Target front wheel steering angle output method

Abstract

The embodiment of the invention provides a target front wheel steering angle output method, and relates to the technical field of steer-by-wire. The method comprises the steps that if a first request of an advanced driving assistance system is not detected and a second request of an electronic stability control system is not detected, the use state of a steer-by-wire system is obtained; wherein the first request is used for representing a front wheel steering angle request of the advanced driving assistance system; the second request is used for representing a front wheel steering angle request of the steer-by-wire system; if the use state of the steer-by-wire system is normal, the use state of a separation road front wheel angle control system is obtained; and outputting the target front wheel steering angle according to the use state of the separation road front wheel steering angle control system. By adopting the technical scheme, priority definition and limitation can be performed on the front wheel turning angles of the sub-functions of the vehicle motion management module, so that the accuracy of target front wheel turning angle output is improved.

Description

Technical Field

[0001] The disclosed embodiments relate to the technical field of wire-controlled steering, and in particular to a method for outputting a target front wheel angle. Background Art

[0002] Based on the traditional steering technology, the steer-by-wire technology eliminates the mechanical intermediate shaft, transmits the driver's steering intention through electrical signals, and provides road information feedback. This technology has greatly promoted the integration, lightweight, networking and intelligence of automobiles, and is a key technology for the development of new hot fields such as vehicle intelligence and unmanned driving systems.

[0003] At present, there are two or more sub-functions of the vehicle motion management module that simultaneously trigger front wheel angle requests or additional front wheel angle requests. Therefore, there is an urgent need for a target front wheel angle output method that can prioritize and limit the front wheel angles of the sub-functions of the vehicle motion management module to improve the accuracy of the target front wheel angle output. Summary of the invention

[0004] In order to solve the above technical problem or at least partially solve the above technical problem, an embodiment of the present disclosure provides a method for outputting a target front wheel angle.

[0005] A first aspect of an embodiment of the present disclosure provides a method for outputting a target front wheel angle, the method comprising:

[0006] If the first request of the advanced driving assistance system is not detected and the second request of the electronic stability control system is not detected, obtaining the use status of the wire steering system; wherein the first request is used to represent the front wheel angle request of the advanced driving assistance system; and the second request is used to represent the front wheel angle request of the wire steering system;

[0007] If the use state of the wire-controlled steering system is normal, obtaining the use state of the split road front wheel angle control system;

[0008] According to the use state of the split road front wheel turning angle control system, a target front wheel turning angle is output.

[0009] In one example, outputting a target front wheel steering angle according to the use status of the split road front wheel steering angle control system includes:

[0010] If the use state of the split road front wheel steering angle control system is an activated state, determining a first additional yaw moment and a fed-back first additional yaw moment; wherein the first additional yaw moment is used to characterize the additional yaw moment requested by the split road front wheel steering angle control system;

[0011] determining a first front wheel turning angle according to the first additional yaw moment, the fed-back first additional yaw moment, the left front wheel cornering stiffness, the right front wheel cornering stiffness, the front axle track and the distance from the center of mass to the front axle;

[0012] The target front wheel turning angle is determined according to the first front wheel turning angle and the front wheel turning angle desired by the driver, and the target front wheel turning angle is output.

[0013] In one example, determining the target front wheel turning angle according to the first front wheel turning angle and the front wheel turning angle desired by the driver includes:

[0014] A first sum of the first front wheel turning angle and the front wheel turning angle desired by the driver is calculated, and the first sum is determined as the target front wheel turning angle.

[0015] In one example, outputting a target front wheel steering angle according to the use status of the split road front wheel steering angle control system includes:

[0016] If the use state of the split road front wheel steering angle control system is in an inactive state, obtaining the use states of the second additional yaw moment, the third additional yaw moment and the oversteering front wheel steering angle control system;

[0017] The target front wheel turning angle is outputted according to the second additional yaw moment, the third additional yaw moment and a use state of the oversteering front wheel turning angle control system.

[0018] In one example, outputting the target front wheel angle according to the second additional yaw moment, the third additional yaw moment and the use state of the oversteering front wheel angle control system includes:

[0019] determining a second front wheel turning angle according to the second additional yaw moment and the third additional yaw moment; wherein the second additional yaw moment is determined by an oversteering system; and the third additional yaw moment is determined by an understeering system;

[0020] If the use state of the oversteering front wheel angle control system is an activated state, the target front wheel angle is determined according to the second front wheel angle and the third front wheel angle, and the target front wheel angle is output; the third front wheel angle is determined by the oversteering front wheel angle control system;

[0021] If the use state of the oversteering front wheel angle control system is an inactive state, the target front wheel angle is determined according to the second front wheel angle and the front wheel angle desired by the driver, and the target front wheel angle is output.

