wheel rotation angle is the preset zero position to realize cyclic detection; if yes, update the target driving state of the vehicle according to the changed state signal, which can ensure the smoothness of the driving state switching in the case of vehicle speed abnormality, and improve the driving safety and driving stability of the vehicle.

[0146] In some embodiments, the method can further include:

[0147] In the case that the rear turning working state is in the active state, the rear turning working state is switched from the active state to the standby active state according to the handshake signal of the at least one driving controller.

[0148] In the embodiment, when the rear wheel steering actuator is activated, the rear steering working state is in the activated state, i.e., the rear wheel steering actuator is in the activated state, and at this time, the rear wheel steering actuator successfully performs handshaking with the at least one driving controller. In this case, based on the handshaking signal of the at least one driving controller, the rear steering working state is controlled to return from the activated state to the standby activated state, so that in the next rear wheel steering control, the rear wheel steering actuator directly performs handshaking with each driving controller, the response speed of the rear wheel steering request of each driving controller is improved, the phenomenon of response delay or response timeout of the rear wheel steering request is reduced, and the rear wheel steering precision of the vehicle is improved and transient control is realized.

[0149] The above-mentioned control of the rear steering working state from the activated state to the standby activated state according to the handshaking signal of the at least one driving controller can include, but is not limited to, that if the handshaking signals of all the driving controllers are invalid, the rear steering working state is controlled from the activated state to the standby activated state.

[0150] In some embodiments, the above-mentioned control of the rear steering working state from the activated state to the standby activated state according to the handshaking signal of the at least one driving controller can include:

[0151] If the handshaking signal of any one of the driving controllers is not detected, the rear steering working state is controlled from the activated state to the standby activated state.

[0152] In the embodiment, when the handshaking signal of any one of the driving controllers is not detected, it is indicated that at the current time, all the driving controllers do not send a rear wheel steering request, and at this time, the rear steering working state is controlled from the activated state to the standby activated state, so that in the next rear wheel steering control, the rear wheel steering actuator directly performs handshaking with each driving controller, the response speed of the rear wheel steering request of each driving controller is improved, the phenomenon of response delay or response timeout of the rear wheel steering request is reduced, and the rear wheel steering precision of the vehicle is improved and transient control is realized.

[0153] In some embodiments, the above-mentioned method can further include:

[0154] If it is detected that the vehicle is powered on, the rear steering working state is controlled to switch to the powered-on state, and the powered-on state is the working state of the rear wheel steering actuator in the case that the vehicle is powered on.

[0155] In the embodiment, if it is detected that the vehicle is powered on, it is indicated that the vehicle is powered on, and at this time, the rear steering working state is controlled to switch to the powered-on state, i.e., the rear wheel steering actuator is controlled to be in the powered-on state, so as to ensure the normal operation of the rear wheel steering control.

[0156] The detection of the power-on of the vehicle can include: if the ignition signal of the vehicle and the constant power output signal of the vehicle are the first preset value, it is determined that the power-on of the vehicle is detected, wherein the ignition signal refers to the ignition switch signal of the engine, and the constant power output signal refers to the constant power output pin signal of the automobile battery.

[0157] Alternatively, the detection of the power-on of the vehicle can include: if the ignition signal of the vehicle or the constant power output signal of the vehicle is the first preset value, it is determined that the power-on of the vehicle is detected, but is not limited thereto.

[0158] The first preset value can be set according to actual conditions, and the embodiment is not limited thereto.

[0159] The power-on state refers to the working state of the rear wheel steering actuator when the vehicle is powered on, and in the power-on state, the rear wheel steering actuator waits for the activation of its communication function.

[0160] In some embodiments, the method can further include:

[0161] In the case that the rear steering working state is the power-on state, if the communication function of the rear wheel steering actuator is activated, the rear steering working state is switched from the power-on state to the initialization state, and the initialization state is the working state of the rear wheel steering actuator when the vehicle is powered on and the rear wheel steering actuator is self-checked.

[0162] In the embodiment, when the rear steering working state is the power-on state, it is detected whether the communication function of the rear wheel steering actuator is activated; if the communication function of the rear wheel steering actuator is activated, it indicates that the rear wheel steering actuator can perform subsequent handshake processing, at this time, the rear steering working state is switched from the power-on state to the initialization state, that is, the rear wheel steering actuator is controlled to be in the initialization state, so that the rear wheel steering actuator is self-checked in the initialization state, thereby ensuring that the rear wheel steering actuator can work normally and ensuring the normal operation of the rear wheel steering control.

[0163] The initialization state refers to the working state of the rear wheel steering actuator when the vehicle is powered on and the rear wheel steering actuator is self-checked, and in the initialization state, the rear wheel steering actuator is self-checked.

[0164] In some embodiments, the method can further include:

[0165] In the case that the rear steering working state is the initialization state, if the rear wheel steering actuator is self-checked successfully, the rear steering working state is switched from the initialization state to the waiting activation state.

[0166] In this embodiment, when the rear turning working state is the initialization state, a self-checking process is performed on the rear wheel turning actuator, aiming to detect whether the rear wheel turning actuator is abnormal and control the rear wheel turning actuator to perform at least one preset task. If the rear wheel turning actuator is normal and all preset tasks are performed, it is determined that the self-checking of the rear wheel turning actuator is successful, and at this time, the rear turning working state is switched from the initialization state to the standby activation state, that is, the rear wheel turning actuator is controlled to be in the standby activation state, so as to control the rear wheel turning actuator to perform a handshake process with at least one driving controller in the standby activation state, thereby ensuring the normal operation of the rear wheel turning control.

