Wheel control method, device, electronic equipment and vehicle

Abstract

The present disclosure relates to the field of vehicle control, and provides a wheel control method, device, electronic device and vehicle. When the vehicle gear is detected as the reverse gear, a target front and rear wheel angle ratio is determined; the front wheel angle of the vehicle is obtained, and the initial rear wheel angle is determined according to the target front and rear wheel angle ratio and the front wheel angle; in response to an obstacle being detected within the vehicle's reversing range, the center of mass distance between the obstacle and the vehicle is obtained, and the initial rear wheel angle is adjusted according to the center of mass distance to obtain the target rear wheel angle; the rear wheel angle of the vehicle is controlled to be adjusted from the current angle value to the target rear wheel angle, thereby avoiding collision with obstacles and reducing safety hazards. At the same time, the rear wheel angle is adjusted in real time during the reversing process to reduce the risk of scratches caused by the reverse rotation of the rear wheel steering, thereby increasing driving safety and improving the convenience of reverse parking.

Description

Technical Field

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

[0002] With the rapid development of vehicle technology, vehicles have become an important means of transportation in people's daily lives. The rear-wheel steering function of a vehicle can provide a control method in the opposite direction of the front wheels in low-speed reverse parking scenarios, which can shorten the turning radius of the vehicle.

[0003] However, since the rear-wheel steering keeps turning in the opposite direction during reverse parking, there are safety risks such as increased risk of scratches, magnification of the driver's delicate operations, and increased lateral movement of the vehicle. Summary of the invention

[0004] In view of this, the purpose of the present disclosure is to propose a wheel control method, device, electronic device and vehicle to solve the problem of increased risk of scratches, magnified driver's fine operations, aggravated vehicle sway and other safety hazards caused by the rear wheel steering maintaining reverse rotation during reverse parking.

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

[0006] Detecting that the vehicle is in reverse gear, determining the target front and rear wheel steering angle ratio;

[0007] Obtaining a front wheel steering angle of the vehicle, and determining an initial rear wheel steering angle according to the target front and rear wheel steering angle ratio and the front wheel steering angle;

[0008] In response to detecting an obstacle within the reversing range of the vehicle, obtaining a center of mass distance between the obstacle and the vehicle, and adjusting the initial rear wheel turning angle according to the center of mass distance to obtain a target rear wheel turning angle;

[0009] Control the vehicle's rear wheel steering angle from the current steering angle value to the target rear wheel steering angle.

[0010] Based on the same inventive concept, the second aspect of the present disclosure provides a wheel control device, the device comprising:

[0011] A gear detection module is configured to detect that the vehicle gear is in reverse gear and determine a target front and rear wheel turning angle ratio;

[0012] an initial rear wheel turning angle determination module, configured to obtain a front wheel turning angle of the vehicle, and determine an initial rear wheel turning angle according to the target front and rear wheel turning angle ratio and the front wheel turning angle;

[0013] a target rear wheel turning angle determination module, configured to, in response to detecting an obstacle within the reversing range of the vehicle, obtain a mass center distance between the obstacle and the vehicle, and adjust the initial rear wheel turning angle according to the mass center distance to obtain a target rear wheel turning angle;

[0014] The steering angle adjustment module is configured to control the vehicle rear wheel steering angle to adjust from a current steering angle value to a target rear wheel steering angle.

[0015] Based on the same inventive concept, the third aspect of the present disclosure proposes an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable by the processor, wherein the processor implements the wheel control method as described above when executing the computer program.

[0016] Based on the same inventive concept, a fourth aspect of the present disclosure proposes a non-transitory computer-readable storage medium, which stores computer instructions for causing a computer to execute the wheel control method as described above.

[0017] Based on the same inventive concept, the fifth aspect of the present disclosure provides a vehicle, comprising the wheel control device described in the second aspect or the electronic device described in the third aspect or the storage medium described in the fourth aspect.