[0022] In one example, determining the second front wheel turning angle according to the second additional yaw moment and the third additional yaw moment includes:

[0023] taking the larger of the second additional yaw moment and the third additional yaw moment to obtain a fourth additional yaw moment;

[0024] performing dead zone processing on the fourth additional yaw moment to obtain a fifth additional yaw moment;

[0025] processing the fifth additional yaw moment according to the maximum effective front wheel turning angle to obtain a sixth additional yaw moment;

[0026] The second front wheel turning angle is determined according to the sixth additional yaw moment.

[0027] In one example, determining the target front wheel turning angle according to the second front wheel turning angle and the third front wheel turning angle includes:

[0028] A second sum of the second front wheel turning angle and the third front wheel turning angle is calculated, and the second sum is determined as the target front wheel turning angle.

[0029] In one example, the target front wheel steering angle is less than or equal to a physically designed steering angle limit.

[0030] A second aspect of an embodiment of the present disclosure provides a device for outputting a target front wheel angle, the device comprising:

[0031] A first acquisition module is configured to acquire a use status of a steer-by-wire system if a first request of an advanced driver assistance system and a second request of an electronic stability control system are not detected; wherein the first request is used to represent a front wheel steering angle request of the advanced driver assistance system; and the second request is used to represent a front wheel steering angle request of the steer-by-wire system;

[0032] A second acquisition module is used to acquire the use status of the split road front wheel angle control system if the use status of the wire control steer system is normal;

[0033] The output module is used to output the target front wheel steering angle according to the use status of the split road front wheel steering angle control system.

[0034] In one example, the output module includes:

[0035] a first determination submodule, configured to determine a first additional yaw moment and a fed-back first additional yaw moment if the use state of the split road front wheel steering angle control system is an activated state; wherein the first additional yaw moment is used to characterize the additional yaw moment requested by the split road front wheel steering angle control system;

[0036] a second determination submodule, configured to determine a first front wheel turning angle according to the first additional yaw moment, the fed-back first additional yaw moment, the left front wheel cornering stiffness, the right front wheel cornering stiffness, the front axle track and the distance from the center of mass to the front axle;

[0037] The third determination submodule is used to determine the target front wheel turning angle according to the first front wheel turning angle and the front wheel turning angle expected by the driver, and output the target front wheel turning angle.

[0038] In one example, the third determination submodule is specifically configured to:

[0039] A first sum of the first front wheel turning angle and the front wheel turning angle desired by the driver is calculated, and the first sum is determined as the target front wheel turning angle.

[0040] In one example, the output module includes:

[0041] an acquisition submodule, configured to acquire the use states of the second additional yaw moment, the third additional yaw moment and the oversteering front wheel angle control system if the use state of the split road front wheel angle control system is in an inactive state;

[0042] The output submodule is used to output the target front wheel angle according to the second additional yaw moment, the third additional yaw moment and the use status of the oversteering front wheel angle control system.

[0043] In one example, the output submodule is specifically configured to determine a second front wheel steering angle according to the second additional yaw moment and the third additional yaw moment; wherein the second additional yaw moment is determined by an oversteering system; and the third additional yaw moment is determined by an understeering system;

[0044] If the use state of the oversteering front wheel angle control system is an activated state, the target front wheel angle is determined according to the second front wheel angle and the third front wheel angle, and the target front wheel angle is output; the third front wheel angle is determined by the oversteering front wheel angle control system;

[0045] If the use state of the oversteering front wheel angle control system is an inactive state, the target front wheel angle is determined according to the second front wheel angle and the front wheel angle desired by the driver, and the target front wheel angle is output.

[0046] In one example, the output submodule is specifically used to:

[0047] taking the larger of the second additional yaw moment and the third additional yaw moment to obtain a fourth additional yaw moment;

[0048] performing dead zone processing on the fourth additional yaw moment to obtain a fifth additional yaw moment;

[0049] processing the fifth additional yaw moment according to the maximum effective front wheel turning angle to obtain a sixth additional yaw moment;

[0050] The second front wheel turning angle is determined according to the sixth additional yaw moment.