[0167] In some embodiments, the method described above can further include:

[0168] controlling the rear turning working state to switch to an abnormal state according to at least one of rear turning execution data of the vehicle, handshake data, hardware abnormality data, or a rear wheel turning angle;

[0169] The rear turning execution data is used to represent whether the rear wheel turning actuator has a rear wheel turning abnormality, the handshake data is used to represent whether the rear wheel turning actuator has a handshake abnormality, and the hardware abnormality data is used to represent whether the rear wheel turning actuator has a hardware abnormality. The abnormal state is a working state of the rear wheel turning actuator in the case where the rear wheel turning actuator has a preset abnormality. The preset abnormality includes at least one of a rear wheel turning abnormality, a handshake abnormality, a zero-return abnormality, or a hardware abnormality.

[0170] In this embodiment, in the case where the rear turning working state is the standby activation state, the activation state, the controlled state, or the fault state, abnormal detection of the vehicle rear wheel turning control is realized based on at least one of rear turning execution data of the vehicle, handshake data, hardware abnormality data, or a rear wheel turning angle. If it is detected that the vehicle rear wheel turning control is abnormal, the rear turning working state is switched from the standby activation state, the activation state, the controlled state, or the fault state to the abnormal state, that is, the rear wheel turning actuator is controlled to be in the abnormal state, so as to perform a zero-return process on the rear wheel turning actuator in the abnormal state. In this way, the abnormal situation of the vehicle rear wheel turning control can be timely investigated, and the normal operation of the rear wheel turning control is ensured.

[0171] The rear turning execution data described above is used to represent whether the rear wheel turning actuator has a rear wheel turning abnormality.

[0172] The handshake data described above is used to represent whether the rear wheel turning actuator has a handshake abnormality.

[0173] The hardware abnormality data described above is used to represent whether the rear wheel turning actuator has a hardware abnormality.

[0174] The abnormal state refers to a working state of the rear wheel steering actuator in a preset abnormality of the rear wheel steering actuator. In the abnormal state, the rear wheel steering actuator will perform a zero return process, aiming to change the rear wheel steering angle to a preset zero position.

[0175] The preset abnormality includes at least one of a rear wheel steering abnormality, a handshake abnormality, a zero return abnormality, or a hardware abnormality.

[0176] The rear wheel steering abnormality refers to that the rear wheel steering actuator cannot respond to the rear wheel steering control signal, so that the rear wheel steering actuator cannot perform the rear wheel steering action.

[0177] The handshake abnormality refers to that the rear wheel steering actuator cannot handshake with any driving controller.

[0178] The zero return abnormality refers to that the rear wheel steering actuator controls the rear wheel steering angle to be at a preset neutral position.

[0179] The hardware abnormality refers to an abnormality of a mechanical structure and / or an electronic structure of the rear wheel steering actuator, for example, a motor in the rear wheel steering actuator appears to be stuck.

[0180] The control of the rear turning working state to switch to the abnormal state according to at least one of the rear turning execution data, the handshake data, the hardware abnormality data, or the rear wheel steering angle can include obtaining a rear turning abnormality coefficient of the vehicle according to at least one of the rear turning execution data, the handshake data, the hardware abnormality data, or the rear wheel steering angle in combination with a machine learning method, the rear turning abnormality coefficient mapping an abnormality degree of the rear wheel steering control of the vehicle; and if the rear turning abnormality coefficient is greater than a preset abnormality threshold, the rear turning working state is controlled to switch to the abnormal state, but not limited thereto.

[0181] In some embodiments, the control of the rear turning working state to switch to the abnormal state according to at least one of the rear turning execution data, the handshake data, the hardware abnormality data, or the rear wheel steering angle can include:

[0182] If the rear turning execution data indicates that the rear wheel steering actuator has a rear wheel steering abnormality, or the handshake data indicates that the rear wheel steering actuator has a handshake abnormality, or the rear wheel steering angle is at a preset neutral position, or the hardware abnormality data indicates that the rear wheel steering actuator has a hardware abnormality, the rear turning working state is controlled to switch to the abnormal state.

[0183] In this embodiment, when it is detected that the rear turning execution data indicates that the rear wheel turning actuator has a rear wheel turning abnormality, or the handshake data indicates that the rear wheel turning actuator has a handshake abnormality, or the rear wheel turning angle is at a preset median position, or the hardware abnormality data indicates that the rear wheel turning actuator has a hardware abnormality, it indicates that the vehicle rear wheel turning control is abnormal, and the specific abnormality is a rear wheel turning abnormality, a handshake abnormality, a zero return abnormality or a hardware abnormality. At this time, the rear turning working state is switched to an abnormal state, that is, the rear wheel turning actuator is controlled to be in an abnormal state. In the abnormal state, the rear wheel turning actuator is zero returned to control the rear wheel turning angle to return to a preset zero position. In this way, the abnormality of the vehicle rear wheel turning control can be detected in time, and the normal operation of the rear wheel turning control can be ensured.

[0184] In one example, when the rear turning working state is in an activation state, if the handshake data indicates that the rear wheel turning actuator has a handshake abnormality, or the rear wheel turning angle is at a preset median position, or the hardware abnormality data indicates that the rear wheel turning actuator has a hardware abnormality, the rear turning working state is switched from the activation state to an abnormal state.

[0185] In another example, when the rear turning working state is in an activation state, if the handshake data indicates that the rear wheel turning actuator has a handshake abnormality, or the rear wheel turning angle is at a preset median position, or the hardware abnormality data indicates that the rear wheel turning actuator has a hardware abnormality, the rear turning working state is switched from the activation state to an abnormal state.

[0186] In yet another example, when the rear turning working state is in a controlled state, if the rear turning execution data indicates that the rear wheel turning actuator has a rear wheel turning abnormality, or the handshake data indicates that the rear wheel turning actuator has a handshake abnormality, or the rear wheel turning angle is at a preset median position, or the hardware abnormality data indicates that the rear wheel turning actuator has a hardware abnormality, the rear turning working state is switched from the controlled state to an abnormal state.

