Vehicle steering control system, method, controller, vehicle, and storage medium

Abstract

The application relates to the technical field of automobile driving, and discloses a vehicle steering control system, a vehicle steering control method, a controller, a vehicle and a storage medium, which comprise a vehicle stability controller, which is used for acquiring an actual vehicle speed of the vehicle in real time, converting a target yaw moment into a steering vector moment when the actual vehicle speed exceeds a preset speed threshold, and sending the steering vector moment to a vehicle dynamic domain calculation unit; and the vehicle dynamic domain calculation unit is used for controlling front and rear axle motors of the vehicle to perform steering control on the vehicle according to the steering vector moment. It can be seen that when the actual vehicle speed of the vehicle exceeds the preset speed threshold, the vehicle dynamic domain calculation unit is used for controlling the front and rear axle motors of the vehicle to perform steering control on the vehicle according to the steering vector moment, so that the problem of low steering sensitivity of a rear wheel steering controller (RWS) when the vehicle is running at a high speed is avoided, and the stability of the vehicle steering control system when the vehicle is running at a high speed is improved.

Description

Technical Field

[0001] This invention relates to the field of automotive driving technology, and in particular to a vehicle steering control system, method, controller, vehicle, and storage medium. Background Technology

[0002] With the continuous development of science and technology, people have put forward higher requirements for the comfort of car driving. When turning, the vehicle needs to provide a good steering experience at both high and low speeds.

[0003] For example, taking a pure electric four-wheel drive vehicle as an example, the vehicle's rear wheel steering control system is usually based on the rear wheel steering controller (RWS) to control the vehicle's steering. During the vehicle's operation, the rear wheel steering controller exhibits sensitive steering at low speeds and sensitive and stable steering at high speeds, which means that the steering sensitivity is reduced, resulting in a decrease in the stability of the vehicle's rear wheel steering system and a decline in the driver's driving experience at high speeds.

[0004] Therefore, a method to improve the stability of the vehicle steering control system is proposed. Summary of the Invention

[0005] This invention provides a vehicle steering control system, method, controller, vehicle, and storage medium to address the problem of low stability in vehicle steering control systems.

[0006] A vehicle steering control system, the system comprising:

[0007] The vehicle stability controller acquires the actual vehicle speed in real time. When the actual vehicle speed exceeds a preset speed threshold, it converts the target yaw torque into a steering vector torque and sends the steering vector torque to the vehicle dynamic domain calculation unit.

[0008] The vehicle dynamic domain calculation unit controls the front and rear axle motors of the vehicle to perform steering control based on the steering vector torque.

[0009] Optionally, the system further includes a rear wheel steering controller.

[0010] When the actual vehicle speed does not exceed a preset speed threshold, the vehicle stability controller converts the target yaw torque into a target steering angle and sends the target steering angle to the rear wheel steering controller.

[0011] The rear wheel steering controller controls the vehicle to steer according to the target steering angle.

[0012] Optionally, the system further includes an electronic steering controller.

[0013] The electronic steering controller acquires the steering wheel angle of the vehicle in real time and sends the steering wheel angle to the vehicle stability controller;

[0014] The vehicle stability controller acquires the actual yaw angle of the vehicle in real time, and calculates the target yaw torque based on the actual yaw angle, the steering wheel angle, and the actual vehicle speed.

[0015] Optionally, in the above system, the target yaw torque is obtained in the following way:

[0016] The target yaw angle is calculated based on the steering wheel angle and the actual vehicle speed.

[0017] The difference between the target yaw angle and the actual yaw angle is calculated.

[0018] The target yaw torque is obtained by performing PID logic calculations on the yaw angle difference.

[0019] A vehicle steering control method, applied to a vehicle stability controller, the method comprising:

[0020] Real-time acquisition of vehicle speed;

[0021] When the actual vehicle speed exceeds a preset speed threshold, the target yaw torque is converted into steering vector torque;

[0022] The steering vector torque is sent to the vehicle dynamic domain calculation unit so that the vehicle dynamic domain calculation unit controls the front and rear axle motors of the vehicle to perform steering control based on the steering vector torque.