[0051] In one example, the output submodule is specifically used to:

[0052] A second sum of the second front wheel turning angle and the third front wheel turning angle is calculated, and the second sum is determined as the target front wheel turning angle.

[0053] In one example, the target front wheel steering angle is less than or equal to a physically designed steering angle limit.

[0054] A third aspect of an embodiment of the present disclosure provides an electronic device, comprising: a processor and a memory, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor executes the method of the first aspect above.

[0055] A fourth aspect of an embodiment of the present disclosure provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the method of the first aspect described above can be implemented.

[0056] The disclosed embodiment provides a method for outputting a target front wheel angle, the method comprising: if a first request from an advanced driver assistance system is not detected and a second request from an electronic stability control system is not detected, obtaining the use status of a steer-by-wire system; wherein the first request is used to characterize the front wheel angle request of the advanced driver assistance system; the second request is used to characterize the front wheel angle request of the steer-by-wire system; if the use status of the steer-by-wire system is normal, obtaining the use status of a split-road front wheel angle control system; and outputting a target front wheel angle according to the use status of the split-road front wheel angle control system. By adopting this technical solution, the front wheel angles of the sub-functions of the vehicle motion management module can be prioritized and restricted to improve the accuracy of the output of the target front wheel angle. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0058] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0059] Figure 1 is a flow chart of a method for outputting a target front wheel angle provided by an embodiment of the present disclosure;

[0060] Figure 2 is a flow chart of a method for outputting a target front wheel angle provided by an embodiment of the present disclosure;

[0061] Figure 3 is a schematic diagram of a process of outputting a target front wheel turning angle provided by an embodiment of the present disclosure;

[0062] Figure 4 is a schematic structural diagram of a target front wheel angle output device provided by an embodiment of the present disclosure;

[0063] Figure 5 It is a structural schematic diagram of an electronic device in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0064] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0065] In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments.

[0066] Figure 1 1 is a flow chart of a method for outputting a target front wheel steering angle provided by an embodiment of the present disclosure, and the method can be executed by an electronic device. The electronic device can be exemplarily understood as a device such as a mobile phone, a tablet computer, a laptop computer, a desktop computer, a smart TV, etc. Figure 1 As shown, the method provided in this embodiment includes the following steps:

[0067] S101. If a first request from an advanced driver assistance system is not detected and a second request from an electronic stability control system is not detected, obtaining a usage status of a steer-by-wire system; wherein the first request is used to characterize a front wheel steering angle request from the advanced driver assistance system; and the second request is used to characterize a front wheel steering angle request from the steer-by-wire system.

[0068] In one example, if a first request from an advanced driver assistance system is detected, the front wheel steering angle in the first request is determined as the target front wheel steering angle.

[0069] In one example, if the first request from the advanced driver assistance system is not detected, the second request from the electronic stability control system is detected. If the second request from the electronic stability control system is detected, the front wheel steering angle in the second request is obtained, and the sum of the front wheel steering angle in the second request and the front wheel steering angle desired by the driver is determined as the target front wheel steering angle.

[0070] In one example, if the first request of the advanced driver assistance system is not detected, then the second request of the electronic stability control system is detected, and if the second request of the electronic stability control system is not detected, then the use status of the wire steering system is obtained, wherein the use status of the wire steering system is normal or abnormal.

[0071] S102: If the use status of the steer-by-wire system is normal, obtain the use status of the split road front wheel steering angle control system.

[0072] In one example, the use state of the split road front wheel steering angle control system includes an activated state and an inactivated state. If it is detected that the use state of the steer-by-wire system is normal, then the use state of the split road front wheel steering angle control system needs to be obtained.

[0073] S103: output a target front wheel steering angle according to the use status of the split road front wheel steering angle control system.

[0074] In one example, the target front wheel steering angle is less than or equal to the physically designed steering angle limit value. The algorithm for calculating the target front wheel steering angle is different depending on the usage state of the split road front wheel steering control system, and after determining the target front wheel steering angle, it is necessary to determine that the target front wheel steering angle is less than or equal to the physically designed steering angle limit value. If this condition is met, the target front wheel steering angle is output. If this condition is not met, the target front wheel steering angle needs to be adjusted until the condition is met before the target front wheel steering angle is output.