[0187] In yet another example, when the rear turning working state is in a failure state, if the rear turning execution data indicates that the rear wheel turning actuator has a rear wheel turning abnormality, or the handshake data indicates that the rear wheel turning actuator has a handshake abnormality, or the rear wheel turning angle is at a preset median position, or the hardware abnormality data indicates that the rear wheel turning actuator has a hardware abnormality, the rear turning working state is switched from the failure state to an abnormal state.

[0188] In some embodiments, the above method can further include:

[0189] According to at least one of the hardware abnormality data, the self-check abnormality data or the rear wheel turning angle of the vehicle, the rear turning working state is switched to a failure state. The self-check abnormality data is used to indicate whether the rear wheel turning actuator has a self-check abnormality.

[0190] In the embodiment, when the rear turning working state is the abnormal state, the initialization state or the controlled state, fault detection of the rear wheel turning control of the vehicle is implemented based on at least one of the hardware exception data of the vehicle, the self-check exception data or the rear wheel turning angle, and if it is detected that the rear wheel turning control of the vehicle is faulty, the rear turning working state is controlled to switch from the abnormal state, the initialization state or the controlled state to the fault state, that is, the rear wheel turning actuator is controlled to be in the fault state, so that in the fault state, the rear wheel turning actuator stops working. In this way, not only can the fault condition of the rear wheel turning control of the vehicle be timely investigated, but also the rear wheel turning control can be timely prohibited in the case of the fault of the rear wheel turning control of the vehicle, thereby reducing the risk of damage of the rear wheel turning actuator.

[0191] The self-check exception data is used to represent whether the rear wheel turning actuator has a self-check exception.

[0192] The self-check exception refers to a self-check failure of the rear wheel turning actuator.

[0193] The fault state refers to a working state of the rear wheel turning actuator in the case of a fault of the rear wheel turning actuator, and in the fault state, the rear wheel turning actuator stops working.

[0194] The rear turning working state being controlled to switch to the fault state according to at least one of the hardware exception data of the vehicle, the self-check exception data or the rear wheel turning angle can include that a rear turning fault coefficient of the vehicle is obtained according to at least one of the hardware exception data of the vehicle, the self-check exception data or the rear wheel turning angle in combination with a machine learning method, the rear turning fault coefficient mapping a fault degree of the rear wheel turning control of the vehicle, and if the rear turning fault coefficient is greater than or equal to a preset fault threshold, the rear turning working state is controlled to switch to the fault state.

[0195] In some embodiments, the rear turning working state being controlled to switch to the fault state according to at least one of the hardware exception data of the vehicle, the self-check exception data or the rear wheel turning angle can include:

[0196] If the rear wheel turning angle is not at a preset zero position and the hardware exception data represents that the rear wheel turning actuator has a hardware exception, or the self-check exception data represents that the rear wheel turning actuator has a self-check exception, the rear turning working state is controlled to switch to the fault state.

[0197] In this embodiment, when it is detected that the rear wheel rotation angle is not at the preset zero position and the hardware abnormality data indicates that the rear wheel steering actuator has a hardware abnormality, or the self-check abnormality data indicates that the rear wheel steering actuator has a self-check abnormality, it indicates that the rear wheel steering control of the vehicle fails, and the specific failure is that the zero return fails and has a hardware abnormality or a self-check failure. At this time, the rear wheel working state is controlled to switch from the normal state to the failure state, that is, the rear wheel steering actuator is controlled to be in the failure state, so that in the failure state, the rear wheel steering actuator stops working. In this way, not only can the failure of the rear wheel steering control of the vehicle be promptly investigated, but also the rear wheel steering control can be promptly prohibited in the case of failure of the rear wheel steering control of the vehicle, thereby reducing the risk of damage to the rear wheel steering actuator.

[0198] The rear wheel rotation angle not being at the preset zero position means that the rear wheel steering actuator cannot perform zero return processing.

[0199] In one example, when the rear wheel working state is the initialization state, if the self-check abnormality data indicates that the rear wheel steering actuator has a self-check abnormality, the rear wheel working state is controlled to switch from the initialization state to the failure state.

[0200] In another example, when the rear wheel working state is the abnormal state, if the rear wheel rotation angle is not at the preset zero position and the hardware abnormality data indicates that the rear wheel steering actuator has a hardware abnormality, the rear wheel working state is controlled to switch from the abnormal state to the failure state.

[0201] In yet another example, when the rear wheel working state is the controlled state, if the rear wheel rotation angle is not at the preset zero position and the hardware abnormality data indicates that the rear wheel steering actuator has a hardware abnormality, the rear wheel working state is controlled to switch from the controlled state to the failure state.

[0202] In some embodiments, the method can further include:

[0203] If it is detected that the vehicle is powered off, the rear wheel working state is controlled to switch to the powered-off state, and the powered-off state is the working state of the rear wheel steering actuator when the vehicle is powered off.

[0204] In this embodiment, if it is detected that the vehicle is powered off, it indicates that the vehicle is not powered on, and at this time, the rear wheel working state is controlled to switch to the powered-off state, that is, the rear wheel steering actuator is controlled to be in the powered-off state. In this way, it is beneficial for the rear wheel steering control when the vehicle is powered on next time.

[0205] The detection of the vehicle being powered off can include that if the ignition signal and the normal power output signal of the vehicle are both the second preset value, it is determined that the vehicle is powered off.

[0206] Alternatively, the detection of the vehicle being powered off can include that if the ignition signal or the normal power output signal of the vehicle is the second preset value, it is determined that the vehicle is powered off, but is not limited thereto.

[0207] The second preset value can be set according to actual conditions, and the embodiment is not limited in this regard.

[0208] The power-off state refers to the working state of the rear wheel steering actuator when the vehicle is powered off. In the power-off state, the rear wheel steering actuator is closed.

[0209] In one example, when the rear turning working state is an abnormal state, an activated state, a controlled state, or a fault state, if it is detected that the vehicle is powered off, the rear turning working state is switched from the abnormal state, the activated state, the controlled state, or the fault state to the power-off state.