[0023] Optionally, after acquiring the vehicle's actual speed in real time, the above method further includes:

[0024] When the actual vehicle speed does not exceed the preset speed threshold, the target yaw torque is converted into a target steering angle;

[0025] The target steering angle is sent to the rear wheel steering controller so that the rear wheel steering controller controls the vehicle to steer according to the target steering angle.

[0026] Optionally, the target yaw torque is calculated using the above method as follows:

[0027] Receives the vehicle's steering wheel angle sent by the electronic steering controller;

[0028] The actual yaw angle of the vehicle is obtained in real time;

[0029] The target yaw torque is calculated based on the actual yaw angle, the steering wheel angle, and the actual vehicle speed.

[0030] A controller includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement a vehicle steering control method as described above.

[0031] A vehicle comprising any of the vehicle steering control systems described above.

[0032] A readable storage medium storing a computer program that, when executed by a processor, implements a vehicle steering control method as described above.

[0033] In summary, this invention discloses a vehicle steering control system, method, controller, vehicle, and storage medium. When the actual vehicle speed exceeds a preset speed threshold, the target yaw torque is converted into a steering vector torque, which is then sent to the vehicle dynamic domain calculation unit. This allows the vehicle dynamic domain calculation unit to control the front and rear axle motors of the vehicle to perform steering control based on the steering vector torque. Therefore, this invention avoids the problem of low steering sensitivity in the rear wheel steering controller (RWS) at high speeds by controlling the front and rear axle motors of the vehicle based on the steering vector torque when the actual vehicle speed exceeds the preset speed threshold, thus improving the stability of the vehicle steering control system at high speeds. Attached Figure Description

[0034] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 This is a schematic diagram of the structure of a vehicle steering control system disclosed in Embodiment 1 of the present invention;

[0036] Figure 2 This is another structural schematic diagram of a vehicle steering control system disclosed in Embodiment 1 of the present invention;

[0037] Figure 3 This is another structural schematic diagram of a vehicle steering control system disclosed in Embodiment 1 of the present invention;

[0038] Figure 4 This is a schematic flowchart of a vehicle steering control method disclosed in Embodiment 2 of the present invention;

[0039] Figure 5 This is another schematic flowchart of a vehicle steering control method disclosed in Embodiment 2 of the present invention;

[0040] Figure 6 This is a schematic diagram of the structure of a controller disclosed in Embodiment 3 of the present invention. Detailed Implementation

[0041] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0042] This invention discloses a vehicle steering control system, method, controller, vehicle, and storage medium. When the vehicle's actual speed exceeds a preset speed threshold, a target yaw torque is converted into a steering vector torque, which is then sent to a vehicle dynamic domain calculation unit. This allows the vehicle dynamic domain calculation unit to control the front and rear axle motors of the vehicle to perform steering control based on the steering vector torque. Therefore, this invention avoids the problem of low steering sensitivity in the rear wheel steering controller (RWS) at high speeds by controlling the front and rear axle motors of the vehicle based on the steering vector torque when the vehicle's actual speed exceeds the preset speed threshold, thus improving the stability of the vehicle steering control system at high speeds.

[0043] It should be understood that in this invention, when the actual vehicle speed exceeds a preset speed threshold, the vehicle dynamic domain calculation unit controls the front and rear axle motors to perform steering control. When the actual vehicle speed does not exceed the preset speed threshold, the rear wheel steering controller is still used to perform steering control. Therefore, the vehicle steering control system can perform sensitive steering whether the vehicle is traveling at low or high speeds, thus improving the stability of the vehicle steering control system.

[0044] Example 1

[0045] like Figure 1 The diagram shown is a structural schematic of a vehicle steering control system disclosed in Embodiment 1 of the present invention, as detailed below:

[0046] The vehicle stability controller 101 is used to acquire the actual vehicle speed in real time. When the actual vehicle speed exceeds a preset speed threshold, the target yaw torque is converted into steering vector torque and the steering vector torque is sent to the vehicle dynamic domain calculation unit 102.

[0047] In this specific implementation, the vehicle speed signal can be collected by the speed sensor integrated in the vehicle, and the actual vehicle speed can be obtained from the collected speed signal. The actual vehicle speed is compared with a preset speed threshold. When the actual vehicle speed exceeds the preset speed threshold, the target yaw torque is converted into steering vector torque and sent to the vehicle dynamic domain calculation unit 102. When the actual vehicle speed does not exceed the preset speed threshold, the rear wheel steering controller is still used to control the steering of the vehicle.

