Vehicle driving control method, wire-controlled steering device and vehicle

Abstract

The present application relates to the field of automobile driving technology, and provides a vehicle driving control method, a wire steering device and a vehicle. The method is applied to the wire steering device in the wire steering system of the vehicle, including: when it is determined that the wire steering column has an abnormal fault, the current driving state information of the vehicle is obtained through the curve speed assistance system and the vehicle controller; the current driving state information includes the current steering wheel angle and the current steering wheel speed obtained by the curve speed assistance system, and the current vehicle speed and the current lateral acceleration obtained by the vehicle controller; the target wheel angle and the target wheel angular velocity of the vehicle are calculated according to the current driving state information; the target lateral acceleration is determined according to the target wheel angle and the target wheel angular velocity, and the vehicle is driven and controlled based on the target lateral acceleration. The method can ensure the safety of vehicle driving control when the wire steering column has an abnormal fault.

Description

Technical Field

[0001] The present application relates to the field of automobile driving technology, and in particular to a vehicle driving control method, a wire-controlled steering device and a vehicle. Background Art

[0002] With the gradual improvement of vehicle intelligence and automation level, as well as the development of electric vehicles, motors and other technologies, the wire steering system is also gradually developing and improving. Compared with the traditional vehicles equipped with the steering system with the intermediate shaft structure, the wire steering system in the current vehicles cancels the intermediate shaft structure, but adds the hand feeling simulation logic function to the wire steering column. Therefore, when driving a vehicle equipped with the wire steering system, the hand feeling simulation function can be used to feedback a hand force so that the driver can feel the road conditions and the state of the vehicle in real time. The wire steering column completely relies on the circuit to control the motor output to create the hand feel. If there is an abnormal fault in the wire steering column, resulting in the loss of hand force, the driver will lose control of the vehicle state and cannot judge the current road conditions. For example, when the wheel is stuck by the curb and passes the potholes, the driver will not be able to judge the current state of the wheel and cannot make appropriate handling of the current road conditions. Without hand force, it will be difficult for the driver to control the steering wheel speed. When the steering wheel speed increases, the steering gear will follow faster, so that the wheel rotation speed increases, affecting the lateral stability of the vehicle. When driving at high speed and turning to avoid danger in an emergency, the driver loses hand strength and turns the steering wheel very quickly, and the wheels turn very quickly, which will cause the vehicle's yaw angular velocity and lateral acceleration to be very large, and may even cause the vehicle to skid out of control.

[0003] Therefore, how to ensure the safety of vehicle driving control when there is an abnormal fault in the wire-controlled steering column is a technical problem that technical personnel in this field currently need to solve. Summary of the invention

[0004] The purpose of the present application is to provide a vehicle driving control method, device, wire-controlled steering, a vehicle, a computer-readable storage medium and a computer program product, which can ensure the safety of vehicle driving control when there is an abnormal fault in the wire-controlled steering column.

[0005] In a first aspect, the present application provides a vehicle driving control method, which is applied to a steer-by-wire device in a steer-by-wire system of a vehicle. The method comprises:

[0006] When it is determined that the wire-controlled steering column has an abnormal fault, the current driving state information of the vehicle is obtained through the curve speed assistance system and the vehicle controller; the current driving state information includes the current steering wheel angle and the current steering wheel speed obtained through the curve speed assistance system, and the current vehicle speed and the current lateral acceleration obtained through the vehicle controller;

[0007] Calculating a target wheel angle and a target wheel angular velocity of the vehicle according to the current driving state information;

[0008] A target lateral acceleration is determined according to the target wheel turning angle and the target wheel turning angle velocity, and driving control of the vehicle is performed based on the target lateral acceleration.

[0009] In one embodiment, calculating the target wheel angle and target wheel angular velocity of the vehicle according to the current driving state information includes:

[0010] When it is determined that the vehicle is in an accelerated driving state, determining the acceleration change rate according to the current vehicle speed and the vehicle speed at a previous moment;

[0011] Obtaining a preset wheel angular velocity upper limit value, determining a wheel angular velocity demand change amount according to the preset wheel angular velocity upper limit value and the acceleration change rate, and determining a wheel angular velocity demand change interval;

[0012] Determining a wheel angular velocity reference value according to the current steering wheel speed;

[0013] The target wheel angular velocity of the vehicle is determined according to the relationship between the wheel angular velocity reference value and the wheel angular velocity requirement variation range.

[0014] In one embodiment, calculating the target wheel angle and target wheel angular velocity of the vehicle according to the current driving state information includes:

[0015] The target wheel angle of the vehicle is calculated according to the current steering wheel angle and a steering gear ratio corresponding to the current vehicle speed.

[0016] In one of the embodiments, the abnormal fault of the steer-by-wire column includes a communicable fault and a non-communicable fault.

[0017] In one of the embodiments, when it is determined that the wire-controlled steering column has an abnormal fault, after obtaining the current driving state information of the vehicle through the curve speed assistance system and the vehicle controller, the method further includes:

[0018] Determining whether the vehicle meets the auxiliary steering function switching condition according to the current driving state information;

[0019] If the auxiliary steering function switching condition is met, entering the step of calculating the target wheel angle and target wheel angular velocity of the vehicle according to the current driving state information;

[0020] Otherwise, continue to execute the step of obtaining the current driving state information of the vehicle through the curve speed assistance system and the vehicle controller.

[0021] In one embodiment, determining the target lateral acceleration according to the target wheel angle and the target wheel angular velocity comprises:

[0022] Determining a turning radius of the vehicle according to the target wheel angle and the vehicle wheelbase;

[0023] Calculating the yaw rate of the vehicle according to the target wheel angular velocity and the wheel radius;

[0024] Calculating the lateral speed of the vehicle at a current moment according to the turning radius and the yaw rate;

[0025] The target lateral acceleration is determined based on the lateral speed of the vehicle at a previous moment, the lateral speed at the current moment, and a time interval.

[0026] In one embodiment, determining whether the vehicle meets the auxiliary steering function switching condition according to the current driving state information includes:

[0027] Determining whether the current vehicle speed, the current steering wheel angle, and the current steering wheel speed are respectively within corresponding preset ranges;

[0028] If the current vehicle speed, the current steering wheel angle, and the current steering wheel speed are all within corresponding preset ranges, it is determined that the vehicle meets the auxiliary steering function switching condition;

[0029] If any of the current driving state information among the current vehicle speed, the current steering wheel angle and the current steering wheel speed is not within the corresponding preset range, it is determined that the vehicle does not meet the auxiliary steering function switching condition.