[0018] From the above, it can be seen that the present disclosure proposes a wheel control method, device, electronic device and vehicle, which detects that the vehicle gear is in the reverse gear, determines the target front and rear wheel angle ratio, so that the rear wheel angle can be determined later according to the target front and rear wheel angle ratio. The front wheel angle of the vehicle is obtained, and the initial rear wheel angle is determined according to the target front and rear wheel angle ratio and the front wheel angle. When an obstacle is detected within the vehicle's reversing range, in order to avoid collision with the obstacle, the center of mass distance between the obstacle and the vehicle is obtained, and the initial rear wheel angle is adjusted according to the center of mass distance to obtain the target rear wheel angle, and the rear wheel angle of the vehicle is controlled to be adjusted from the current angle value to the target rear wheel angle, thereby avoiding collision with the obstacle and reducing safety hazards. At the same time, the rear wheel angle is adjusted in real time during the reversing process to reduce the risk of scratches caused by the reverse rotation of the rear wheel steering, thereby increasing driving safety and improving the convenience of reverse parking. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the present disclosure or related technologies, the drawings required for use in the embodiments or related technical descriptions are briefly introduced below. Obviously, the drawings described below are only embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0020] Figure 1is a flow chart of a method for controlling a wheel according to an embodiment of the present disclosure;

[0021] Figure 2 is a structural block diagram of a wheel control device according to an embodiment of the present disclosure;

[0022] Figure 3 It is a schematic diagram of the structure of an electronic device according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0023] In order to make the objectives, technical solutions and advantages of the present disclosure more clearly understood, the present disclosure is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings.

[0024] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present disclosure should be understood by people with ordinary skills in the field to which the present disclosure belongs. The "first", "second" and similar words used in the embodiments of the present disclosure do not indicate any order, quantity or importance, but are only used to distinguish different components. "Including" or "comprising" and similar words mean that the elements or objects appearing before the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0025] With the rapid development of vehicle technology, vehicles have become an important means of transportation in people's daily lives. The rear-wheel steering function of a vehicle can provide a control method in the opposite direction of the front wheels in low-speed reverse parking scenarios, which can shorten the turning radius of the vehicle.

[0026] However, since the rear-wheel steering keeps turning in the opposite direction during reverse parking, there are safety hazards such as increased risk of scratches, magnification of the driver's delicate operations, and increased lateral movement of the vehicle.

[0027] Based on the above description, this embodiment proposes a wheel control method, such as Figure 1 As shown, the method includes:

[0028] Step 101: Detect that the vehicle gear is in reverse gear, and determine the target front and rear wheel steering angle ratio.

[0029] During specific implementation, the vehicle gear information is obtained. If it is detected that the vehicle gear is the reverse gear, if the vehicle stops and the driver shifts into the reverse gear, it means that the driver has a parking demand, and the target front and rear wheel angle ratio is determined, wherein the target front and rear wheel angle ratio is the ratio of the front wheel angle to the rear wheel angle.

[0030] Step 102, obtaining the front wheel steering angle of the vehicle, and determining the initial rear wheel steering angle according to the target front and rear wheel steering angle ratio and the front wheel steering angle.

[0031] In a specific implementation, the front wheel steering angle of the vehicle is obtained, and the front wheel steering angle of the vehicle can be determined by the steering angle information corresponding to the user's steering wheel. The front wheel steering angle of the vehicle is multiplied by the target front and rear wheel steering angle ratio to obtain the initial rear wheel steering angle.

[0032] Specifically, the vehicle's front wheel turning angle is A, the target front and rear wheel turning angle ratio is B, and the initial rear wheel turning angle is C. The initial rear wheel turning angle is expressed by the formula: C=A×B.

[0033] Exemplarily, the target front and rear wheel turning angle ratio is 0.8, and the vehicle front wheel turning angle is 45 degrees, then the target front and rear wheel turning angle ratio is multiplied by the vehicle front wheel turning angle to obtain an initial rear wheel turning angle of 36 degrees.

[0034] Step 103, in response to detecting an obstacle within the reversing range of the vehicle, obtaining a center of mass distance between the obstacle and the vehicle, and adjusting the initial rear wheel turning angle according to the center of mass distance to obtain a target rear wheel turning angle.

[0035] In specific implementation, the vehicle reversing range is detected, and if an obstacle is detected in the vehicle reversing range, the centroid distance between the obstacle and the vehicle is obtained, wherein the vehicle reversing range is the area detected by the distance detectors arranged around the rear and sides of the vehicle after the vehicle is engaged in the reverse gear, wherein the distance detectors may be radar detection, infrared detection or camera detection, etc. The vehicle range may include the rear area and the side area of ​​the vehicle.