[0048] The speed threshold can be set according to actual needs. For example, when testing the steering sensitivity of the rear wheel steering controller (RWS) of a target vehicle, if the steering sensitivity of the rear wheel steering controller cannot cooperate with the front wheels to steer sensitively when the actual speed of the vehicle reaches a certain target speed, this target speed is set as the speed threshold. That is, when the actual speed of the vehicle is less than the target speed, the rear wheel steering controller is used to control the steering of the vehicle, and when the actual speed of the vehicle is greater than the target speed, the vehicle dynamic domain calculation unit is used to control the steering of the vehicle.

[0049] In addition, the target yaw torque of the vehicle can be calculated based on the relevant steering parameters of the vehicle, such as the maximum capacity of the front axle motor, the maximum capacity of the rear axle motor, wheel speed signal, reference vehicle speed, yaw rate signal Yaw, lateral acceleration signal Ay, longitudinal acceleration signal AX, actual rear steering angle and effective status, maximum rear steering angle that can be executed, rear steering actuator availability indicator, power supply position signal, and steering wheel angle signal, etc. This embodiment does not limit the method for obtaining the target yaw torque.

[0050] The vehicle dynamic domain calculation unit 102 controls the vehicle's steering by controlling the front and rear axle motors based on the steering vector torque.

[0051] In practice, the steering vector torque can be the control torque applied to the rear axle motor, or it can be the vector torque applied to both the front and rear axle motors simultaneously. For example, when a vehicle is turning left, the steering vector torque can be used to increase the output torque of the rear axle motor to the right wheel, thereby increasing the speed of the right wheel and improving the vehicle's sensitivity to turn left.

[0052] For example, when a vehicle turns left, the output torque of the rear axle motor to the left wheel can be reduced by the steering vector torque, thereby reducing the rotational speed of the left wheel and improving the vehicle's sensitivity to turn left.

[0053] In summary, this invention discloses a vehicle steering control system. When the vehicle's actual speed exceeds a preset speed threshold, a target yaw torque is converted into a steering vector torque, which is then sent to the vehicle dynamic domain calculation unit. This allows the vehicle dynamic domain calculation unit to control the front and rear axle motors to perform steering control based on the steering vector torque. Therefore, this invention avoids the problem of low steering sensitivity in the rear wheel steering controller (RWS) at high speeds by controlling the front and rear axle motors based on the steering vector torque through the vehicle dynamic domain calculation unit when the vehicle's actual speed exceeds the preset speed threshold, thus improving the stability of the vehicle steering control system at high speeds.

[0054] In one implementation, the vehicle steering control system in this embodiment further includes a rear wheel steering controller, specifically as follows: Figure 2 As shown:

[0055] The vehicle stability controller 101 converts the target yaw torque into a target steering angle when the actual vehicle speed does not exceed a preset speed threshold, and sends the target steering angle to the rear wheel steering controller.

[0056] In a specific implementation, this embodiment can compare the actual vehicle speed with a preset speed threshold. When the actual vehicle speed does not exceed the preset speed threshold, the target yaw torque is converted into a target steering angle and sent to the rear wheel steering controller 103. When the actual vehicle speed exceeds the preset speed threshold, the vehicle's front and rear axle motors are controlled by the vehicle dynamic domain calculation unit to perform steering control on the vehicle.

[0057] The rear wheel steering controller 103 controls the vehicle to steer according to the target turning angle.

[0058] In this embodiment, the rear-wheel steering controller can control the rear wheel steering angle based on the target turning angle, thereby achieving the purpose of steering control of the vehicle. When the vehicle is traveling at low speed, the rear-wheel steering controller can control the rear wheel steering angle in the opposite direction to the front wheel steering angle, allowing the vehicle to quickly change direction by reducing the turning radius when turning. This embodiment does not specifically limit the method by which the rear-wheel steering controller controls the vehicle's steering.