[0030] In one embodiment, the method further comprises:

[0031] After the vehicle is powered off, when the next ignition cycle is initialized, if an abnormal fault is detected in the steering-by-wire column, the auxiliary steering function is not started until it is determined that the state of the steering-by-wire column has returned to normal.

[0032] In a second aspect, the present application also provides a vehicle driving control device, which is applied to a wire-controlled steering device in a wire-controlled steering system of a vehicle. The device comprises:

[0033] an acquisition module, for acquiring current driving state information of the vehicle through a curve speed assistance system and a vehicle controller when it is determined that an abnormal fault exists in the wire-controlled steering column; the current driving state information includes a current steering wheel angle and a current steering wheel speed acquired through the curve speed assistance system, and a current vehicle speed and a current lateral acceleration acquired through the vehicle controller;

[0034] A determination module, configured to calculate a target wheel angle and a target wheel angular velocity of the vehicle according to the current driving state information;

[0035] A control module is used to determine a target lateral acceleration according to the target wheel angle and the target wheel angular velocity, and to perform driving control on the vehicle based on the target lateral acceleration.

[0036] In a third aspect, the present application further provides a wire-controlled steering device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above method when executing the computer program.

[0037] In a fourth aspect, the present application also provides a vehicle, including a vehicle body and a controller, wherein the controller executes the steps of the above method.

[0038] In a fifth aspect, the present application further provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0039] In a sixth aspect, the present application further provides a computer program product. The computer program product includes a computer program, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0040] A vehicle driving control method provided by the present application is applied to a wire steering device in a wire steering system of a vehicle. The method uses the wire steering device to take over the operation of the wire steering column after determining that an abnormal fault exists in the wire steering column, resulting in loss of hand force. The wire steering device obtains the current driving state information of the vehicle through a cornering speed assistance system and a vehicle controller; the current driving state information includes a current steering wheel angle and a current steering wheel speed obtained by the cornering speed assistance system, and a current vehicle speed and a current lateral acceleration obtained by the vehicle controller; then, a target wheel angle and a target wheel angular velocity of the vehicle are calculated according to the current driving state information; a target lateral acceleration is determined according to the target wheel angle and the target wheel angular velocity, and the vehicle is driven and controlled based on the target lateral acceleration to avoid a situation where the steering wheel speed is too fast due to loss of hand force, which greatly increases the target lateral acceleration, and avoids the risk of the vehicle skidding. Therefore, the method can ensure the safety of vehicle driving control when an abnormal fault exists in the wire steering column.

[0041] It can be understood that the vehicle driving control device, the wire-controlled steering device, a vehicle, a computer-readable storage medium and a computer program product provided in the embodiments of the present application have the same beneficial effects as the above-mentioned vehicle driving control method, which will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0043] Figure 1 A flow chart of a vehicle driving control method provided in an embodiment of the present application;

[0044] Figure 2 In another vehicle driving control method provided in an embodiment of the present application, S200 is a flowchart of calculating a target wheel angle and a target wheel angular velocity of the vehicle according to the current driving state information;

[0045] Figure 3 A logic diagram of determining a target wheel angular velocity of a vehicle according to the current driving state information provided in an embodiment of the present application;

[0046] Figure 4 A logical schematic diagram of determining a target wheel angle of a vehicle according to the current driving state information provided in an embodiment of the present application;

[0047] Figure 5 A schematic diagram of another vehicle driving control method provided in an embodiment of the present application;

[0048] Figure 6 A schematic diagram of the structure of a vehicle driving control device provided in an embodiment of the present application;

[0049] Figure 7 A schematic structural diagram of a wire-controlled steering device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0050] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0051] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0052] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0053] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.

[0054] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0055] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways. "Multiple" means "two or more".

[0056] A vehicle driving control method provided in an embodiment of the present application is applied to a steer-by-wire device in a steer-by-wire system of a vehicle, that is, it can be executed by the steer-by-wire device when running a corresponding computer program.

[0057] It should be noted that the steer-by-wire system includes a steer-by-wire column and a steer-by-wire gear, and the steer-by-wire column and the steer-by-wire gear are communicatively connected.

[0058] Based on the difference between the steer-by-wire system and the traditional mechanical system, the steer-by-wire column and the steer-by-wire gear of the steer-by-wire system can be two separate systems, which are connected by a wiring harness for signal transmission. The steer-by-wire column is connected to the steering wheel, and obtains the steering wheel angle and speed through the angle and speed sensors, and controls the torque output of the tactile motor of the steer-by-wire column to achieve tactile simulation. The torque output by the tactile motor is the reaction force that the driver can feel when turning the steering wheel. Here, the reaction force allows the driver to clearly perceive the state of the vehicle in straight driving or turning. The steer-by-wire column will also calculate the target wheel angle and target wheel angular speed from the received signals such as the steering wheel angle and steering wheel speed, and send them to the steer-by-wire gear.

[0059] The steer-by-wire column is connected to the steer-by-wire gear through wires and realizes communication; the steer-by-wire gear controls the output of the steer-by-wire gear actuator motor as a system, and the output of this motor controls the rack to turn left or right, thereby driving the wheel to turn. After receiving the target wheel angle and target wheel angular velocity from the steer-by-wire column, the steer-by-wire gear controls the output of the actuator motor through internal logic, thereby realizing the rack moving to the target position at the target speed. That is, the actual angle and actual angular velocity of the steer-by-wire gear when it is working are calculated by the steer-by-wire column through the steering wheel angle and steering wheel speed.

[0060] When the steer-by-wire column operates normally, the steer-by-wire column transmits signals such as the target wheel angle and the target wheel angular velocity to the steer-by-wire gear through wires. The steer-by-wire gear, as the actuator of the steer-by-wire system, controls the output of the power steering motor to execute wheel rotation after receiving signals such as the target wheel angle and the target wheel angular velocity, thereby controlling the steering of the vehicle.

[0061] After the failure of the wire steering column occurs, the driver feels that the force on the steering wheel becomes significantly lighter, and the speed of turning the steering wheel will become significantly faster, even exceeding the driver's preset position, which will cause the wheel to follow the speed significantly faster, possibly exceeding the driver's preset position. If the output speed of the wire steering device is not limited under high speed conditions, a large lateral acceleration will be generated, and when the lateral acceleration exceeds 1 g of gravity acceleration, it will cause serious dangers such as vehicle skidding.

[0062] In addition, the steer-by-wire device is communicatively connected to the vehicle controller, and the vehicle controller sends the current vehicle speed, the current yaw angular velocity and the current lateral acceleration to the steer-by-wire device.