[0036] The detection of obstacles within the reversing range of the vehicle may be performed by a camera or a radar in the vehicle. In this embodiment, the method for determining whether there are obstacles within the reversing range of the vehicle is not specifically limited.

[0037] In this embodiment, obstacles are only a general term, which may include physical obstacles within the reversing range of the vehicle, such as vehicles, people, pets, objects, etc., and may also include objects that restrict parking, such as lane lines.

[0038] After determining the center of mass distance between the obstacle and the vehicle, the initial rear wheel turning angle is adjusted according to the center of mass distance to obtain the target rear wheel turning angle.

[0039] Step 104, controlling the rear wheel steering angle of the vehicle to adjust from the current steering angle value to the target rear wheel steering angle.

[0040] In specific implementation, after the target rear wheel steering angle is obtained, the rear wheel steering angle of the vehicle is controlled to be directly adjusted from the current steering angle value to the target rear wheel steering angle.

[0041] Through the above scheme, it is detected that the vehicle gear is in the reverse gear, and the target front and rear wheel angle ratio is determined, so that the rear wheel angle can be determined later according to the target front and rear wheel angle ratio. The front wheel angle of the vehicle is obtained, and the initial rear wheel angle is determined according to the target front and rear wheel angle ratio and the front wheel angle. When an obstacle is detected within the vehicle's reversing range, in order to avoid collision with the obstacle, the center of mass distance between the obstacle and the vehicle is obtained, and the initial rear wheel angle is adjusted according to the center of mass distance to obtain the target rear wheel angle, and the vehicle's rear wheel angle is controlled to be adjusted from the current angle value to the target rear wheel angle, thereby avoiding collision with the obstacle and reducing safety hazards. At the same time, the rear wheel angle is adjusted in real time during the reversing process to reduce the risk of scratches caused by the reverse rotation of the rear wheel steering, thereby increasing driving safety and improving the convenience of reverse parking.

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

[0043] Step 1011, obtaining the vehicle's speed and the initial front and rear wheel steering angle ratio.

[0044] Step 1012: In response to the vehicle speed being less than or equal to a preset speed threshold, taking the initial front and rear wheel steering angle ratio as a target front and rear wheel steering angle ratio.

[0045] or,

[0046] Step 1013, in response to the vehicle speed being greater than a preset speed threshold, a target rear wheel steering angle control safety factor is determined according to the vehicle speed, and the target rear wheel steering angle control safety factor and the initial front and rear wheel steering angle ratio are multiplied to obtain a target front and rear wheel steering angle ratio.

[0047] In a specific implementation, the vehicle includes a vehicle sensor, and the vehicle speed is acquired through the vehicle sensor. An initial front and rear wheel turning angle ratio is acquired, wherein the initial front and rear wheel turning angle ratio is a default front and rear wheel turning angle ratio.

[0048] If the vehicle speed is less than or equal to the preset speed threshold, it means that the vehicle speed is low and there is no need to adjust the initial front and rear wheel steering angle ratio. The initial front and rear wheel steering angle ratio is directly used as the target front and rear wheel steering angle ratio.

[0049] If the vehicle speed is greater than a preset speed threshold, a target rear wheel steering angle control safety factor corresponding to the vehicle speed is searched in a database according to the vehicle speed, wherein the database stores a correspondence between the vehicle speed and the target rear wheel steering angle control safety factor, wherein the correspondence satisfies that the greater the vehicle speed, the smaller the corresponding target rear wheel steering angle control safety factor. In this embodiment, the target rear wheel steering angle control safety factor is a value less than 1.

[0050] The target rear wheel steering angle control safety factor is multiplied by the initial front and rear wheel steering angle ratio to obtain the target front and rear wheel steering angle ratio.

[0051] Through the above scheme, during the vehicle reversing process, if the vehicle speed is fast, in order to ensure driving safety, the target rear wheel angle control safety factor can be determined to reduce the vehicle's rear wheel angle, eliminate the problem of excessive yaw rate caused by the reverse rotation of the rear wheel angle, and reduce the risk of increasing vehicle instability due to the reverse rotation of the rear wheel at high speed.