[0075] The disclosed embodiment provides a method for outputting a target front wheel angle, the method comprising: if a first request of an advanced driving assistance system is not detected and a second request of an electronic stability control system is not detected, then obtaining the use status of a steer-by-wire system; wherein the first request is used to characterize the front wheel angle request of the advanced driving assistance system; the second request is used to characterize the front wheel angle request of the steer-by-wire system; if the use status of the steer-by-wire system is normal, then obtaining the use status of a split road front wheel angle control system; and outputting the target front wheel angle according to the use status of the split road front wheel angle control system. By adopting the technical solution, the front wheel angles of the sub-functions of the vehicle motion management module can be prioritized and restricted to improve the accuracy of the output of the target front wheel angle.

[0076] Figure 2 The flowchart of a method for outputting a target front wheel steering angle provided by an embodiment of the present disclosure is shown. The embodiment of the present disclosure is optimized on the basis of the above embodiment, and the embodiment of the present disclosure can be combined with various optional solutions in one or more of the above embodiments.

[0077] like Figure 2 As shown, the target front wheel angle output method may include the following steps:

[0078] S201. If a first request from an advanced driver assistance system and a second request from an electronic stability control system are not detected, obtaining a usage status of a steer-by-wire system; wherein the first request is used to characterize a front wheel steering angle request from the advanced driver assistance system; and the second request is used to characterize a front wheel steering angle request from the steer-by-wire system.

[0079] In an example, this step may refer to the content of step S101.

[0080] S202: If the use status of the steer-by-wire system is normal, obtain the use status of the split road front wheel steering angle control system.

[0081] In an example, this step may refer to the content of step S102.

[0082] S203: If the use state of the split road front wheel steering angle control system is an activated state, determine a first additional yaw moment and a fed-back first additional yaw moment; wherein the first additional yaw moment is used to characterize the additional yaw moment requested by the split road front wheel steering angle control system.

[0083] In one example, the first additional yaw moment is generated by the longitudinal force. Specifically, the first additional yaw moment can be determined by the following formula:

[0084]

[0085] Among them, F xflis the sum of the longitudinal forces on the left front wheel side, F xfr is the sum of the longitudinal forces on the right front wheel, δ is the front wheel turning angle, l f is the distance from the center of mass to the front axle, w f is the front axle track, F xrr is the sum of the longitudinal forces on the right rear wheel side, F xrl is the sum of the longitudinal forces on the left rear wheel side, w r is the rear axle track, M brk is the first additional yaw moment.

[0086] In this embodiment, the sum of the longitudinal forces on the wheel side is the resultant force formed by driving, braking, rolling resistance, etc.

[0087] In one example, the first additional yaw moment fed back is ΔM_FB, which is determined by taking the target lateral acceleration and the actual lateral acceleration as the difference.

[0088] S204: Determine a first front wheel turning angle according to the first additional yaw moment, the fed-back first additional yaw moment, the left front wheel cornering stiffness, the right front wheel cornering stiffness, the front axle track, and the distance from the center of mass to the front axle.

[0089] In one example, the first front wheel steering angle may be determined by the following formula:

[0090]

[0091] Among them, Δδ f-1 is the first front wheel turning angle, M brk is the first additional yaw moment, ΔM_FB is the first additional yaw moment fed back, is the left front wheel cornering stiffness, is the cornering stiffness of the right front wheel, l f is the distance from the center of mass to the front axle, F yfl is the lateral force of the left front wheel, F yfr is the lateral force of the right front wheel, B is the front axle track, a is the distance from the center of mass to the front axle, F xfl is the sum of the longitudinal forces on the left front wheel side, F xfr is the sum of the longitudinal forces on the right front wheel.

[0092] S205: Determine a target front wheel turning angle according to the first front wheel turning angle and the front wheel turning angle desired by the driver, and output the target front wheel turning angle.

[0093] In one example, determining a target front wheel steering angle according to the first front wheel steering angle and a front wheel steering angle desired by a driver includes:

[0094] A first sum of the first front wheel turning angle and the front wheel turning angle desired by the driver is calculated, and the first sum is determined as the target front wheel turning angle.

[0095] In one example, the driver's desired front wheel steering angle is δ f _Driver, then the first sum is δ f , the first sum can be determined by the following formula:

[0096] δ f =Δδ f-1 +δ f_Driver ;

[0097] In this embodiment, the target front wheel turning angle is δ f .

[0098] S206: If the use state of the split road front wheel angle control system is in an inactive state, obtain the use states of the second additional yaw moment, the third additional yaw moment and the oversteering front wheel angle control system.