[0063] Figure 1 This is a flow chart of a vehicle driving control method provided in an embodiment of the present application. For the sake of convenience, only the part related to the present embodiment is shown. The method provided in the present embodiment includes the following steps:

[0064] S100: When it is determined that there is an abnormal fault in the wire-controlled steering column, the current driving state information of the vehicle is obtained through the curve speed assistance system and the vehicle controller; the current driving state information includes the current steering wheel angle and the current steering wheel speed obtained through the curve speed assistance system, and the current vehicle speed and the current lateral acceleration obtained through the vehicle controller.

[0065] In this step, abnormal faults include communication faults and non-communication faults. When it is determined that there is an abnormal fault in the wire steering column, it means that the wire steering column cannot accurately send signals such as the target wheel angle and the target wheel angular velocity to the wire steering gear. The force felt by the driver on the steering wheel will be significantly lighter, and the speed of turning the steering wheel will be significantly faster, even exceeding the predetermined position, which will cause the wheel angular velocity to be significantly faster, possibly exceeding the corresponding predetermined position, and even causing serious dangers such as vehicle skidding.

[0066] Specifically, when the steer-by-wire device determines that there is an abnormal fault in the steer-by-wire column, it sends a signal to the curve speed assistance system that the controlled state is curve speed assistance (CSA), so that the curve speed assistance system subsequently sends the current steering wheel angle and the current steering wheel speed to the steer-by-wire device; and the steer-by-wire device continues to receive signals such as the current vehicle speed, the current yaw angular velocity and the current lateral acceleration sent by the vehicle controller.

[0067] Among them, the cornering speed assistance system can monitor road conditions and vehicle status in real time, and obtain the vehicle's current steering wheel angle and current steering wheel speed.

[0068] S200: Calculating a target wheel turning angle and a target wheel turning angular velocity of the vehicle according to current driving state information.

[0069] Specifically, after the assisted steering function is turned on by the wire steering gear, the wire steering gear is no longer controlled by the wire steering column. After receiving the vehicle's current driving status information sent by the cornering speed assist system and the vehicle controller, the vehicle's target wheel angle and target wheel angular speed are calculated based on the current driving status information.

[0070] The target wheel angle refers to the turning angle that the wheels of the vehicle are expected to perform; the target wheel angular speed refers to the rotational speed of the wheels of the vehicle during the steering process, that is, the rotational speed of the wire-controlled steering gear.

[0071] S300: Determine a target lateral acceleration according to a target wheel turning angle and a target wheel turning angle velocity, and perform driving control on the vehicle based on the target lateral acceleration.

[0072] The target lateral acceleration refers to the acceleration of the vehicle in the horizontal plane, perpendicular to the longitudinal axis of the vehicle.

[0073] In this step, after the target wheel angle and the target wheel angular velocity are determined, the target lateral acceleration is determined according to the target wheel angle and the target wheel angular velocity.

[0074] In practical applications, it is necessary to ensure that the target lateral acceleration of the vehicle is within a preset safety range to avoid the risk of the vehicle skidding out of control due to excessive yaw rate and lateral acceleration. The preset safety range may be 0.5 times the acceleration of gravity (i.e., 0.5g), which is not limited in this embodiment and can be selected and set according to actual needs.

[0075] In actual applications, after calculating the target lateral acceleration, it can be determined whether the target lateral acceleration is within the preset safety range. If the target lateral acceleration exceeds the preset safety range, the vehicle speed and wheel angular velocity can be reduced through the vehicle controller, or the driver can be prompted to reduce the vehicle speed and wheel angular velocity so that the driver can control the driving according to the prompt, thereby making the lateral acceleration within the preset safety range and ensuring vehicle driving safety.

[0076] In another practical application, after calculating the target lateral acceleration, the vehicle speed and wheel angular velocity can be directly reduced through the vehicle controller, or the driver can be prompted to reduce the vehicle speed and wheel angular velocity so that the driver can control the driving according to the prompt, thereby making the lateral acceleration within the preset safety range, thereby achieving emergency stopping.

[0077] A vehicle driving control method provided in an embodiment of the present application is applied to a wire steering device in a wire steering system of a vehicle. The method uses the wire steering device to take over the operation of the wire steering column after determining that an abnormal fault exists in the wire steering column, resulting in loss of hand force. The wire steering device obtains the current driving state information of the vehicle through a cornering speed assistance system and a vehicle controller; the current driving state information includes a current steering wheel angle and a current steering wheel speed obtained by the cornering speed assistance system, and a current vehicle speed and a current lateral acceleration obtained by the vehicle controller; then, a target wheel angle and a target wheel angular velocity of the vehicle are calculated according to the current driving state information; a target lateral acceleration is determined according to the target wheel angle and the target wheel angular velocity, and the vehicle is driven and controlled based on the target lateral acceleration to avoid a situation where the steering wheel speed is too fast due to loss of hand force, which greatly increases the target lateral acceleration, and avoids the risk of the vehicle skidding. Therefore, the method can ensure the safety of vehicle driving control when an abnormal fault exists in the wire steering column.

[0078] Based on the above embodiments, this embodiment further illustrates and optimizes the technical solution. Specifically, Figure 2 In another vehicle driving control method provided in an embodiment of the present application, S200 is a flow chart of calculating a target wheel angle and a target wheel angular velocity of the vehicle according to current driving state information; Figure 3 A logical diagram of determining the target wheel angular velocity of a vehicle according to the current driving state information provided in an embodiment of the present application. Figure 2 and Figure 3 As shown, S200: Calculating the target wheel angle and target wheel angular velocity of the vehicle according to the current driving state information, including:

[0079] S210: When it is determined that the vehicle is in an accelerating state, the acceleration change rate is determined according to the current vehicle speed and the vehicle speed at a previous moment.

[0080] Specifically, the difference between the vehicle's current speed (VehSpd) and the speed at the previous moment is calculated; if the difference is greater than 0, it is determined that the vehicle is in an accelerating state, and the risk of a sudden change in the wheel angle is high, so the acceleration change rate is determined based on the current speed and the speed at the previous moment; if the difference is less than or equal to 0, it is determined that the vehicle is in a decelerating or constant speed state, the risk of a sudden change in the wheel angle is low, and no subsequent calculation is performed.

[0081] Specifically, determining the acceleration change rate according to the current vehicle speed and the vehicle speed at the previous moment includes: determining the acceleration change rate according to the square of the ratio of the current vehicle speed to the vehicle speed at the previous moment.