[0052] In some embodiments, step 103 specifically includes:

[0053] Step 1031, obtaining the center of mass distance between the obstacle and the vehicle.

[0054] Step 1032: In response to the center-of-mass distance being less than a preset distance threshold, determine a first steering angle adjustment value, perform a difference process on the initial rear wheel steering angle and the first steering angle adjustment value, and obtain a target rear wheel steering angle.

[0055] Step 1033, in response to the center-of-mass distance being greater than or equal to a preset distance threshold, determining a second steering angle adjustment value, and adding the initial rear wheel steering angle and the second steering angle adjustment value to obtain a target rear wheel steering angle.

[0056] In a specific implementation, the distance between the center of mass of the obstacle and the vehicle is obtained, and if the center of mass distance is less than a preset distance threshold, a first turning angle adjustment value is determined. The process of determining the first turning angle adjustment value may specifically be:

[0057] The vehicle steering wheel rotation speed and the vehicle driving speed are obtained, and the minimum value of the vehicle steering wheel rotation speed and the vehicle driving speed is selected as the target speed. According to the target speed, a database is searched to obtain a first turning angle adjustment value corresponding to the target speed, wherein the database stores a corresponding relationship between the target speed and the turning angle adjustment value.

[0058] The initial rear wheel steering angle and the first steering angle adjustment value are subjected to a difference process to obtain a target rear wheel steering angle, which is equivalent to reducing the rear wheel steering angle according to the first steering angle adjustment value until the rear wheel steering angle is zero.

[0059] If the centroid distance is greater than or equal to the preset distance threshold, a second turning angle adjustment value is determined. The process of determining the second turning angle adjustment value may specifically be:

[0060] The vehicle steering wheel rotation speed and the vehicle driving speed are obtained, and the minimum value of the vehicle steering wheel rotation speed and the vehicle driving speed is selected as the target speed. According to the target speed, a database is searched to obtain a second turning angle adjustment value corresponding to the target speed, wherein the database stores a corresponding relationship between the target speed and the turning angle adjustment value.

[0061] The initial rear wheel steering angle and the second steering angle adjustment value are added together to obtain a target rear wheel steering angle, which is equivalent to increasing the rear wheel steering angle according to the second steering angle adjustment value until the rear wheel steering angle is the same as the rear wheel steering angle value corresponding to the default front and rear wheel steering angle ratio.

[0062] Through the above scheme, the initial rear wheel turning angle is adjusted according to the center of mass distance, and the adjustment is more accurate. At the same time, when the center of mass distance is less than the preset distance threshold, it can be considered that the current control angle of the rear wheel turning angle increases the risk of scratches, so the rear wheel turning angle should be appropriately reduced to avoid scratches.

[0063] In some embodiments, step 103 specifically includes:

[0064] Step 1031, continuously obtaining the center of mass distance between the obstacle and the vehicle for a first preset number of periods, and determining a center of mass distance change state based on the multiple center of mass distances.

[0065] Step 1032, in response to the center of mass distance changing state being continuously reduced within a first preset number of cycles, determining a third steering angle adjustment value, performing a difference process on the initial rear wheel steering angle and the third steering angle adjustment value to obtain a target rear wheel steering angle.

[0066] or,

[0067] Step 1033, in response to the center of mass distance changing state continuously increasing within a first preset number of cycles, determining a fourth turning angle adjustment value, adding the initial rear wheel turning angle and the fourth turning angle adjustment value to obtain a target rear wheel turning angle.

[0068] In specific implementation, the center of mass distance between the obstacle and the vehicle is continuously obtained for a first preset number of cycles, that is, the center of mass distance between the obstacle and the vehicle is continuously obtained for a preset number of cycles, and the center of mass distance change state is determined based on multiple center of mass distances, wherein the center of mass distance change state indicates that the center of mass distance continuously increases or continuously decreases within the preset number of cycles.