[0059] In summary, this invention controls the vehicle's steering by means of the rear wheel steering controller (RWS) when the vehicle's actual speed does not exceed a preset speed threshold. This avoids the problem that the vehicle dynamic domain calculation unit has low sensitivity in controlling the vehicle's front and rear axle motors based on the steering vector torque when the vehicle is traveling at low speeds. This is beneficial to improving the stability of the vehicle steering control system when the vehicle is traveling at high speeds.

[0060] In one implementation, the vehicle steering control system in this embodiment further includes an electronic steering controller, such as... Figure 3 As shown:

[0061] The electronic steering controller 104 acquires the vehicle's steering wheel angle in real time and sends the steering wheel angle to the vehicle stability controller.

[0062] In a specific implementation, the electronic steering controller in this embodiment can acquire the steering wheel angle signal in real time through the steering wheel angle sensor, thereby obtaining the steering wheel angle, and then send the obtained steering wheel angle to the vehicle stability controller.

[0063] The vehicle stability controller 101 acquires the actual yaw angle of the vehicle in real time, and calculates the target yaw torque based on the actual yaw angle, steering wheel angle and actual vehicle speed.

[0064] The actual yaw angle represents the actual yaw angle of the vehicle during the turning process, while the target yaw angle is the yaw angle that the vehicle should reach during the turning process. When there is a difference between the target yaw angle and the actual yaw angle, the yaw angle difference between the target yaw angle and the actual yaw angle is calculated. Then, PID logic is performed on the yaw angle difference to obtain the target yaw torque. The subsequent steps of vehicle steering control are executed through the target yaw torque.

[0065] In addition, the actual yaw angle in this embodiment can be obtained by a yaw angle sensor integrated in the vehicle, such as a gyroscope or an inertial measurement unit (IMU).

[0066] In one implementation, the target yaw torque can be calculated as follows:

[0067] Based on the steering wheel angle and actual vehicle speed, the target yaw angle is calculated. When there is a difference between the target yaw angle and the actual yaw angle, the yaw angle difference between the target yaw angle and the actual yaw angle is calculated. PID logic is then applied to the yaw angle difference to obtain the target yaw torque. The P, I, and D parameters in the PID formula are set according to actual needs; no specific limitations are imposed in this embodiment.

[0068] The various modules in the aforementioned vehicle steering control system can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the computer device's memory as software, so that the processor can call and execute the corresponding operations of each module.

[0069] Example 2

[0070] like Figure 4The diagram shown is a flowchart illustrating a vehicle steering control method disclosed in Embodiment 2 of the present invention. This method is applicable to four-wheel drive vehicles equipped with a steering control system, such as pure electric four-wheel drive vehicles integrating a rear wheel steering controller (RWS), front and rear axle motors (DCU), and vehicle stability controller (ESP). Details are as follows:

[0071] In a practical implementation, the method in this embodiment can be applied to a vehicle stability controller, as shown below:

[0072] S401: Real-time acquisition of the vehicle's actual speed;

[0073] In a specific implementation, this embodiment can use a speed sensor integrated in the vehicle to collect the vehicle's speed signal, and then obtain the vehicle's actual speed from the collected speed signal.

[0074] S402: When the actual vehicle speed exceeds the preset speed threshold, the target yaw torque is converted into steering vector torque;

[0075] The actual vehicle speed is compared with a preset speed threshold. When the actual vehicle speed exceeds the preset speed threshold, the target yaw torque is converted into a steering vector torque and sent to the vehicle dynamic domain calculation unit 102. When the actual vehicle speed does not exceed the preset speed threshold, the rear wheel steering controller is still used to control the vehicle's steering.

[0076] The speed threshold can be set according to actual needs. For example, when testing the steering sensitivity of the rear wheel steering controller (RWS) of a target vehicle, if the steering sensitivity of the rear wheel steering controller cannot cooperate with the front wheels to steer sensitively when the actual speed of the vehicle reaches a certain target speed, this target speed is set as the speed threshold. That is, when the actual speed of the vehicle is less than the target speed, the rear wheel steering controller is used to control the steering of the vehicle, and when the actual speed of the vehicle is greater than the target speed, the vehicle dynamic domain calculation unit is used to control the steering of the vehicle.