[0082] S220: Obtain a preset wheel angular velocity upper limit value, determine a wheel angular velocity demand change amount according to the preset wheel angular velocity upper limit value and the acceleration change rate, and determine a wheel angular velocity demand change range.

[0083] The preset upper limit value of the wheel angular velocity (Anglelimit) is determined according to the vehicle type. The present embodiment does not limit the specific value of the preset upper limit value of the wheel angular velocity, and for example, it can be set to 10° / s.

[0084] It can be understood that, since the lateral acceleration is proportional to the square of the vehicle speed, and the lateral acceleration is inversely proportional to the wheel angular velocity, the wheel angular velocity is inversely proportional to the square of the vehicle speed; when it is determined that the vehicle is in an accelerated driving state, the wheel angular velocity needs to be changed to meet the lateral acceleration requirement caused by the increase in vehicle speed, that is, the required change in wheel angular velocity needs to be determined. Specifically, the absolute value of the preset upper limit of the wheel angular velocity is determined, and the product of the absolute value of the preset upper limit of the wheel angular velocity and the acceleration change rate is used to determine the required change in wheel angular velocity.

[0085] Then, the wheel angular velocity requirement change amount is set as the upper limit value of the wheel angular velocity requirement change interval, and the lower limit value of the wheel angular velocity requirement change interval is set to 0, thereby obtaining the wheel angular velocity requirement change interval.

[0086] S230: Determine a wheel angular velocity reference value according to the current steering wheel speed.

[0087] Specifically, the current steering wheel speed (AngleSpd) is obtained to determine whether the current steering wheel speed (AngleSpd) is less than the upper limit of the steering wheel speed; if it is, the absolute value of the current steering wheel speed (AngleSpd) is divided by the speed transmission ratio to obtain the wheel angular velocity reference value; otherwise, the absolute value of the upper limit of the steering wheel speed is divided by the speed transmission ratio to obtain the wheel angular velocity reference value. In this embodiment, the specific value of the speed transmission ratio is not limited, such as 10. In this embodiment, the upper limit of the steering wheel speed can be determined according to the square of the acceleration change rate.

[0088] S240: Determine a target wheel angular velocity of the vehicle according to a relationship between the wheel angular velocity reference value and the wheel angular velocity requirement variation range.

[0089] Specifically, it is determined whether the wheel angular velocity reference value is within the wheel angular velocity demand change interval; if it is within the wheel angular velocity demand change interval, the calculated wheel angular velocity reference value is determined as the target wheel angular velocity; if it is not within the wheel angular velocity demand change interval, that is, the wheel angular velocity reference value is greater than the wheel angular velocity demand change amount, the wheel angular velocity demand change amount is determined as the target wheel angular velocity (Target speed).

[0090] It can be seen that according to the method of this embodiment, when it is determined that the vehicle is in an accelerated driving state, the acceleration change rate is determined according to the current vehicle speed and the vehicle speed at the previous moment, and a preset wheel angular velocity upper limit value is obtained. The wheel angular velocity demand change amount is determined according to the preset wheel angular velocity upper limit value and the acceleration change rate, and the wheel angular velocity demand change range is determined. The wheel angular velocity reference value is determined according to the current steering wheel speed. According to the relationship between the wheel angular velocity reference value and the wheel angular velocity demand change range, the target wheel angular velocity of the vehicle is determined; the target wheel angular velocity of the vehicle can be determined efficiently and accurately according to the current driving state information, thereby improving the efficiency and accuracy of vehicle driving control.

[0091] Figure 4 A logic diagram of determining a target wheel angle of a vehicle according to current driving state information provided in an embodiment of the present application. Based on the above embodiment, this embodiment further illustrates and optimizes the technical solution. Specifically, in this embodiment, the target wheel angle and target wheel angular velocity of the vehicle are calculated according to the current driving state information, including:

[0092] The target wheel angle of the vehicle is calculated based on the current steering wheel angle and the steering gear ratio corresponding to the current vehicle speed.

[0093] It can be understood that steering gear ratio = wheel angle / steering wheel angle; therefore, in this step, target wheel angle = current steering wheel angle * target steering gear ratio; the target steering gear ratio is the target steering gear ratio corresponding to the current vehicle speed.

[0094] In the example, a correspondence table between vehicle speed and steering gear ratio can be stored in advance; after obtaining the current vehicle speed, the target steering gear ratio corresponding to the current vehicle speed is searched based on the correspondence table; and then the target wheel angle is determined according to the product of the current steering wheel angle (Angle) and the target steering gear ratio.

[0095] In addition, a functional relationship between the vehicle speed and the steering gear ratio is also preset; after the current vehicle speed is obtained, a target steering gear ratio corresponding to the current vehicle speed is calculated based on the functional relationship and the current vehicle speed; and then a target wheel angle (Target corner) is determined based on the product of the current steering wheel angle (Angle) and the target steering gear ratio.

[0096] By determining the target wheel angle according to the method of this embodiment, the accuracy of the determined target wheel angle can be improved, and the accuracy of vehicle driving control can be improved.

[0097] On the basis of the above embodiments, this embodiment further illustrates and optimizes the technical solution. Specifically, in this embodiment, the abnormal faults of the wire-controlled steering column include a communicative fault and a non-communicative fault.

[0098] When the driver is driving the vehicle, if the sensor of the wire-controlled steering column fails, the hand feel motor will be unable to output and hand force will be lost. When this failure occurs, the wire-controlled steering column can still send signals externally; therefore, the wire-controlled steering column will send a wire-controlled column status fault signal externally after detecting its own fault.

[0099] In a specific example, when a communication fault occurs in a steer-by-wire column, the steer-by-wire column sends a steer-by-wire column status fault signal to the CSA system and the steer-by-wire gear; after receiving the steer-by-wire column status fault signal, the steer-by-wire gear will no longer receive the target angle request and target speed request from the steer-by-wire column, and sends a signal to the CSA system and the steer-by-wire column that the controlled state is CSA control; after receiving the signal from the steer-by-wire gear that the controlled state is CSA control, the CSA system sends signals such as the current steering wheel angle and the current steering wheel speed to the steer-by-wire gear.

[0100] In another example, if the power supply of the wire-controlled steering column fails, the entire wire-controlled steering column has no power supply and cannot work normally. Naturally, the motor cannot output power assistance. When this fault occurs, the wire-controlled steering column cannot send out signals, which means that the wire-controlled steering column has a communication failure.