[0099] In one example, the second additional yaw moment is determined by the oversteering system, and the third additional yaw moment is determined by the understeering system. The use state of the oversteering front wheel angle control system may be an activated state or an inactivated state.

[0100] S207: Output a target front wheel angle according to the second additional yaw moment, the third additional yaw moment and the use status of the oversteering front wheel angle control system.

[0101] In one example, outputting a target front wheel angle according to the second additional yaw moment, the third additional yaw moment and the use state of the oversteering front wheel angle control system includes:

[0102] Determining a second front wheel turning angle according to the second additional yaw moment and the third additional yaw moment; wherein the second additional yaw moment is determined by the oversteering system; and the third additional yaw moment is determined by the understeering system;

[0103] If the use state of the oversteering front wheel angle control system is an activated state, a target front wheel angle is determined according to the second front wheel angle and the third front wheel angle, and the target front wheel angle is output; the third front wheel angle is determined by the oversteering front wheel angle control system;

[0104] If the use state of the oversteering front wheel angle control system is in an inactive state, a target front wheel angle is determined based on the second front wheel angle and the front wheel angle desired by the driver, and the target front wheel angle is output.

[0105] In one example, the second front wheel steering angle is Δδ f-2 , the third front wheel turning angle is δ f _OverPull.

[0106] In one example, determining a target front wheel turning angle according to the second front wheel turning angle and the third front wheel turning angle includes:

[0107] A second sum of the second front wheel turning angle and the third front wheel turning angle is calculated, and the second sum is determined as the target front wheel turning angle.

[0108] In one example, the second sum is δ f 1. The second sum can be determined by the following formula:

[0109] δ f 1=Δδ f-2 +δ f _OverPull;

[0110] Among them, Δδ f-2 is the second front wheel turning angle, δ f -OverPull is the third front wheel turning angle.

[0111] In one example, if the use state of the oversteering front wheel angle control system is inactive, the second front wheel angle and the front wheel angle desired by the driver may be determined by the following formula:

[0112] δ f 2=Δδ f-2 +δ f -Driver;

[0113] Among them, Δδ f-2 is the second front wheel turning angle, and the driver's desired front wheel turning angle is δ f _Driver, δ f 2 is the target front wheel turning angle.

[0114] In one example, determining the second front wheel turning angle according to the second additional yaw moment and the third additional yaw moment includes:

[0115] Taking the larger of the second additional yaw moment and the third additional yaw moment to obtain a fourth additional yaw moment;

[0116] Performing dead zone processing on the fourth additional yaw moment to obtain a fifth additional yaw moment;

[0117] Processing the fifth additional yaw moment according to the maximum effective front wheel turning angle to obtain a sixth additional yaw moment;

[0118] A second front wheel turning angle is determined according to the sixth additional yaw moment.

[0119] In an example, the second additional yaw moment is a, and the third additional yaw moment is b, then the values ​​of a and b are compared. Assuming that a is greater than b, a is taken as the fourth additional yaw moment. Assuming that the fourth additional yaw moment is dMz, then dMz=a.

[0120] In one example, the deadband is handled as follows:

[0121] 1) Based on the vehicle speed, the input dMz is limited and a minimum cut-off vehicle speed is defined. That is, when the vehicle speed is lower than the cut-off vehicle speed, the output fifth additional yaw moment dMz_D=0;

[0122] 2) Based on high loop detection, a high loop is detected, the input dMz is limited, and the output fifth additional yaw moment dMz_D=0;

[0123] 3) Based on fast, high-frequency, small-amplitude steering detection, this operation is detected, the input dMz is limited, and the output fifth additional yaw moment dMz_D=0.

[0124] In one example, the sixth additional yaw moment may be determined by the following process:

[0125]

[0126] The fifth additional yaw moment dMz_D needs to be within the range of ΔMz1 and ΔMz2 , and then the sixth additional yaw moment dMz_L is output.

[0127] Among them, F xfl is the sum of the longitudinal forces on the left front wheel side, F xfr is the sum of the longitudinal forces on the right front wheel, a is the distance from the center of mass to the front axle, α0 is the current front wheel slip angle, B is the front axle track, P1 and P2 are the Cos functions corresponding to the front wheel turning angles, K fc is the front axle cornering stiffness, F yfl_0 is the current lateral force of the left front wheel, F yfr_0 is the current lateral force on the right front wheel.