[0077] In addition, the target yaw torque of the vehicle can be calculated based on the relevant steering parameters of the vehicle, such as the maximum capacity of the front axle motor, the maximum capacity of the rear axle motor, wheel speed signal, reference vehicle speed, yaw rate signal Yaw, lateral acceleration signal Ay, longitudinal acceleration signal AX, actual rear steering angle and effective status, maximum rear steering angle that can be executed, rear steering actuator availability indicator, power supply position signal, and steering wheel angle signal, etc. This embodiment does not limit the method for obtaining the target yaw torque.

[0078] S403: Sends the steering vector torque to the vehicle dynamics domain calculation unit so that the vehicle dynamics domain calculation unit controls the front and rear axle motors of the vehicle to perform steering control based on the steering vector torque.

[0079] In practice, the steering vector torque can be the control torque applied to the rear axle motor, or it can be the vector torque applied to both the front and rear axle motors simultaneously. For example, when a vehicle is turning left, the steering vector torque can be used to increase the output torque of the rear axle motor to the right wheel, thereby increasing the speed of the right wheel and improving the vehicle's sensitivity to turn left.

[0080] For example, when a vehicle turns left, the output torque of the rear axle motor to the left wheel can be reduced by the steering vector torque, thereby reducing the rotational speed of the left wheel and improving the vehicle's sensitivity to turn left.

[0081] In summary, this invention discloses a vehicle steering control method. When the vehicle's actual speed exceeds a preset speed threshold, a target yaw torque is converted into a steering vector torque, which is then sent to the vehicle dynamic domain calculation unit. This allows the vehicle dynamic domain calculation unit to control the front and rear axle motors to perform steering control based on the steering vector torque. Therefore, this invention avoids the problem of low steering sensitivity in the rear wheel steering controller (RWS) at high speeds by controlling the front and rear axle motors based on the steering vector torque through the vehicle dynamic domain calculation unit when the vehicle's actual speed exceeds the preset speed threshold, thus improving the stability of the vehicle steering control system at high speeds.

[0082] In one implementation, the following steps may be included after step S101, specifically as follows: Figure 5 As shown:

[0083] S404: When the actual vehicle speed does not exceed the preset speed threshold, the target yaw torque is converted into the target steering angle;

[0084] In a specific implementation, this embodiment can compare the actual vehicle speed with a preset speed threshold. When the actual vehicle speed does not exceed the preset speed threshold, the target yaw torque is converted into a target steering angle and sent to the rear wheel steering controller 103. When the actual vehicle speed exceeds the preset speed threshold, the vehicle's front and rear axle motors are controlled by the vehicle dynamic domain calculation unit to perform steering control on the vehicle.

[0085] S405: Sends the target steering angle to the rear wheel steering controller so that the rear wheel steering controller can control the vehicle to steer according to the target steering angle.

[0086] In this embodiment, the rear-wheel steering controller can control the rear wheel steering angle based on the target turning angle, thereby achieving the purpose of steering control of the vehicle. When the vehicle is traveling at low speed, the rear-wheel steering controller can control the rear wheel steering angle in the opposite direction to the front wheel steering angle, allowing the vehicle to quickly change direction by reducing the turning radius when turning. This embodiment does not specifically limit the method by which the rear-wheel steering controller controls the vehicle's steering.

[0087] In summary, this invention controls the vehicle's steering by means of the rear wheel steering controller (RWS) when the vehicle's actual speed does not exceed a preset speed threshold. This avoids the problem that the vehicle dynamic domain calculation unit has low sensitivity in controlling the vehicle's front and rear axle motors based on the steering vector torque when the vehicle is traveling at low speeds. This is beneficial to improving the stability of the vehicle steering control system when the vehicle is traveling at high speeds.

[0088] In one implementation, the target yaw torque is calculated as follows:

[0089] Receives the vehicle's steering wheel angle sent by the electronic steering controller;

[0090] In a specific implementation, the electronic steering controller in this embodiment can acquire the steering wheel angle signal in real time through the steering wheel angle sensor, thereby obtaining the steering wheel angle, and then send the obtained steering wheel angle to the vehicle stability controller.

[0091] Real-time acquisition of the vehicle's actual yaw angle;

[0092] The target yaw torque is calculated based on the actual yaw angle, steering wheel angle, and actual vehicle speed.