[0101] In this case, the steer-by-wire device determines whether the steer-by-wire column has a non-communication fault by determining whether it receives the driving control signal sent by the steer-by-wire column within a preset period. For example, after the steer-by-wire device does not receive the driving control signal sent by the steer-by-wire column for five consecutive time periods, it determines that the steer-by-wire column has a non-communication fault; the steer-by-wire device will no longer receive the target angle request and target speed request from the steer-by-wire column, and send a signal that the controlled state is CSA control to the CSA system and the steer-by-wire column; after receiving the signal that the controlled state is CSA control from the steer-by-wire device, the CSA system sends signals such as the current steering wheel angle and the current steering wheel speed to the steer-by-wire device.

[0102] According to the method of this embodiment, regardless of whether the wire-controlled steering column has a communication fault or a non-communication fault, the vehicle's current driving status information can be obtained conveniently and timely through the cornering speed assistance system and the vehicle controller, and the vehicle driving control can be performed in a timely manner to ensure vehicle driving safety.

[0103] In a specific embodiment, the steering-by-wire device continuously monitors signals such as the current vehicle speed, the current steering wheel angle, and the state of the steering-by-wire column. When it is detected that the current vehicle speed = 0 km / h and there is no fault signal in the state of the steering-by-wire column, the steering-by-wire device enters the S03 state, and then sends a request to take over signal to the steering-by-wire column. If the steering-by-wire column receives the request to take over signal and feeds back a request to take over success signal to the steering-by-wire device, the steering-by-wire device turns off the auxiliary steering function, and the steering-by-wire device sends a controlled steering column control signal to the CSA system, after which the vehicle can perform steering control according to normal logic; if the steering-by-wire device does not receive the request to take over success signal fed back by the steering-by-wire column, the steering-by-wire device returns to the state S02.

[0104] The method of this embodiment can timely utilize the wire-controlled steering column to control the vehicle when the wire-controlled steering column eliminates the abnormality of the fault, thereby ensuring the normal and safe operation of the vehicle.

[0105] Based on the above embodiments, this embodiment further illustrates and optimizes the technical solution. Specifically, in this embodiment, when it is determined that the wire-controlled steering column has an abnormal fault, after obtaining the current driving state information of the vehicle through the curve speed assistance system and the vehicle controller, the method further includes:

[0106] Determine whether the vehicle meets the switching conditions of the auxiliary steering function according to the current driving state information;

[0107] If the auxiliary steering function switching condition is met, the step of calculating the target wheel angle and target wheel angular velocity of the vehicle according to the current driving state information is entered;

[0108] Otherwise, continue to execute the step of obtaining the current driving state information of the vehicle through the curve speed assistance system and the vehicle controller.

[0109] Specifically, when it is determined that there is an abnormal fault in the wire-controlled steering column, after obtaining the current driving state information of the vehicle through the cornering speed assist system and the vehicle controller, it is determined whether the current vehicle speed, steering wheel angle and current steering wheel speed are respectively within the corresponding preset ranges; based on the current driving state information, it is determined whether the vehicle meets the switching conditions of the auxiliary steering function. If the switching conditions of the auxiliary steering function are met, the auxiliary steering function is turned on, and the target wheel angle and target wheel angular velocity of the vehicle are calculated based on the current driving state information, and the auxiliary steering function is implemented using the target wheel angle and target wheel angular velocity.

[0110] If it is determined based on the current driving state information that the vehicle does not meet the switching conditions of the assisted steering function, that is, it is determined that the vehicle cannot turn on the assisted steering function, then the step of obtaining the current driving state information of the vehicle through the cornering speed assistance system and the vehicle controller is continued.

[0111] According to the method of this embodiment, the assisted steering function of the vehicle is activated only when it is determined based on the current driving status information that the vehicle meets the switching conditions of the assisted steering function, and the target wheel angle and target wheel angular velocity of the vehicle are calculated based on the current driving status information. In other words, the assisted steering function of the vehicle is activated only when the need is determined, so as to avoid abuse of the assisted steering function and affect the safety of vehicle driving.

[0112] Based on the above embodiment, this embodiment further illustrates and optimizes the technical solution. Specifically, in this embodiment, the target lateral acceleration is determined according to the target wheel angle and the target wheel angular velocity, including:

[0113] Determine the turning radius of the vehicle based on the target wheel turning angle and the vehicle wheelbase;

[0114] Calculate the yaw rate of the vehicle according to the target wheel angular velocity and the wheel radius;

[0115] Calculate the lateral speed of the vehicle at the current moment according to the turning radius and the yaw rate;

[0116] The target lateral acceleration is determined based on the lateral speed of the vehicle at a previous moment and the lateral speed of the vehicle at a current moment and a time interval.

[0117] In a specific embodiment, after the wire control steering calculates the target wheel angle and the target wheel angular velocity, the turning radius of the vehicle is calculated according to the target wheel angle and the vehicle wheelbase. , ;in, Indicates the wheelbase of the vehicle. is the target wheel angle;

[0118] The yaw rate of the vehicle is calculated based on the target wheel angular velocity and the wheel radius; the yaw rate of the vehicle refers to the rotation speed of the vehicle around an axis perpendicular to the direction of travel of the vehicle. Specifically, the yaw rate ;in, represents the target wheel angular velocity, Indicates the wheelbase of the vehicle. Indicates wheel radius;

[0119] According to the turning radius of the vehicle and the vehicle's yaw rate Calculate the vehicle's current lateral speed ;

[0120] Based on the vehicle's lateral speed at the last moment and the lateral velocity at the current moment and time interval Determine the target lateral acceleration .

[0121] According to the method of this embodiment, the target lateral acceleration can be determined efficiently and accurately, thereby improving the efficiency of vehicle driving control.

[0122] Based on the above embodiment, this embodiment further illustrates and optimizes the technical solution. Specifically, in this embodiment, determining whether the vehicle meets the auxiliary steering function switching condition according to the current driving state information includes:

[0123] Determine whether the current vehicle speed, the current steering wheel angle, and the current steering wheel speed are within corresponding preset ranges;

[0124] If the current vehicle speed, the current steering wheel angle, and the current steering wheel speed are all within the corresponding preset ranges, it is determined that the vehicle meets the auxiliary steering function switching conditions;

[0125] If any of the current driving state information, including the current vehicle speed, the current steering wheel angle, and the current steering wheel speed, is not within the corresponding preset range, it is determined that the vehicle does not meet the auxiliary steering function switching conditions.