[0210] In some embodiments, the driving controller includes at least one of:

[0211] An automatic driving controller for automatically driving the vehicle only when the automatic driving function of the vehicle is triggered;

[0212] An automatic parking controller for automatically parking the vehicle only when the automatic parking function of the vehicle is triggered;

[0213] A dynamic controller for driving or parking the vehicle only when the dynamic control function of the vehicle is triggered.

[0214] In the embodiment, the driving controller includes at least one of the automatic driving controller, the automatic parking controller, or the dynamic controller, wherein the automatic driving controller is configured to automatically drive the vehicle only when the automatic driving function of the vehicle is triggered, the automatic parking controller is configured to automatically park the vehicle only when the automatic parking function of the vehicle is triggered, and the dynamic controller is configured to drive or park the vehicle only when the dynamic control function of the vehicle is triggered. In this way, the rear wheel steering control of the vehicle is more suitable for the automatic driving driving scene, the automatic driving parking scene, or the non-automatic driving scene.

[0215] To facilitate understanding of the rear wheel steering control method described above, the rear wheel steering control method described above will be illustrated below. In this example, the rear wheel steering control method can be implemented by the rear wheel steering actuator, or by the upper computer or the electronic device provided in the rear wheel steering actuator.

[0216] Referring to Figure 2 This example provides state control logic for the rear wheel steering actuator, which includes eight working states, namely, a power-on state, a power-off state, an initialization state, a standby activated state, an activated state, a controlled state, an abnormal state, and a fault state. The definition and jump logic of each state are as follows:

[0217] (1) Power-up state, which refers to the working state of the rear wheel steering actuator when the vehicle is powered up.

[0218] If the vehicle is detected to be powered up, the rear steering working state is controlled to switch to the power-up state, in which the rear wheel steering actuator waits for its communication function to be activated. If the communication function of the rear wheel steering actuator is activated, the rear steering working state is controlled to switch from the power-up state to the initialization state.

[0219] (2) Power-down state, which refers to the working state of the rear wheel steering actuator when the vehicle is powered down.

[0220] If the vehicle is detected to be powered down, the rear steering working state is controlled to switch from the abnormal state, the activated state, the controlled state, or the fault state to the power-down state, in which the rear wheel steering actuator is turned off.

[0221] (3) Initialization state, which refers to the working state of the rear wheel steering actuator when the vehicle is powered up and the rear wheel steering actuator is self-checked.

[0222] If the communication function of the rear wheel steering actuator is activated, the rear steering working state is controlled to switch from the power-up state to the initialization state, in which the rear wheel steering actuator is self-checked, i.e., the rear wheel steering actuator detects whether it is abnormal, and at the same time, at least one preset task is executed to ensure that it can be normally controlled by at least one of the automatic driving controller, the automatic parking controller, or the dynamic controller.

[0223] If the self-checking of the rear wheel steering actuator is successful, the rear steering working state is controlled to switch from the initialization state to the standby activation state.

[0224] If the self-checking of the rear wheel steering actuator fails, the rear steering working state is controlled to switch from the initialization state to the fault state.

[0225] (4) Standby activation state, which refers to the working state of the rear wheel steering actuator when the vehicle is powered up and the self-checking of the rear wheel steering actuator is successful.

[0226] If the self-checking of the rear wheel steering actuator is successful, the rear steering working state is controlled to switch from the initialization state to the standby activation state, in which the rear wheel steering actuator waits for a handshake with at least one of the automatic driving controller, the automatic parking controller, or the dynamic controller.

[0227] If a handshake signal of at least one of the automatic driving controller, the automatic parking controller, or the dynamic controller is received, and the vehicle speed signal is less than 3 kph, and the rear wheel steering angle is at a preset zero position, the rear steering working state is controlled to switch from the standby activation state to the activated state.

[0228] If the handshake data indicates that the rear wheel steering actuator has a handshake abnormality, or the rear wheel steering angle is at the preset neutral position, or the hardware abnormality data indicates that the rear wheel steering actuator has a hardware abnormality, the rear steering working state is switched from the standby activated state to the abnormal state.

[0229] (5) The activated state refers to the working state of the rear wheel steering actuator when the rear wheel steering actuator is activated.

[0230] If the handshake signal of at least one of the automatic driving controller, the automatic parking controller, or the dynamic controller is received, the vehicle speed signal is less than the first preset threshold, and the rear wheel steering angle is at the preset zero position, the rear steering working state is switched from the standby activated state to the activated state. In the activated state, the rear wheel steering actuator successfully handshake with the at least one driving controller and waits for the corresponding rear wheel steering action to be executed.

[0231] If the vehicle speed signal is less than 10 kph and the state signal is valid, the rear steering working state is switched from the activated state to the controlled state; or if the vehicle speed signal is greater than or equal to 10 kph and both the state signal and the steering wheel zero-crossing signal are valid, the rear steering working state is switched from the activated state to the controlled state.

[0232] If the handshake data indicates that the rear wheel steering actuator has a handshake abnormality, or the rear wheel steering angle is at the preset neutral position, or the hardware abnormality data indicates that the rear wheel steering actuator has a hardware abnormality, the rear steering working state is switched from the activated state to the abnormal state.

[0233] If no handshake signal of any driving controller is detected, the rear steering working state is switched from the activated state to the standby activated state.

[0234] (6) The controlled state refers to the working state of the rear wheel steering actuator when the rear wheel steering control of the vehicle is performed.

[0235] If the vehicle speed signal is less than 10 kph and the state signal is valid, the rear steering working state is switched from the activated state to the controlled state; or if the vehicle speed signal is greater than or equal to 10 kph and both the state signal and the steering wheel zero-crossing signal are valid, the rear steering working state is switched from the activated state to the controlled state. In the controlled state, the rear wheel steering actuator will execute the corresponding rear wheel steering action based on the rear wheel steering control signal sent by the at least one successfully handshake driving controller.