[0128] In this embodiment, according to the sixth additional yaw moment, the second front wheel turning angle may be determined by the following formula:

[0129]

[0130] Among them, P3 is the Sin function of the current front wheel angle, and P4 is the Cos function of the current front wheel angle; F xfl is the sum of the longitudinal forces on the left front wheel side, F xfr is the sum of the longitudinal forces on the right front wheel, a is the distance from the center of mass to the front axle, α0 is the current front wheel slip angle, B is the front axle track, K fc is the front axle cornering stiffness.

[0131] In one example, Δδ f-1 , Δδ f-2 Both need to be less than or equal to the value required by the functional safety.

[0132] For a clearer explanation, see Figure 3 A schematic diagram of a process of outputting a target front wheel steering angle is shown.

[0133] The disclosed embodiment provides a method for outputting a target front wheel angle, the method comprising: if the use state of the split road front wheel angle control system is an activated state, determining a first additional yaw moment and a first additional yaw moment fed back; wherein the first additional yaw moment is used to characterize the additional yaw moment requested by the split road front wheel angle control system, determining a first front wheel angle according to the first additional yaw moment, the first additional yaw moment fed back, the left front wheel cornering stiffness, the right front wheel cornering stiffness, the front axle track and the distance from the center of mass to the front axle, determining a target front wheel angle according to the first front wheel angle and the front wheel angle expected by the driver, and outputting the target front wheel angle. If the use state of the split road front wheel angle control system is an inactivated state, obtaining a second additional yaw moment, a third additional yaw moment and the use state of the oversteering front wheel angle control system, outputting the target front wheel angle according to the second additional yaw moment, the third additional yaw moment and the use state of the oversteering front wheel angle control system. By adopting the technical solution, the target front wheel angle can be output according to different priorities.

[0134] Figure 4 is a schematic diagram of the structure of a target front wheel angle output device provided by an embodiment of the present disclosure, and the target front wheel angle output device can be understood as the above-mentioned electronic device or a part of the functional modules in the above-mentioned electronic device. Figure 4 As shown, the target front wheel angle output device 40 includes:

[0135] A first acquisition module 401 is configured to acquire a use status of a steer-by-wire system if a first request of an advanced driver assistance system and a second request of an electronic stability control system are not detected; wherein the first request is used to represent a front wheel steering angle request of the advanced driver assistance system; and the second request is used to represent a front wheel steering angle request of the steer-by-wire system;

[0136] The second acquisition module 402 is used to acquire the use status of the split road front wheel angle control system if the use status of the wire control system is normal;

[0137] The output module 403 is used to output the target front wheel steering angle according to the use status of the split road front wheel steering angle control system.

[0138] In one example, the output module 403 includes:

[0139] A first determination submodule is used to determine a first additional yaw moment and a fed-back first additional yaw moment if the use state of the split road front wheel steering angle control system is an activated state; wherein the first additional yaw moment is used to characterize the additional yaw moment requested by the split road front wheel steering angle control system;

[0140] a second determination submodule, for determining a first front wheel turning angle according to the first additional yaw moment, the fed-back first additional yaw moment, the left front wheel cornering stiffness, the right front wheel cornering stiffness, the front axle track and the distance from the center of mass to the front axle;

[0141] The third determination submodule is used to determine a target front wheel turning angle according to the first front wheel turning angle and the front wheel turning angle expected by the driver, and output the target front wheel turning angle.

[0142] In one example, the third determination submodule is specifically configured to:

[0143] A first sum of the first front wheel turning angle and the front wheel turning angle desired by the driver is calculated, and the first sum is determined as the target front wheel turning angle.

[0144] In one example, the output module 403 includes:

[0145] an acquisition submodule, for acquiring the use states of the second additional yaw moment, the third additional yaw moment and the oversteering front wheel angle control system if the use state of the split road front wheel angle control system is in an inactive state;

[0146] The output submodule is used to output a target front wheel angle according to the second additional yaw moment, the third additional yaw moment and the use state of the oversteering front wheel angle control system.

[0147] In one example, the output submodule is specifically configured to determine the second front wheel turning angle according to the second additional yaw moment and the third additional yaw moment; wherein the second additional yaw moment is determined by the oversteering system; and the third additional yaw moment is determined by the understeering system;

[0148] If the use state of the oversteering front wheel angle control system is an activated state, a target front wheel angle is determined according to the second front wheel angle and the third front wheel angle, and the target front wheel angle is output; the third front wheel angle is determined by the oversteering front wheel angle control system;

[0149] If the use state of the oversteering front wheel angle control system is in an inactive state, a target front wheel angle is determined based on the second front wheel angle and the front wheel angle desired by the driver, and the target front wheel angle is output.