[0126] Specifically, when it is determined that there is an abnormal fault in the wire-controlled steering column, after obtaining the current driving state information of the vehicle through the cornering speed assist system and the vehicle controller, it is determined whether the current vehicle speed, the current steering wheel angle and the current steering wheel speed are respectively within the corresponding preset ranges; if the current driving state information such as the current vehicle speed, the current steering wheel angle and the current steering wheel speed are all within the corresponding preset ranges, it means that the vehicle meets the switching conditions of the assisted steering function, and therefore the assisted steering function is turned on, and the target wheel angle and target wheel angular velocity of the vehicle are calculated according to the current driving state information, and the assisted steering function is implemented using the target wheel angle and target wheel angular velocity.

[0127] If any of the current driving status information, including the current vehicle speed, the current steering wheel angle and the current steering wheel speed, is not within the corresponding preset range, it means that the vehicle does not meet the switching conditions of the assisted steering function and the assisted steering function cannot be turned on. Therefore, the step of obtaining the current driving status information of the vehicle through the cornering speed assistance system and the vehicle controller is continued.

[0128] In a specific example, when a communication fault occurs in the steering-by-wire column, the steering-by-wire column sends a steering-by-wire column status fault signal to the CSA system and the steering-by-wire gear; after receiving the steering-by-wire column status fault signal, the steering-by-wire gear enters the S01 state; when a non-communication fault occurs in the steering-by-wire column, the steering-by-wire column cannot send a signal externally, and the steering-by-wire gear does not receive a driving control signal sent by the steering column within a preset period, and the steering-by-wire gear enters the S01 state.

[0129] After the wire steering enters the S01 state, it sends a signal to the CSA system and the wire steering column that the controlled state is CSA control; after receiving the signal from the wire steering that the controlled state is CSA control, the CSA system sends signals such as the current steering wheel angle and the current steering wheel speed to the wire steering; and continues to receive signals such as the current vehicle speed, the current yaw rate and the current lateral acceleration sent by the vehicle controller. When the wire steering detects that the current vehicle speed is ≠0km / h, the current steering wheel angle is ≠0°, and the current steering wheel speed is ≠0° / s, the wire steering enters the S02 state and the auxiliary steering function is turned on; otherwise, the wire steering remains in the S01 state.

[0130] According to the method of this embodiment, it is possible to accurately determine whether the vehicle meets the conditions for switching the auxiliary steering function based on the current driving state information, which can prevent the vehicle from driving in unsafe conditions and further ensure driving safety.

[0131] Based on the above embodiments, this embodiment further illustrates and optimizes the technical solution. Specifically, in this embodiment, a vehicle driving control method further includes:

[0132] After the vehicle is powered off, when the next ignition cycle is initialized, if an abnormal fault in the wire-controlled steering column is detected, the auxiliary steering function will not be started until it is determined that the state of the wire-controlled steering column has returned to normal.

[0133] In this embodiment, when an abnormal fault occurs in the steering-by-wire column, the vehicle is stopped by the auxiliary steering function, and the vehicle is powered off. When the next ignition cycle is initialized, the steering-by-wire column is continuously monitored for abnormal faults. The abnormal faults include communication faults and non-communication faults.

[0134] If it is still determined that there is an abnormal fault in the steering-by-wire column, it means that the vehicle cannot be driven and controlled through the steering-by-wire column after ignition, resulting in steering control failure or inaccurate control. Therefore, the assisted steering function will not be started until the abnormal fault of the steering-by-wire column is eliminated and the status of the steering-by-wire column returns to normal.

[0135] According to the method of this embodiment, the vehicle can be prevented from driving in unsafe conditions, further ensuring driving safety.

[0136] In order to enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application are described in detail below in combination with actual application scenarios. Figure 5 A process diagram of another vehicle driving control method is shown in FIG. 1 . A vehicle driving control method provided in an embodiment of the present application is applied to a wire steering device in a wire steering system of a vehicle, and the specific steps are as follows:

[0137] The user controls the vehicle ignition and drives the vehicle. The steer-by-wire column continuously monitors the vehicle driving status and sends signals such as the target wheel angle, target wheel angular speed, and steer-by-wire column status to the steer-by-wire device:

[0138] When a communication fault occurs in the steer-by-wire column, the steer-by-wire column sends a steer-by-wire column status fault signal to the CSA system and the steer-by-wire gear; after receiving the steer-by-wire column status fault signal, the steer-by-wire gear enters the S01 state;

[0139] When the wire steering column fails to communicate, the wire steering column cannot send signals, and the wire steering device does not receive the driving control signal sent by the wire steering column within a preset period, the wire steering device enters the S01 state;

[0140] The steer-by-wire device obtains the current driving state information of the vehicle through the CSA system and the vehicle controller; the current driving state information includes the current steering wheel angle and the current steering wheel speed obtained through the CSA, and the current vehicle speed, the current yaw rate and the current lateral acceleration obtained through the vehicle controller;

[0141] Calculate the target wheel angle and target wheel angular velocity of the vehicle according to the current driving state information; specifically include calculating the target wheel angular velocity: when it is determined that the vehicle is in an accelerating driving state, determine the acceleration change rate according to the current vehicle speed and the vehicle speed at the previous moment; obtain a preset wheel angular velocity upper limit value, determine the wheel angular velocity demand change amount according to the preset wheel angular velocity upper limit value and the acceleration change rate, and determine the wheel angular velocity demand change interval; determine the wheel angular velocity reference value according to the current steering wheel speed; determine the vehicle's target wheel angular velocity according to the relationship between the wheel angular velocity reference value and the wheel angular velocity demand change interval; calculate the target wheel angle: calculate the vehicle's target wheel angle according to the current steering wheel angle and the steering gear ratio corresponding to the current vehicle speed;

[0142] The target lateral acceleration is determined according to the target wheel angle and the target wheel angular velocity, and the vehicle is driven and controlled based on the target lateral acceleration. In actual applications, it is necessary to ensure that the vehicle's lateral acceleration is within a preset safety range to avoid the risk of the vehicle's yaw angular velocity and lateral acceleration being too large, causing the vehicle to slip and lose control. If the target lateral acceleration exceeds the preset safety range, the vehicle speed and wheel angular velocity can be reduced through the vehicle controller, or the driver can be prompted to reduce the vehicle speed and wheel angular velocity at present, so that the driver can control the driving according to the prompt, thereby making the lateral acceleration within the preset safety range to ensure vehicle driving safety.