[0236] If the rear steering execution data indicates that the rear wheel steering actuator has a rear wheel steering abnormality, or the handshake data indicates that the rear wheel steering actuator has a handshake abnormality, or the rear wheel steering angle is at the preset neutral position, or the hardware abnormality data indicates that the rear wheel steering actuator has a hardware abnormality, the rear steering working state is switched from the controlled state to the abnormal state.

[0237] If the rear wheel rotation angle is not at the preset zero position and the hardware abnormality data indicates that the rear wheel steering actuator has a hardware abnormality, the rear rotation working state is switched from the controlled state to the fault state.

[0238] (7) Abnormal state, which refers to the working state of the rear wheel steering actuator when the rear wheel steering actuator has a preset abnormality.

[0239] If the rear rotation execution data indicates that the rear wheel steering actuator has a rear wheel steering abnormality, or the handshake data indicates that the rear wheel steering actuator has a handshake abnormality, or the rear wheel rotation angle is at the preset neutral position, or the hardware abnormality data indicates that the rear wheel steering actuator has a hardware abnormality, the rear rotation working state is switched from the standby activation state, the activation state, the controlled state or the fault state to the abnormal state. In the abnormal state, the rear wheel steering actuator will perform a zero reset process, aiming to change the rear wheel rotation angle to the preset zero position.

[0240] (8) Fault state, which refers to the working state of the rear wheel steering actuator when the rear wheel steering actuator is faulty.

[0241] If the self-check abnormality data indicates that the rear wheel steering actuator has a self-check abnormality, the rear rotation working state is switched from the initialization state to the fault state. Alternatively, if the rear wheel rotation angle is not at the preset zero position and the hardware abnormality data indicates that the rear wheel steering actuator has a hardware abnormality, the rear rotation working state is switched from the abnormal state or the controlled state to the fault state. In the fault state, the rear wheel steering actuator stops working. Wherein, the rear wheel rotation angle is not at the preset zero position refers to that the rear wheel steering actuator cannot perform a zero reset process.

[0242] Reference Figure 3The rear wheel steering control architecture of the example includes a vehicle controller, an EPS controller, an ABS controller, a dynamic controller, an automatic driving controller, an automatic parking controller, and a rear wheel steering actuator. The vehicle controller is configured to send a state signal of the vehicle to the rear wheel steering actuator, and the state signal is used to determine the driving state of the vehicle. The EPS controller is configured to send a steering wheel zero-crossing signal of the vehicle to the rear wheel steering actuator, and the steering wheel zero-crossing signal is used to determine whether the steering wheel angle has passed a preset zero position. The ABS controller is configured to send a vehicle speed signal of the vehicle to the rear wheel steering actuator, and the vehicle speed signal is used to determine the actual speed of the vehicle. The dynamic controller is configured to control the vehicle in driving or parking only when the dynamic control function of the vehicle is triggered, and send a rear wheel steering control signal and a handshake signal to the rear wheel steering actuator during the driving or parking control. The automatic driving controller is configured to control the vehicle in automatic driving only when the automatic driving function of the vehicle is triggered, and send a rear wheel steering control signal and a handshake signal to the rear wheel steering actuator during the automatic driving control. The automatic parking controller is configured to control the vehicle in automatic parking only when the automatic parking function of the vehicle is triggered, and send a rear wheel steering control signal and a handshake signal to the rear wheel steering actuator during the automatic parking control. The rear wheel steering control signal can include but is not limited to a rear wheel angle request value and a driving controller state.

[0243] Based on the above state control logic and the rear wheel steering control architecture, the flow of the rear wheel steering control of the example is shown in the following steps S201-S206.

[0244] S201, when the vehicle is powered on, the rear wheel working state is controlled to switch to a power-on state, and in the power-on state, the rear wheel steering actuator waits for its communication function to be activated.

[0245] S202, when the communication function of the rear wheel steering actuator is activated, the rear wheel working state is controlled to switch from the power-on state to the initialization state, and in the initialization state, the rear wheel steering actuator performs self-checking, i.e., the rear wheel steering actuator detects whether it is abnormal, and at the same time, at least one preset task is executed to ensure that the rear wheel steering actuator can be normally controlled by at least one of the automatic driving controller, the automatic parking controller, or the dynamic controller.

[0246] S203, it is determined whether the rear wheel steering actuator is self-checked successfully; if yes, step S204 is entered; if no, the rear wheel working state is controlled to switch from the initialization state to a fault state.

[0247] S204, the rear wheel working state is controlled to switch from the initialization state to an activation waiting state, and in the activation waiting state, the rear wheel steering actuator waits to handshake with at least one of the automatic driving controller, the automatic parking controller, or the dynamic controller.

[0248] During the period when the rear steering is in the pending activation state, if the rear wheel steering angle of the vehicle is detected to be at the preset zero position, the rear wheel steering actuator first obtains the handshake signal sent by the automatic driving controller, automatic parking controller and dynamic controller, then verifies the validity of the handshake signal of the automatic driving controller, automatic parking controller and dynamic controller, and then performs a handshake with the controller whose handshake signal has passed the verification, and sets the corresponding handshake flag bit for the controller whose handshake signal has passed the verification.

[0249] Furthermore, during the period when the rear steering operation is in the pending state, if the handshake data indicates that there is a handshake abnormality in the rear wheel steering actuator, or the rear wheel angle is at the preset midpoint, or the hardware abnormality data indicates that there is a hardware abnormality in the rear wheel steering actuator, then the rear steering operation state is switched from the pending state to the abnormal state.

[0250] In addition, during the period when the rear turn operation is in the pending activation state, it is determined whether the activation conditions are met. The activation conditions are receiving a handshake signal from at least one of the automatic driving controller, automatic parking controller, or dynamic controller, and the vehicle speed signal is less than 3 kph and the rear wheel angle is at a preset zero position. If yes, proceed to step S205; if no, keep the rear turn operation in the pending activation state and return to the step of determining whether the activation conditions are met to achieve cyclic judgment.