[0069] If the mass center distance change state is continuously reduced within the first preset number of cycles, a third turning angle adjustment value is determined. The process of determining the third turning angle adjustment value may specifically be:

[0070] The vehicle steering wheel rotation speed and the vehicle driving speed are obtained, and the minimum value of the vehicle steering wheel rotation speed and the vehicle driving speed is selected as the target speed. According to the target speed, a database is searched to obtain a third turning angle adjustment value corresponding to the target speed, wherein the database stores a corresponding relationship between the target speed and the turning angle adjustment value.

[0071] The initial rear wheel steering angle and the third steering angle adjustment value are subjected to a difference process to obtain a target rear wheel steering angle, which is equivalent to reducing the rear wheel steering angle according to the third steering angle adjustment value until the rear wheel steering angle is zero.

[0072] If the mass center distance change state is continuously increasing within the first preset number of cycles, a fourth turning angle adjustment value is determined. The process of determining the fourth turning angle adjustment value may specifically be:

[0073] The vehicle steering wheel rotation speed and the vehicle driving speed are obtained, and the minimum value of the vehicle steering wheel rotation speed and the vehicle driving speed is selected as the target speed. According to the target speed, a database is searched to obtain a fourth turning angle adjustment value corresponding to the target speed, wherein the database stores a corresponding relationship between the target speed and the turning angle adjustment value.

[0074] The initial rear wheel steering angle and the fourth steering angle adjustment value are added to obtain a target rear wheel steering angle, which is equivalent to increasing the rear wheel steering angle according to the fourth steering angle adjustment value until the rear wheel steering angle is the same as the rear wheel steering angle value corresponding to the default front and rear wheel steering angle ratio.

[0075] Through the above scheme, the initial rear wheel turning angle is adjusted according to the center of mass distance, and the adjustment is more accurate. At the same time, the center of mass distance of a preset number of cycles is continuously obtained. If the center of mass distance continues to decrease within the preset number of cycles, it can be considered that the current control angle of the rear wheel turning angle increases the risk of scratches. Therefore, the rear wheel turning angle should be appropriately reduced to avoid scratches.

[0076] In some embodiments, step 103 specifically includes:

[0077] Step 103a, obtaining the radar distance between the obstacle and the vehicle and the number of radar distances.

[0078] Step 103b: In response to the number of radar distances being one, using the radar distance as the centroid distance between the obstacle and the vehicle.

[0079] or,

[0080] Step 103c: in response to the number of radar distances being multiple, obtaining vehicle size information, and determining the center of mass distance between the obstacle and the vehicle according to the multiple radar distances and the vehicle size information.

[0081] In a specific implementation, the vehicle parking radar can detect the distance information of obstacles during parking, and obtain the radar distance between the obstacle and the vehicle and the number of radar distances, wherein the radar number is the radar distance that can be obtained when the radar detects the obstacle.

[0082] For example, if the vehicle detects an obstacle at only a single angle, there is only one radar distance, and the number of the radar distances is one.

[0083] For another example, if the vehicle detects obstacles at multiple angles, there are multiple radar distances, and the number of radar distances is multiple.

[0084] If the number of radar distances is one, the radar distance is directly used as the centroid distance between the obstacle and the vehicle. If the number of radar distances is multiple, vehicle size information is obtained, and the centroid distance between the obstacle and the vehicle is determined based on the multiple radar distances and the vehicle size information.

[0085] Specifically, coordinate calculation is performed based on multiple radar distances and vehicle size information to obtain the center of mass distance between the obstacle and the vehicle.

[0086] Through the above scheme, when there is only a single corner radar distance, the radar distance is used as the centroid distance. When there are multiple corner radar distances, the centroid distance can be calculated based on the multiple radar distances and the vehicle size, and the determination of the centroid distance is more accurate.

[0087] In some embodiments, step 102 specifically includes:

[0088] Step 1021, determining the rear wheel turning angle to be processed according to the target front and rear wheel turning angle ratio and the front wheel turning angle.

[0089] Step 1022, continuously obtain the vehicle steering wheel angles of a second preset number of cycles before the current cycle, and determine the average steering wheel angle based on the multiple vehicle steering wheel angles.

[0090] Step 1023, obtaining the current vehicle steering wheel angle of the current cycle, performing a difference processing on the current vehicle steering wheel angle and the steering wheel angle mean, and obtaining a steering wheel angle difference.

[0091] Step 1024: determining an initial rear wheel angle according to the steering wheel angle difference and the rear wheel angle to be processed.