[0093] The actual yaw angle represents the actual yaw angle of the vehicle during the turning process, while the target yaw angle is the yaw angle that the vehicle should reach during the turning process. When there is a difference between the target yaw angle and the actual yaw angle, the yaw angle difference between the target yaw angle and the actual yaw angle is calculated. Then, PID logic is performed on the yaw angle difference to obtain the target yaw torque. The subsequent steps of vehicle steering control are executed through the target yaw torque.

[0094] In one implementation, the target yaw torque can be obtained in the following way:

[0095] The target yaw angle is calculated based on the steering wheel angle and the actual vehicle speed.

[0096] The difference between the target yaw angle and the actual yaw angle is calculated.

[0097] The target yaw torque is obtained by performing PID logic calculations on the yaw angle difference.

[0098] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0099] Example 3

[0100] Embodiment 3 of the present invention discloses a controller, the internal structure of which can be shown in the figure below. Figure 6 As shown. The controller includes a processor and memory connected via a system bus. The processor provides computational and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores a computer program. The internal memory provides an environment for the execution of the computer program in the non-volatile storage medium. When executed by the processor, the computer program implements a vehicle steering control method.

[0101] In one embodiment, a controller is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to perform the following steps:

[0102] Real-time acquisition of vehicle speed;

[0103] When the actual vehicle speed exceeds the preset speed threshold, the target yaw torque is converted into steering vector torque;

[0104] The steering vector torque is sent to the vehicle dynamics domain calculation unit, so that the vehicle dynamics domain calculation unit controls the front and rear axle motors of the vehicle to perform steering control based on the steering vector torque.

[0105] In summary, this embodiment converts the target yaw torque into a steering vector torque when the vehicle's actual speed exceeds a preset speed threshold, and sends the steering vector torque to the vehicle dynamic domain calculation unit. This allows the vehicle dynamic domain calculation unit to control the front and rear axle motors of the vehicle to perform steering control based on the steering vector torque. Therefore, this invention avoids the problem of low steering sensitivity in the rear wheel steering controller (RWS) at high speeds by controlling the front and rear axle motors of the vehicle based on the steering vector torque when the vehicle's actual speed exceeds the preset speed threshold, thus improving the stability of the vehicle steering control system at high speeds.

[0106] In one implementation, this embodiment may further include the following steps:

[0107] When the actual vehicle speed does not exceed the preset speed threshold, the target yaw torque is converted into the target steering angle;

[0108] The target steering angle is sent to the rear wheel steering controller so that the rear wheel steering controller can steer the vehicle according to the target steering angle.

[0109] In summary, in this embodiment, when the actual vehicle speed does not exceed the preset speed threshold, the rear wheel steering controller (RWS) controls the vehicle's steering. This avoids the problem that the vehicle dynamic domain calculation unit has low sensitivity in controlling the front and rear axle motors of the vehicle based on the steering vector torque when the vehicle is traveling at low speeds. This helps to improve the stability of the vehicle steering control system when the vehicle is traveling at high speeds.

[0110] In one implementation, the target yaw torque is calculated as follows:

[0111] Receives the vehicle's steering wheel angle sent by the electronic steering controller;

[0112] Real-time acquisition of the vehicle's actual yaw angle;

[0113] The target yaw torque is calculated based on the actual yaw angle, steering wheel angle, and actual vehicle speed.

[0114] In one implementation, the target yaw torque can be obtained in the following way:

[0115] The target yaw angle is calculated based on the steering wheel angle and the actual vehicle speed.

[0116] The difference between the target yaw angle and the actual yaw angle is calculated.

[0117] The target yaw torque is obtained by performing PID logic calculations on the yaw angle difference.

[0118] Example 4

[0119] Embodiment 4 of the present invention discloses a vehicle, which includes the vehicle steering control system described in the above embodiments, wherein the vehicle steering control system includes an electronic steering controller, a vehicle stability controller, a rear wheel steering controller, and a vehicle dynamic domain calculation unit.

[0120] In one embodiment, a vehicle is provided that includes a vehicle steering control system, which performs the following steps during driving:

[0121] Real-time acquisition of vehicle speed;

[0122] When the actual vehicle speed exceeds the preset speed threshold, the target yaw torque is converted into steering vector torque;

[0123] The steering vector torque is sent to the vehicle dynamics domain calculation unit, so that the vehicle dynamics domain calculation unit controls the front and rear axle motors of the vehicle to perform steering control based on the steering vector torque.