[0251] S205, the control rear wheel steering working state is switched from the idle state to the active state. In the active state, the rear wheel steering actuator successfully shakes hands with at least one driving controller and waits to execute the corresponding rear wheel steering action.

[0252] During the period when the rear turn working state is active, it is determined whether either of the two controlled conditions is met. One controlled condition is that the vehicle speed signal is less than 10 kph and the status signal is valid. The other controlled condition is that the vehicle speed signal is greater than or equal to 10 kph and both the status signal and the steering wheel zero-crossing signal are valid. If yes, proceed to step S206. Otherwise, keep the rear turn working state in the pending activation state and return to the step of determining whether either of the two controlled conditions is met to achieve cyclic judgment.

[0253] Furthermore, during the period when the rear turn operation is in the active state, if no handshake signal is detected from any driving controller, the rear turn operation is switched from the active state to the pending state.

[0254] Furthermore, during the period when the rear steering operation is in the active state, if the handshake data indicates that there is a handshake abnormality in the rear wheel steering actuator, or the rear wheel angle is at the preset midpoint, or the hardware abnormality data indicates that there is a hardware abnormality in the rear wheel steering actuator, then the rear steering operation state is controlled to switch from the active state to the abnormal state.

[0255] And, during the rear turning working state is in the active state, if it is detected that the vehicle is powered off, the rear turning working state is switched from the active state to the powered-off state.

[0256] S206, the rear wheel turning executor first checks the validity of the vehicle speed signal and the state signal, if the vehicle speed signal and the state signal are both checked, the preset driving state corresponding to the state signal is determined as the target driving state, then the rear wheel turning control signal corresponding to the target driving state is selected as the target control signal from the rear wheel turning control signal of at least one handshake successful driving controller, and then the rear wheel turning executor executes the rear wheel turning action according to the target control signal.

[0257] Wherein, after determining the current target driving state, when it is detected that the state signal changes, it means that the driving state of the vehicle needs to be switched, at this time, it is detected whether the vehicle speed signal is less than 10kph; if yes, under the condition that the vehicle speed signal and the changed state signal are both checked, the preset driving state corresponding to the changed state signal is determined as the target driving state; if no, the steering wheel angle is determined according to the steering wheel zero-crossing signal, and then when the steering wheel angle is the preset zero position and the vehicle speed signal and the changed state signal are both checked, the preset driving state corresponding to the changed state signal is determined as the target driving state.

[0258] During the rear wheel turning control, if it is detected that the rear turning execution data is to represent that the rear wheel turning executor has rear wheel turning abnormality, or the handshake data is to represent that the rear wheel turning executor has handshake abnormality, or the rear wheel turning angle is in the preset middle position, or the hardware abnormality data is to represent that the rear wheel turning executor has hardware abnormality, the rear turning working state is switched from the controlled state to the abnormal state.

[0259] And, during the rear wheel turning control, if it is detected that the rear wheel turning angle is not in the preset zero position and the hardware abnormality data is to represent that the rear wheel turning executor has hardware abnormality, the rear turning working state is switched from the controlled state to the fault state.

[0260] And, during the rear wheel turning control, if it is detected that the vehicle is powered off, the rear turning working state is switched from the controlled state to the powered-off state.

[0261] Secondly, the embodiment of the rear wheel turning control device provided by the present application will be described in detail below with reference to the accompanying drawings.

[0262] Referring to Figure 4 The rear wheel turning control device provided by the present application can include:

[0263] The first processing module 301 is used for handshake processing of the rear wheel turning executor and at least one driving controller of the vehicle.

[0264] The second processing module 302 is configured to, in the case that the handshake between the rear wheel steering actuator and the at least one driving controller is successful, control the rear steering working state of the vehicle to be switched to a controlled state according to a vehicle speed signal, a state signal and a steering wheel zero-crossing signal, wherein the controlled state is a working state of the rear wheel steering actuator in the case that the rear wheel steering control is performed on the vehicle, and the steering wheel zero-crossing signal is used to represent that the steering wheel angle of the vehicle passes through a preset zero position.

[0265] The third processing module 303 is configured to, in the case that the rear steering working state is the controlled state, perform the rear wheel steering control on the vehicle according to the state signal and the rear wheel steering control signal of the at least one driving controller whose handshake is successful.

[0266] The contents in the above method embodiments are applicable to the device embodiments, the device embodiments specifically realize the same functions as the above method embodiments, and achieve the same beneficial effects as the above method embodiments.

[0267] Finally, with reference to Figure 5 The embodiments of the present application further provide a vehicle, which can include:

[0268] at least one processor 401;

[0269] at least one memory 402 configured to store at least one program;

[0270] When the at least one program is executed by the at least one processor 401, the at least one processor 401 implements the above rear wheel steering control method.

[0271] The above vehicle can be a private car, such as a sedan, a sport utility vehicle (SUV), a multi-purpose vehicle (MPV) or a pickup truck, etc., or can be an operating vehicle, such as a van, a bus, a small truck or a large trailer, etc., or can be a gasoline car or a new energy car such as a hybrid car, an all-electric car, etc.

[0272] The above memory 402 as a kind of non-transient network system, it can be used to store non-transient software programs and non-transient computer executable programs.In addition, the memory 402 can include a high-speed random access memory, and can also include a non-transient memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transient solid-state memory device.In some embodiments, the memory 402 can optionally include a memory 402 that is remotely arranged relative to the processor 401, and these remote memories 402 can be connected to the processor 401 through a network.The above network includes but is not limited to the Internet, an intranet, a local area network, a mobile communication network and a combination thereof.

[0273] The memory 402 can be implemented in the form of a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM), etc. The memory 402 can store an operating system and other application programs. When the technical solutions provided by the embodiments of the present specification are implemented by software or firmware, the relevant program codes are stored in the memory 402 and are invoked and executed by the processor 401 to implement the method of the embodiments of the present application.