[0092] In specific implementation, the rear wheel turning angle to be processed is determined according to the target front and rear wheel turning angle ratio and the front wheel turning angle. Specifically, the vehicle front wheel turning angle is multiplied by the target front and rear wheel turning angle ratio to obtain the rear wheel turning angle to be processed.

[0093] The vehicle steering wheel angles of a second preset number of cycles before the current cycle are continuously obtained, and the steering wheel angles of the multiple vehicles are averaged to obtain the steering wheel angle average.

[0094] Exemplarily, the second preset number of cycles is 10, then the vehicle steering wheel angles of 10 consecutive cycles before the current cycle are collected respectively, and the obtained 10 vehicle steering wheel angles are averaged to obtain the steering wheel angle average.

[0095] The current vehicle steering wheel angle of the current cycle is obtained, the current vehicle steering wheel angle is subtracted from the steering wheel angle mean to obtain a steering wheel angle difference, and an initial rear wheel angle is determined according to the steering wheel angle difference and the rear wheel angle to be processed.

[0096] In some embodiments, step 1024 specifically includes:

[0097] Step 10241: In response to the steering wheel angle difference being less than or equal to a preset difference threshold, the historical rear wheel angle of the previous cycle of the current cycle is used as the initial rear wheel angle.

[0098] Step 10242: In response to the steering wheel angle difference being greater than a preset difference threshold, taking the rear wheel angle to be processed as an initial rear wheel angle.

[0099] In specific implementation, if the steering wheel angle difference is less than or equal to the preset difference threshold, it means that the driver has fine-tuned the steering wheel, and it is considered that the driver has the need to fine-tune the steering wheel to adjust the parking trajectory, and the historical rear wheel angle of the previous cycle of the current cycle is used as the initial rear wheel angle.

[0100] If the steering wheel angle difference is greater than a preset difference threshold, the rear wheel angle to be processed is directly used as the initial rear wheel angle.

[0101] Through the above scheme, when the driver fine-tunes the steering wheel and there is a need to fine-tune the steering wheel to adjust the parking trajectory, since the inverse proportional control of the rear-wheel steering has the effect of amplifying the steering of the steering wheel, it is necessary to control the initial rear wheel angle to be the value of the previous cycle that meets the conditions, so as to avoid the rear wheel angle adjustment from affecting the driver's normal parking and improve the user's driving experience.

[0102] Based on the same inventive concept, another embodiment of the present disclosure provides a method for controlling a wheel, specifically comprising:

[0103] The vehicle stops, the driver shifts into reverse gear to prepare for parking, and obtains the initial front and rear wheel steering angle ratio. The vehicle speed is determined, and if the vehicle speed is less than or equal to the preset speed threshold, the initial front and rear wheel steering angle ratio is used as the target front and rear wheel steering angle ratio.

[0104] If the vehicle speed is greater than the preset vehicle speed threshold, the target rear wheel steering angle control safety factor is determined according to the vehicle speed. The higher the vehicle speed, the lower the target rear wheel steering angle control safety factor. The target rear wheel steering angle control safety factor and the initial front and rear wheel steering angle ratio are multiplied to obtain the target front and rear wheel steering angle ratio. The problem of excessive yaw rate caused by the reverse rotation of the rear wheel steering angle is eliminated, and the risk of vehicle instability caused by the reverse rotation of the rear wheel at high speed is reduced.

[0105] The driver's steering wheel angle is detected, and several operating cycle values ​​are stored and averaged. For example, the cycle is 10 ms, and 10 cycle values ​​are stored and averaged.

[0106] The current steering wheel average value and the current steering wheel angle value are subtracted to obtain the steering wheel angle difference. If the steering wheel angle difference is less than or equal to the preset difference threshold, it is considered that the driver has fine-tuned the steering wheel. At this time, the driver has the need to fine-tune the steering wheel to adjust the parking trajectory. Because the rear wheel steering inverse proportional control has the effect of amplifying the steering wheel steering, the historical rear wheel angle of the previous cycle of the current cycle is used as the initial rear wheel angle.

[0107] If the steering wheel angle difference is greater than a preset difference threshold, the rear wheel angle to be processed is used as an initial rear wheel angle.