[0150] In one example, the output submodule is specifically used to:

[0151] Taking the larger of the second additional yaw moment and the third additional yaw moment to obtain a fourth additional yaw moment;

[0152] Performing dead zone processing on the fourth additional yaw moment to obtain a fifth additional yaw moment;

[0153] Processing the fifth additional yaw moment according to the maximum effective front wheel turning angle to obtain a sixth additional yaw moment;

[0154] A second front wheel turning angle is determined according to the sixth additional yaw moment.

[0155] In one example, the output submodule is specifically used to:

[0156] A second sum of the second front wheel turning angle and the third front wheel turning angle is calculated, and the second sum is determined as the target front wheel turning angle.

[0157] In one example, the target front wheel steering angle is less than or equal to a physically designed steering angle limit.

[0158] The device provided in this embodiment can execute the method of any of the above embodiments, and its execution method and beneficial effects are similar, which will not be repeated here.

[0159] An embodiment of the present disclosure further provides an electronic device, which includes: a memory, in which a computer program is stored; and a processor, which is used to execute the computer program. When the computer program is executed by the processor, the method of any of the above embodiments can be implemented.

[0160] For example, Figure 5 Schematic diagram of the structure of an electronic device in the embodiment of the present disclosure. Figure 5 , which shows a schematic diagram of the structure of an electronic device 1000 suitable for implementing the embodiment of the present disclosure. The electronic device 1000 in the embodiment of the present disclosure may include but is not limited to mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 5 The electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0161] like Figure 5As shown, the electronic device 1000 may include a processing device (e.g., a central processing unit, a graphics processing unit, etc.) 1001, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage device 1008 into a random access memory (RAM) 1003. In the RAM 1003, various programs and data required for the operation of the electronic device 1000 are also stored. The processing device 1001, the ROM 1002, and the RAM 1003 are connected to each other via a bus 1004. An input / output (I / O) interface 1005 is also connected to the bus 1004.

[0162] Typically, the following devices may be connected to the I / O interface 1005: an input device 1006 including, for example, a touch screen, a touch pad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; an output device 1007 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 1008 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 may allow the electronic device 1000 to communicate with other devices wirelessly or by wire to exchange data. Although Figure 5 The electronic device 1000 is shown with various devices, but it should be understood that it is not required to implement or possess all the devices shown. More or fewer devices may be implemented or possessed instead.

[0163] In particular, according to an embodiment of the present disclosure, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program carried on a non-transitory computer-readable medium, and the computer program contains program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device 1009, or installed from a storage device 1008, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment of the present disclosure are executed.

[0164] It should be noted that the computer-readable medium disclosed above may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in combination with an instruction execution system, device or device. In the present disclosure, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, in which a computer-readable program code is carried. This propagated data signal may take a variety of forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. The computer readable signal medium may also be any computer readable medium other than a computer readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer readable medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0165] In some embodiments, the client and the server may communicate using any currently known or future developed network protocol such as HTTP (HyperText Transfer Protocol), and may be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), an internet (e.g., the Internet), and a peer-to-peer network (e.g., an ad hoc peer-to-peer network), as well as any currently known or future developed network.

[0166] The computer-readable medium may be included in the electronic device, or may exist independently without being incorporated into the electronic device.

[0167] The computer-readable medium carries one or more programs. When the one or more programs are executed by the electronic device, the electronic device: if the first request of the advanced driving assistance system is not detected and the second request of the electronic stability control system is not detected, then the use state of the wire steering system is obtained; wherein the first request is used to characterize the front wheel angle request of the advanced driving assistance system; the second request is used to characterize the front wheel angle request of the wire steering system; if the use state of the wire steering system is normal, then the use state of the split road front wheel angle control system is obtained; according to the use state of the split road front wheel angle control system, the target front wheel angle is output. The computer program code for performing the operation of the present disclosure can be written in one or more programming languages ​​or a combination thereof, and the programming languages ​​include but are not limited to object-oriented programming languages—such as Java, Smalltalk, C++, and also conventional procedural programming languages—such as "C" language or similar programming languages. The program code can be executed completely on the user's computer, partially on the user's computer, as an independent software package, partially on the user's computer and partially on a remote computer, or completely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0168] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present disclosure. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some implementations as replacements, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0169] The units involved in the embodiments described in the present disclosure may be implemented by software or hardware, wherein the name of a unit does not, in some cases, limit the unit itself.