[0274] The processor 401 can be implemented in the form of a general-purpose central processing unit (CPU), a microprocessor, an application specific integrated circuit (ASIC), or one or more integrated circuits, etc., for executing relevant programs to implement the technical solutions provided by the embodiments of the present application.

[0275] In some embodiments, the vehicle can further include:

[0276] An input / output interface for realizing information input and output;

[0277] A communication interface for realizing communication interaction between the device and other devices. The communication can be realized by wired means (such as USB, network cable, etc.) or by wireless means (such as mobile network, WIFI, Bluetooth, etc.).

[0278] A bus for transmitting information between various components (such as the processor 401, the memory 402, the input / output interface, and the communication interface) of the device.

[0279] The processor 401, the memory 402, the input / output interface, and the communication interface can be connected to each other for internal communication in the device through the bus.

[0280] The contents in the method embodiments are applicable to the vehicle embodiments. The vehicle embodiments specifically implement the same functions as the method embodiments and achieve the same beneficial effects as the method embodiments.

[0281] Although the embodiments of the present application have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, replacements, and variations can be made to these embodiments without departing from the principles and purposes of the present application, and the scope of the present application is defined by the claims and their equivalents.

[0282] The above describes the preferred embodiments of the present application, but the present application is not limited to the described embodiments, and those skilled in the art can make various equivalent modifications or replacements without departing from the spirit of the present application, and these equivalent modifications or replacements are all included in the scope defined by the claims of the present application.

Claims

1. A rear-wheel steering control method, characterized in that, Includes the following steps: Handshake processing is performed on the vehicle's rear wheel steering actuator and at least one driving controller; When the rear wheel steering actuator and at least one of the driving controllers successfully handshake, the rear wheel steering operation state of the vehicle is switched to a controlled state based on the vehicle speed signal, status signal, and steering wheel zero-crossing signal; wherein, the controlled state is the operating state of the rear wheel steering actuator when the rear wheel steering control of the vehicle is performed; the steering wheel zero-crossing signal is used to indicate that the steering wheel angle of the vehicle has passed through a preset zero position; When the rear-wheel steering working state is the controlled state, the vehicle is subjected to rear-wheel steering control based on the state signal and the rear-wheel steering control signal of at least one successfully handshake-connected driving controller; The step of controlling the vehicle's rear-turning state to a controlled state based on the vehicle's speed signal, status signal, and steering wheel zero-crossing signal includes: When the rear steering working state is in the pending state, based on the vehicle speed signal, combined with the handshake signal of at least one of the driving controllers and the rear wheel steering angle of the vehicle, the rear steering working state is controlled to switch from the pending state to the active state; the active state is the working state of the rear wheel steering actuator when the rear wheel steering actuator is activated. When the rear turn working state is in the active state, the rear turn working state is controlled to switch from the active state to the controlled state based on the vehicle speed signal, the status signal and the steering wheel zero crossing signal; The driving controller includes at least one of the following: An automatic driving controller is used to automatically control the vehicle when only the automatic driving function of the vehicle is triggered. An automatic parking controller is used to control the automatic parking of the vehicle by triggering only the automatic parking function of the vehicle. A dynamic controller is used to perform driving or parking control on the vehicle by triggering only the vehicle's dynamic control functions.

2. The rear-wheel steering control method according to claim 1, characterized in that, The handshake process between the vehicle's rear wheel steering actuator and at least one driving controller includes: Verify the handshake signal of at least one of the driving controllers; The rear wheel steering actuator is controlled to perform a handshake with the driving controller whose handshake signal has been verified.

3. The rear-wheel steering control method according to claim 2, characterized in that, The verification of the handshake signal of at least one of the driving controllers includes: When the rear wheel steering angle of the vehicle is at a preset zero position and the rear wheel steering working state is in an activated state, at least one handshake signal from the driving controller is acquired; the activated state is the working state of the rear wheel steering actuator when the vehicle is powered on and the rear wheel steering actuator has successfully completed its self-test. The validity of the handshake signal of at least one of the driving controllers is verified.

4. The rear-wheel steering control method according to claim 1, characterized in that, The step of controlling the rear wheel steering operation state to switch from a deactivated state to an activated state based on the vehicle speed signal, combined with a handshake signal from at least one of the driving controllers and the rear wheel steering angle of the vehicle, includes: Upon receiving a handshake signal from at least one of the driving controllers, if the vehicle speed signal is less than a first preset threshold and the rear wheel angle is at the preset zero position, the rear wheel steering state is controlled to switch from the pending activation state to the activated state.

5. The rear-wheel steering control method according to claim 1, characterized in that, The step of controlling the rear turn working state to switch from the active state to the controlled state based on the vehicle speed signal, the status signal, and the steering wheel zero-crossing signal includes: If the vehicle speed signal is less than the second preset threshold, and the status signal is valid, then the rear turn working state is controlled to switch from the active state to the controlled state. Alternatively, if the vehicle speed signal is greater than or equal to the second preset threshold, and both the status signal and the steering wheel zero-crossing signal are valid, then the rear turn working state is controlled to switch from the active state to the controlled state.

6. The rear-wheel steering control method according to claim 1, characterized in that, The step of performing rear-wheel steering control on the vehicle based on the status signal and the rear-wheel steering control signal of at least one successfully handshake-connected driving controller includes: The target driving state of the vehicle is determined based on the vehicle speed signal and the status signal; the target driving state includes any one of automatic driving state, automatic parking state, or dynamic control state. The vehicle performs rear-wheel steering control based on the target driving state and the rear-wheel steering control signal from at least one successfully handshake-enabled driving controller.

7. The rear-wheel steering control method according to claim 6, characterized in that, Determining the target driving state of the vehicle based on the vehicle speed signal and the state signal includes: The vehicle speed signal and the status signal are verified. If both the vehicle speed signal and the status signal pass the verification, the preset driving state corresponding to the status signal is determined as the target driving state.