[0124] In summary, during vehicle operation in this embodiment, the vehicle steering control system converts the target yaw torque into a steering vector torque when the vehicle's actual speed exceeds a preset speed threshold. This steering vector torque is then sent to the vehicle dynamic domain calculation unit, which controls the front and rear axle motors to steer the vehicle based on the steering vector torque. Therefore, this invention avoids the problem of low steering sensitivity in the rear wheel steering controller (RWS) at high speeds by controlling the front and rear axle motors based on the steering vector torque when the vehicle's actual speed exceeds the preset speed threshold, thus improving the stability of the vehicle steering control system at high speeds.

[0125] In one implementation, this embodiment may further include the following steps:

[0126] When the actual vehicle speed does not exceed the preset speed threshold, the target yaw torque is converted into the target steering angle;

[0127] The target steering angle is sent to the rear wheel steering controller so that the rear wheel steering controller can steer the vehicle according to the target steering angle.

[0128] In summary, in this embodiment, when the actual vehicle speed does not exceed the preset speed threshold, the rear wheel steering controller (RWS) controls the vehicle's steering. This avoids the problem that the vehicle dynamic domain calculation unit has low sensitivity in controlling the front and rear axle motors of the vehicle based on the steering vector torque when the vehicle is traveling at low speeds. This helps to improve the stability of the vehicle steering control system when the vehicle is traveling at high speeds.

[0129] In one implementation, the target yaw torque is calculated as follows:

[0130] Receives the vehicle's steering wheel angle sent by the electronic steering controller;

[0131] Real-time acquisition of the vehicle's actual yaw angle;

[0132] The target yaw torque is calculated based on the actual yaw angle, steering wheel angle, and actual vehicle speed.

[0133] In one implementation, the target yaw torque can be obtained in the following way:

[0134] The target yaw angle is calculated based on the steering wheel angle and the actual vehicle speed.

[0135] The difference between the target yaw angle and the actual yaw angle is calculated.

[0136] The target yaw torque is obtained by performing PID logic calculations on the yaw angle difference.

[0137] Example 5

[0138] Embodiment 5 of the present invention discloses a readable storage medium that, when the instructions in the readable storage medium are executed by a processor in a controller, enables the controller to perform the steps of any embodiment of a vehicle steering control method disclosed in the present invention. The readable storage medium may be non-volatile or volatile.

[0139] In one embodiment, a readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, performs the following steps:

[0140] Real-time acquisition of vehicle speed;

[0141] When the actual vehicle speed exceeds the preset speed threshold, the target yaw torque is converted into steering vector torque;

[0142] The steering vector torque is sent to the vehicle dynamics domain calculation unit, so that the vehicle dynamics domain calculation unit controls the front and rear axle motors of the vehicle to perform steering control based on the steering vector torque.

[0143] In summary, this embodiment converts the target yaw torque into a steering vector torque when the vehicle's actual speed exceeds a preset speed threshold, and sends the steering vector torque to the vehicle dynamic domain calculation unit. This allows the vehicle dynamic domain calculation unit to control the front and rear axle motors of the vehicle to perform steering control based on the steering vector torque. Therefore, this invention avoids the problem of low steering sensitivity in the rear wheel steering controller (RWS) at high speeds by controlling the front and rear axle motors of the vehicle based on the steering vector torque when the vehicle's actual speed exceeds the preset speed threshold, thus improving the stability of the vehicle steering control system at high speeds.

[0144] In one implementation, this embodiment may further include the following steps:

[0145] When the actual vehicle speed does not exceed the preset speed threshold, the target yaw torque is converted into the target steering angle;

[0146] The target steering angle is sent to the rear wheel steering controller so that the rear wheel steering controller can steer the vehicle according to the target steering angle.

[0147] In summary, in this embodiment, when the actual vehicle speed does not exceed the preset speed threshold, the rear wheel steering controller (RWS) controls the vehicle's steering. This avoids the problem that the vehicle dynamic domain calculation unit has low sensitivity in controlling the front and rear axle motors of the vehicle based on the steering vector torque when the vehicle is traveling at low speeds. This helps to improve the stability of the vehicle steering control system when the vehicle is traveling at high speeds.