[0170] The functions described above herein may be performed at least in part by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), and the like.

[0171] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0172] The embodiments of the present disclosure also provide a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the method of any of the above embodiments can be implemented. The execution method and beneficial effects are similar and will not be repeated here.

[0173] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0174] The above description is only a specific embodiment of the present disclosure, so that those skilled in the art can understand or implement the present disclosure. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to the embodiments described herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for outputting a target front wheel angle, characterized in that: include: If the first request of the advanced driving assistance system is not detected and the second request of the electronic stability control system is not detected, obtaining the use status of the wire steering system; wherein the first request is used to represent the front wheel angle request of the advanced driving assistance system; and the second request is used to represent the front wheel angle request of the wire steering system; If the use state of the wire-controlled steering system is normal, obtaining the use state of the split road front wheel angle control system; According to the use state of the split road front wheel turning angle control system, a target front wheel turning angle is output.

2. The method according to claim 1, characterized in that Outputting a target front wheel steering angle according to the use state of the split road front wheel steering angle control system includes: If the use state of the split road front wheel steering angle control system is an activated state, determining a first additional yaw moment and a fed-back first additional yaw moment; wherein the first additional yaw moment is used to characterize the additional yaw moment requested by the split road front wheel steering angle control system; determining a first front wheel turning angle according to the first additional yaw moment, the fed-back first additional yaw moment, the left front wheel cornering stiffness, the right front wheel cornering stiffness, the front axle track and the distance from the center of mass to the front axle; The target front wheel turning angle is determined according to the first front wheel turning angle and the front wheel turning angle desired by the driver, and the target front wheel turning angle is output.

3. The method according to claim 2, characterized in that The step of determining the target front wheel turning angle according to the first front wheel turning angle and the front wheel turning angle expected by the driver comprises: A first sum of the first front wheel turning angle and the front wheel turning angle desired by the driver is calculated, and the first sum is determined as the target front wheel turning angle.

4. The method according to claim 1, characterized in that: Outputting a target front wheel steering angle according to the use state of the split road front wheel steering angle control system includes: If the use state of the split road front wheel steering angle control system is in an inactive state, obtaining the use states of the second additional yaw moment, the third additional yaw moment and the oversteering front wheel steering angle control system; The target front wheel turning angle is outputted according to the second additional yaw moment, the third additional yaw moment and a use state of the oversteering front wheel turning angle control system.

5. The method according to claim 4, characterized in that The outputting the target front wheel angle according to the second additional yaw moment, the third additional yaw moment and the use state of the oversteering front wheel angle control system comprises: determining a second front wheel turning angle according to the second additional yaw moment and the third additional yaw moment; wherein the second additional yaw moment is determined by an oversteering system; and the third additional yaw moment is determined by an understeering system; If the use state of the oversteering front wheel angle control system is an activated state, the target front wheel angle is determined according to the second front wheel angle and the third front wheel angle, and the target front wheel angle is output; the third front wheel angle is determined by the oversteering front wheel angle control system; If the use state of the oversteering front wheel angle control system is an inactive state, the target front wheel angle is determined according to the second front wheel angle and the front wheel angle desired by the driver, and the target front wheel angle is output.

6. The method according to claim 5, characterized in that The determining a second front wheel turning angle according to the second additional yaw moment and the third additional yaw moment comprises: taking the larger of the second additional yaw moment and the third additional yaw moment to obtain a fourth additional yaw moment; performing dead zone processing on the fourth additional yaw moment to obtain a fifth additional yaw moment; processing the fifth additional yaw moment according to the maximum effective front wheel turning angle to obtain a sixth additional yaw moment; The second front wheel turning angle is determined according to the sixth additional yaw moment.

7. The method according to claim 5, characterized in that The step of determining the target front wheel turning angle according to the second front wheel turning angle and the third front wheel turning angle comprises: A second sum of the second front wheel turning angle and the third front wheel turning angle is calculated, and the second sum is determined as the target front wheel turning angle.

8. The method according to any one of claims 1 to 7, characterized in that The target front wheel steering angle is less than or equal to the steering angle limit value of the physical design.

9. An electronic device, characterized in that: include: A processor and a memory, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor executes the method according to any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 8 is implemented.

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