[0143] A vehicle driving control method provided in an embodiment of the present application is applied to a wire steering device in a wire steering system of a vehicle. The method uses the wire steering device to take over the operation of the wire steering column after determining that an abnormal fault exists in the wire steering column, resulting in loss of hand force. The wire steering device obtains the current driving state information of the vehicle through a cornering speed assistance system and a vehicle controller; the current driving state information includes a current steering wheel angle and a current steering wheel speed obtained by the cornering speed assistance system, and a current vehicle speed and a current lateral acceleration obtained by the vehicle controller; then, a target wheel angle and a target wheel angular velocity of the vehicle are calculated according to the current driving state information; a target lateral acceleration is determined according to the target wheel angle and the target wheel angular velocity, and the vehicle is driven and controlled based on the target lateral acceleration to avoid a situation where the steering wheel speed is too fast due to loss of hand force, which greatly increases the target lateral acceleration, and avoids the risk of the vehicle skidding. Therefore, the method can ensure the safety of vehicle driving control when an abnormal fault exists in the wire steering column.

[0144] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean 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 application.

[0145] It should be noted that the information collection process (such as facial image collection process, fingerprint information collection process, etc.) / feature extraction process involved in this application is performed with the user's knowledge and permission, that is, the information collection process / feature extraction process complies with the requirements of laws and regulations and does not constitute an act that harms the public interest.

[0146] Figure 6 FIG. 1 is a schematic diagram of the structure of a vehicle driving control device provided in an embodiment of the present application. Figure 6 As shown, a vehicle driving control device of this embodiment includes an acquisition module 610, a determination module 620 and a control module 630; wherein,

[0147] The acquisition module 610 is used to acquire the current driving state information of the vehicle through the curve speed assistance system and the vehicle controller when it is determined that the wire-controlled steering column has an abnormal fault; the current driving state information includes the current steering wheel angle and the current steering wheel speed acquired through the curve speed assistance system, and the current vehicle speed and the current lateral acceleration acquired through the vehicle controller;

[0148] A determination module 620, for calculating a target wheel angle and a target wheel angular velocity of the vehicle according to current driving state information;

[0149] The control module 630 is used to determine a target lateral acceleration according to a target wheel angle and a target wheel angular velocity, and to perform driving control on the vehicle based on the target lateral acceleration.

[0150] A vehicle driving control device provided in an embodiment of the present application has the same beneficial effects as the above-mentioned vehicle driving control method.

[0151] In one embodiment, the determination module 620 includes:

[0152] The acceleration change rate determination submodule is used to determine the acceleration change rate according to the current vehicle speed and the vehicle speed at the previous moment when it is determined that the vehicle is in an accelerating driving state;

[0153] The demand change interval determination submodule is used to obtain a preset wheel angular velocity upper limit value, determine the wheel angular velocity demand change amount according to the preset wheel angular velocity upper limit value and the acceleration change rate, and determine the wheel angular velocity demand change interval;

[0154] A wheel angular velocity reference value determination submodule is used to determine a wheel angular velocity reference value according to a current steering wheel speed;

[0155] The target wheel angular velocity determination submodule is used to determine the target wheel angular velocity of the vehicle according to the relationship between the wheel angular velocity reference value and the wheel angular velocity requirement variation range.

[0156] In one embodiment, the determination module 620 calculates the target wheel angle and target wheel angular velocity of the vehicle according to the current driving state information, including:

[0157] The target wheel angle determination submodule is used to calculate the target wheel angle of the vehicle according to the current steering wheel angle and the steering gear ratio corresponding to the current vehicle speed.

[0158] In one embodiment, a vehicle driving control device further includes:

[0159] The switching condition judgment submodule is used to determine whether the vehicle meets the auxiliary steering function switching condition according to the current driving state information; if the auxiliary steering function switching condition is met, the determination module 620 is called; otherwise, the acquisition module 610 continues to run.

[0160] In one of the embodiments, the control module comprises:

[0161] A turning radius determination submodule, used to determine the turning radius of the vehicle according to the target wheel angle and the vehicle wheelbase;

[0162] A yaw rate determination submodule, used for calculating the yaw rate of the vehicle according to the target wheel angular velocity and the wheel radius;

[0163] A lateral speed determination submodule, used for calculating the lateral speed of the vehicle at a current moment according to the turning radius and the yaw rate;

[0164] The lateral acceleration determination submodule is used to determine a target lateral acceleration based on the lateral speed of the vehicle at a previous moment and the lateral speed at a current moment and a time interval.

[0165] In one embodiment, the switching condition judgment submodule includes:

[0166] A judgment unit, used to judge whether the current vehicle speed, the current steering wheel angle and the current steering wheel speed are respectively within corresponding preset ranges;

[0167] A first determination unit, configured to determine that the vehicle meets a switching condition for the auxiliary steering function if the current vehicle speed, the current steering wheel angle, and the current steering wheel speed are all within corresponding preset ranges;

[0168] The second determination unit is used to determine that the vehicle does not meet the auxiliary steering function switching condition if any current driving state information among the current vehicle speed, the current steering wheel angle and the current steering wheel speed is not within the corresponding preset range.

[0169] In one embodiment, a vehicle driving control device further includes:

[0170] The ignition control module is used to not start the auxiliary steering function if an abnormal fault of the wire-controlled steering column is detected during the initialization of the next ignition cycle after the vehicle is powered off, until it is determined that the state of the wire-controlled steering column has returned to normal.

[0171] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0172] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by 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. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0173] Figure 7 This is a schematic diagram of the structure of a wire-controlled steering device provided in an embodiment of the present application. Figure 7 As shown, the wire-controlled steering device 700 of this embodiment includes a memory 701, a processor 702, and a computer program 703 stored in the memory 701 and executable on the processor 702; when the processor 702 executes the computer program 703, the steps in the above-mentioned vehicle driving control method embodiments are implemented; or when the processor 702 executes the computer program 703, the functions of each module / unit in the above-mentioned device embodiments are implemented.

[0174] Exemplarily, the computer program 703 may be divided into one or more modules / units, one or more modules / units are stored in the memory 701, and are executed by the processor 702 to implement the method of the embodiment of the present application. One or more modules / units may be a series of computer program instruction segments that can perform specific functions, and the instruction segments are used to describe the execution process of the computer program 703 in the wire-controlled steering device 700. For example, the computer program 703 may be divided into an acquisition module, a determination module, and a control module, and the specific functions of each module are as follows:

[0175] An acquisition module, used for acquiring the current driving state information of the vehicle through the curve speed assistance system and the vehicle controller when it is determined that the wire-controlled steering column has an abnormal fault; the current driving state information includes the current steering wheel angle and the current steering wheel speed obtained through the curve speed assistance system, and the current vehicle speed and the current lateral acceleration obtained through the vehicle controller;

[0176] A determination module, used to calculate a target wheel angle and a target wheel angular velocity of the vehicle according to current driving state information;

[0177] The control module is used to determine a target lateral acceleration according to a target wheel angle and a target wheel angular velocity, and to perform driving control on the vehicle based on the target lateral acceleration.