[0148] In one implementation, the target yaw torque is calculated as follows:

[0149] Receives the vehicle's steering wheel angle sent by the electronic steering controller;

[0150] Real-time acquisition of the vehicle's actual yaw angle;

[0151] The target yaw torque is calculated based on the actual yaw angle, steering wheel angle, and actual vehicle speed.

[0152] In one implementation, the target yaw torque can be obtained in the following way:

[0153] The target yaw angle is calculated based on the steering wheel angle and the actual vehicle speed.

[0154] The difference between the target yaw angle and the actual yaw angle is calculated.

[0155] The target yaw torque is obtained by performing PID logic calculations on the yaw angle difference.

[0156] It should be understood that, when used in this specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0157] It should also be understood that the term “and / or” as used in this specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0158] As used in this specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if [described condition or event] is detected" may be interpreted, depending on the context, as meaning "once determined," "in response to determination," "once [described condition or event] is detected," or "in response to detection of [described condition or event]."

[0159] Furthermore, in the description of this invention and the appended claims, the terms "first," "second," "third," etc., are used only for distinguishing descriptions and should not be construed as indicating or implying relative importance.

[0160] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of the invention include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, phrases such as "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0161] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. This computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments described above. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0162] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is used as an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.

[0163] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A vehicle steering control system, characterized in that, include: The vehicle stability controller acquires the actual vehicle speed in real time. When the actual vehicle speed exceeds a preset speed threshold, it converts the target yaw torque into a steering vector torque and sends the steering vector torque to the vehicle dynamic domain calculation unit. The vehicle dynamic domain calculation unit controls the front and rear axle motors of the vehicle to perform steering control based on the steering vector torque. When the actual vehicle speed does not exceed a preset speed threshold, the vehicle stability controller converts the target yaw torque into a target steering angle and sends the target steering angle to the rear wheel steering controller. The rear wheel steering controller controls the vehicle to steer according to the target steering angle.

2. The vehicle steering control system as described in claim 1, characterized in that, Also includes: Electronic steering controller; The electronic steering controller acquires the steering wheel angle of the vehicle in real time and sends the steering wheel angle to the vehicle stability controller; The vehicle stability controller acquires the actual yaw angle of the vehicle in real time, and calculates the target yaw torque based on the actual yaw angle, the steering wheel angle, and the actual vehicle speed.

3. The vehicle steering control system as described in claim 2, characterized in that, The target yaw torque is obtained in the following way: The target yaw angle is calculated based on the steering wheel angle and the actual vehicle speed. The difference between the target yaw angle and the actual yaw angle is calculated. The target yaw torque is obtained by performing PID logic calculations on the yaw angle difference.

4. A vehicle steering control method, characterized in that, Applied to a vehicle stability controller, the method includes: Real-time acquisition of vehicle speed; When the actual vehicle speed exceeds a preset speed threshold, the target yaw torque is converted into steering vector torque; The steering vector torque is sent to the vehicle dynamic domain calculation unit so that the vehicle dynamic domain calculation unit controls the front and rear axle motors of the vehicle to perform steering control based on the steering vector torque. The method further includes, after acquiring the vehicle's actual speed in real time: When the actual vehicle speed does not exceed the preset speed threshold, the target yaw torque is converted into a target steering angle; The target steering angle is sent to the rear wheel steering controller so that the rear wheel steering controller controls the vehicle to steer according to the target steering angle.

5. The vehicle steering control method as described in claim 4, characterized in that, The target yaw torque is calculated in the following way: Receives the vehicle's steering wheel angle sent by the electronic steering controller; The actual yaw angle of the vehicle is obtained in real time; The target yaw torque is calculated based on the actual yaw angle, the steering wheel angle, and the actual vehicle speed.

6. A controller comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the vehicle steering control method as described in any one of claims 4 to 5.

7. A vehicle, characterized in that, The vehicle includes the vehicle steering control system described in any one of claims 1-3.

8. A readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the vehicle steering control method as described in any one of claims 4 to 5.

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