8. The rear-wheel steering control method according to claim 6, characterized in that, The step of performing rear-wheel steering control on the vehicle based on the target driving state and the rear-wheel steering control signal of at least one successfully handshake-connected driving controller includes: From the rear wheel steering control signals of at least one successfully handshaking driving controller, select the rear wheel steering control signal corresponding to the target driving state as the target control signal; The vehicle is subjected to rear-wheel steering control based on the target control signal.

9. The rear-wheel steering control method according to claim 1, characterized in that, The method further includes the following steps: If the vehicle speed signal is less than a third preset threshold, and the status signal changes, the target driving state of the vehicle is updated based on the changed status signal. Alternatively, if the vehicle speed signal is greater than or equal to the third preset threshold, and the state signal changes and the steering wheel zero-crossing signal is received, the target driving state of the vehicle is updated based on the steering wheel zero-crossing signal and the changed state signal.

10. The rear-wheel steering control method according to claim 9, characterized in that, The step of updating the target driving state of the vehicle based on the steering wheel zero-crossing signal and the changed state signal includes: The steering wheel angle is determined based on the steering wheel zero-crossing signal; If the steering wheel angle is at the preset zero position, the target driving state of the vehicle is updated according to the changed state signal.

11. The rear-wheel steering control method according to claim 1, characterized in that, The method further includes the following steps: When the rear turn operation state is active, the rear turn operation state is switched from the active state to the pending state according to a handshake signal from at least one of the driving controllers.

12. The rear wheel steering control method according to claim 11, characterized in that, The step of controlling the rear turn operating state to switch from the active state to the pending state based on a handshake signal from at least one of the driving controllers includes: If no handshake signal is detected from any of the driving controllers, the rear turn operation state is switched from the active state to the pending state.

13. The rear-wheel steering control method according to claim 1, characterized in that, The method further includes the following steps: Based on at least one of the vehicle's rear turn execution data, handshake data, hardware anomaly data, or rear wheel angle, control the rear turn working state to switch to an abnormal state; Wherein, the rear-wheel steering execution data is used to characterize whether the rear-wheel steering actuator has a rear-wheel steering abnormality, the handshake data is used to characterize whether the rear-wheel steering actuator has a handshake abnormality, and the hardware abnormality data is used to characterize whether the rear-wheel steering actuator has a hardware abnormality; the abnormal state is the working state of the rear-wheel steering actuator when a preset abnormality exists in the rear-wheel steering actuator; the preset abnormality includes at least one of the rear-wheel steering abnormality, the handshake abnormality, the zero-return abnormality, or the hardware abnormality.

14. The rear-wheel steering control method according to claim 13, characterized in that, The step of controlling the rear-turn working state to switch to an abnormal state based on at least one of the vehicle's rear-turn execution data, handshake data, hardware anomaly data, or rear wheel steering angle includes: If the rear steering execution data indicates that the rear wheel steering actuator has a rear wheel steering abnormality, or the handshake data indicates that the rear wheel steering actuator has a handshake abnormality, or the rear wheel angle is at a preset neutral position, or the hardware abnormality data indicates that the rear wheel steering actuator has a hardware abnormality, then the rear steering working state is controlled to switch to the abnormal state.

15. The rear-wheel steering control method according to claim 1, characterized in that, The method further includes the following steps: Based on at least one of the vehicle's hardware anomaly data, self-test anomaly data, or rear wheel steering angle, the rear steering working state is controlled to switch to a fault state; the self-test anomaly data is used to characterize whether the rear wheel steering actuator has a self-test anomaly.

16. The rear-wheel steering control method according to claim 15, characterized in that, The step of controlling the rear steering working state to switch to a fault state based on at least one of the vehicle's hardware abnormality data, self-test abnormality data, or rear wheel steering angle includes: If the rear wheel steering angle is not at the preset zero position and the hardware fault data indicates that the rear wheel steering actuator has a hardware fault, or the self-test fault data indicates that the rear wheel steering actuator has a self-test fault, then the rear wheel steering working state is controlled to switch to the fault state.

17. A rear-wheel steering control device, characterized in that, include: The first processing module is used to perform handshake processing on the rear wheel steering actuator and at least one driving controller of the vehicle. The second processing module is used to, upon successful handshake between the rear wheel steering actuator and at least one of the driving controllers, control the rear wheel steering operation state of the vehicle to switch to a controlled state based on the vehicle speed signal, status signal, and steering wheel zero-crossing signal; wherein, the controlled state is the operating state of the rear wheel steering actuator when the rear wheel steering control of the vehicle is performed; the steering wheel zero-crossing signal is used to indicate that the steering wheel angle of the vehicle has passed a preset zero position; The third processing module is used to perform rear wheel steering control on the vehicle based on the state signal and the rear wheel steering control signal of at least one driving controller that has successfully shaken hands, when the rear wheel steering working state is the controlled state. The step of controlling the vehicle's rear-turning state to a controlled state based on the vehicle's speed signal, status signal, and steering wheel zero-crossing signal includes: When the rear steering working state is in the pending state, based on the vehicle speed signal, combined with the handshake signal of at least one of the driving controllers and the rear wheel steering angle of the vehicle, the rear steering working state is controlled to switch from the pending state to the active state; the active state is the working state of the rear wheel steering actuator when the rear wheel steering actuator is activated. When the rear turn working state is in the active state, the rear turn working state is controlled to switch from the active state to the controlled state based on the vehicle speed signal, the status signal and the steering wheel zero crossing signal; The driving controller includes at least one of the following: An automatic driving controller is used to automatically control the vehicle when only the automatic driving function of the vehicle is triggered. An automatic parking controller is used to control the automatic parking of the vehicle by triggering only the automatic parking function of the vehicle. A dynamic controller is used to perform driving or parking control on the vehicle by triggering only the vehicle's dynamic control functions.

18. A vehicle, characterized in that, include: At least one processor; At least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements the rear wheel steering control method as described in any one of claims 1-16.

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