[0178] In application, the wire-controlled steer 700 may include but is not limited to a memory 701 and a processor 702. Those skilled in the art will appreciate that Figure 7 It is only an example of a wire-controlled steering system and does not constitute a limitation of the wire-controlled steering system. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the wire-controlled steering system may also include input and output devices, network access devices, buses, etc.; wherein the input and output devices may include cameras, audio acquisition / playback devices, display screens, etc.; the network access device may include a communication module for wireless communication with external devices.

[0179] In applications, the processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0180] In applications, the memory can be the internal storage unit of the steer-by-wire device, such as the hard disk or memory of the steer-by-wire device; it can also be the external storage device of the steer-by-wire device, such as the plug-in hard disk equipped on the steer-by-wire device, the smart media card (SMC), the secure digital (SD) card, the flash card, etc.; it can also include both the internal storage unit and the external storage device of the steer-by-wire device. The memory is used to store the operating system, application program, boot loader, data and other programs, such as the program code of the computer program. The memory can also be used to temporarily store the data that has been output or is to be output.

[0181] An embodiment of the present application also provides a vehicle, including a vehicle body and a controller, which executes the steps in the above-mentioned method embodiments.

[0182] The vehicle may be any type of vehicle, such as a fuel vehicle, a battery electric vehicle (BEV), a hybrid vehicle, etc. In this embodiment, the vehicle includes a vehicle body and a controller, and the controller can implement the steps of the vehicle driving control method in the above embodiment.

[0183] A vehicle provided in an embodiment of the present application has the same beneficial effects as the above-mentioned vehicle driving control method.

[0184] The embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0185] The present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, the steps of each of the above-mentioned method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device that can carry the computer program code to the wire-controlled steering device, recording medium, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electrical carrier signal, telecommunication signal and software distribution medium. For example, a USB flash drive, a mobile hard disk, a disk or an optical disk.

[0186] A computer-readable storage medium provided in an embodiment of the present application has the same beneficial effects as the above-mentioned vehicle driving control method.

[0187] An embodiment of the present application further provides a computer program product, including a computer program, which can implement the steps in the above-mentioned method embodiments when executed by a processor.

[0188] A computer program product provided in an embodiment of the present application has the same beneficial effects as the above-mentioned vehicle driving control method.

[0189] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0190] Those of ordinary skill in the art will appreciate that the devices and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0191] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interface, indirect coupling or communication connection of devices, which can be electrical, mechanical or other forms.

[0192] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A vehicle driving control method, characterized in that: A steer-by-wire device applied to a steer-by-wire system of a vehicle, the method comprising: When it is determined that the wire-controlled steering column has an abnormal fault, the current driving state information of the vehicle is obtained through the curve speed assistance system and the vehicle controller; the current driving state information includes the current steering wheel angle and the current steering wheel speed obtained through the curve speed assistance system, and the current vehicle speed and the current lateral acceleration obtained through the vehicle controller; Calculating the target wheel angle and target wheel angular velocity of the vehicle according to the current driving state information; the calculating the target wheel angle and target wheel angular velocity of the vehicle according to the current driving state information includes: calculating the target wheel angle of the vehicle according to the current steering wheel angle and the steering gear ratio corresponding to the current vehicle speed; when determining that the vehicle is in an accelerating driving state, determining the acceleration change rate according to the current vehicle speed and the vehicle speed at the previous moment; obtaining a preset wheel angular velocity upper limit value, determining the wheel angular velocity demand change amount according to the preset wheel angular velocity upper limit value and the acceleration change rate, and determining the wheel angular velocity demand change interval; determining a wheel angular velocity reference value according to the current steering wheel speed; determining the target wheel angular velocity of the vehicle according to the relationship between the wheel angular velocity reference value and the wheel angular velocity demand change interval; A target lateral acceleration is determined according to the target wheel turning angle and the target wheel turning angle velocity, and driving control of the vehicle is performed based on the target lateral acceleration.

2. The method according to claim 1, characterized in that The abnormal faults of the wire-controlled steering column include a communication fault and a non-communication fault.

3. The method according to claim 1, characterized in that When it is determined that the wire-controlled steering column has an abnormal fault, after obtaining the current driving state information of the vehicle through the curve speed assistance system and the vehicle controller, the method further includes: Determining whether the vehicle meets the auxiliary steering function switching condition according to the current driving state information; If the auxiliary steering function switching condition is met, entering the step of calculating the target wheel angle and target wheel angular velocity of the vehicle according to the current driving state information; Otherwise, continue to execute the step of obtaining the current driving state information of the vehicle through the curve speed assistance system and the vehicle controller.

4. The method according to claim 1, characterized in that: The determining the target lateral acceleration according to the target wheel angle and the target wheel angular velocity comprises: Determining a turning radius of the vehicle according to the target wheel angle and the vehicle wheelbase; Calculating the yaw rate of the vehicle according to the target wheel angular velocity and the wheel radius; Calculating the lateral speed of the vehicle at a current moment according to the turning radius and the yaw rate; The target lateral acceleration is determined based on the lateral speed of the vehicle at a previous moment, the lateral speed at the current moment, and a time interval.

5. The method according to claim 3, characterized in that: The determining, according to the current driving state information, whether the vehicle meets the auxiliary steering function switching condition comprises: Determining whether the current vehicle speed, the current steering wheel angle, and the current steering wheel speed are respectively within corresponding preset ranges; If the current vehicle speed, the current steering wheel angle, and the current steering wheel speed are all within corresponding preset ranges, it is determined that the vehicle meets the auxiliary steering function switching condition; If any of the current driving state information among the current vehicle speed, the current steering wheel angle and the current steering wheel speed is not within the corresponding preset range, it is determined that the vehicle does not meet the auxiliary steering function switching condition.

6. The method according to any one of claims 1 to 5, characterized in that: The method further comprises: After the vehicle is powered off, when the next ignition cycle is initialized, if an abnormal fault is detected in the steering-by-wire column, the auxiliary steering function is not started until it is determined that the state of the steering-by-wire column has returned to normal.

7. A wire-controlled steer device, 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, the steps of the method according to any one of claims 1 to 6 are implemented.

8. A vehicle, comprising a vehicle body, characterized in that: It also includes a controller, which executes the steps of the method according to any one of claims 1 to 6.

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