[0108] According to the obstacle distance information detected by the vehicle parking radar during parking, if there is only a single corner radar distance, it is considered to be the distance to the center of mass of the vehicle. If there are multiple corner radar distance information, the obstacle distance to the center of mass of the vehicle is calculated based on multiple radar distances and vehicle size.

[0109] Detect the change in the distance between the obstacle and the center of mass of the vehicle. If the distance value continues to decrease for a preset number of cycles or decreases to a preset distance threshold, it is considered that the current control angle of the rear wheel steering angle increases the risk of scratches, and the initial rear wheel steering angle is controlled to decrease according to the calibrated gradient until it decreases to 0. The calibrated gradient should be less than the smaller value of the steering wheel rotation speed and the vehicle speed change.

[0110] If the distance value continues to increase for a preset number of cycles or is greater than a preset distance threshold, the initial rear wheel steering angle is controlled to increase according to a calibrated gradient until the rear wheel steering angle corresponding to the default front and rear wheel steering angle ratio is reached. The calibrated gradient should be less than the smaller value of the steering wheel rotation speed and the vehicle speed change.

[0111] It should be noted that the method of the embodiment of the present disclosure can be performed by a single device, such as a computer or a server. The method of the present embodiment can also be applied in a distributed scenario and completed by multiple devices cooperating with each other. In the case of such a distributed scenario, one of the multiple devices can only perform one or more steps in the method of the embodiment of the present disclosure, and the multiple devices will interact with each other to complete the described method.

[0112] It should be noted that the above describes some embodiments of the present disclosure. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the above embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0113] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present disclosure also provides a wheel control device.

[0114] refer to Figure 2 , Figure 2 The wheel control device of the embodiment includes:

[0115] The gear detection module 201 is configured to detect that the vehicle gear is the reverse gear and determine the target front and rear wheel turning angle ratio;

[0116] An initial rear wheel steering angle determination module 202 is configured to obtain a front wheel steering angle of the vehicle and determine an initial rear wheel steering angle according to the target front and rear wheel steering angle ratio and the front wheel steering angle;

[0117] The target rear wheel turning angle determination module 203 is configured to, in response to detecting an obstacle within the reversing range of the vehicle, obtain a mass center distance between the obstacle and the vehicle, and adjust the initial rear wheel turning angle according to the mass center distance to obtain a target rear wheel turning angle;

[0118] The steering angle adjustment module 204 is configured to control the rear wheel steering angle of the vehicle to be adjusted from a current steering angle value to a target rear wheel steering angle.

[0119] In some embodiments, the gear detection module 201 is specifically configured as follows:

[0120] Obtain the vehicle's speed and the initial front and rear wheel steering angle ratio;

[0121] In response to the vehicle speed being less than or equal to a preset speed threshold, taking the initial front and rear wheel steering angle ratio as a target front and rear wheel steering angle ratio; or,

[0122] In response to the vehicle speed being greater than a preset speed threshold, a target rear wheel steering angle control safety factor is determined according to the vehicle speed, and the target rear wheel steering angle control safety factor and the initial front and rear wheel steering angle ratio are multiplied to obtain a target front and rear wheel steering angle ratio.

[0123] In some embodiments, the target rear wheel steering angle determination module 203 is specifically configured as follows:

[0124] Get the center of mass distance between the obstacle and the vehicle;

[0125] In response to the center-of-mass distance being less than a preset distance threshold, determining a first steering angle adjustment value, performing a difference process on the initial rear wheel steering angle and the first steering angle adjustment value to obtain a target rear wheel steering angle; or,

[0126] In response to the center-of-mass distance being greater than or equal to a preset distance threshold, a second steering angle adjustment value is determined, and the initial rear wheel steering angle and the second steering angle adjustment value are added together to obtain a target rear wheel steering angle.

[0127] In some embodiments, the target rear wheel turning angle determination module 203 is further configured to:

[0128] Continuously obtaining the center of mass distance between the obstacle and the vehicle for a first preset number of cycles, and determining a center of mass distance change state according to the multiple center of mass distances;

[0129] In response to the mass center distance change state being a continuous decrease within a first preset number of cycles, determining a third steering angle adjustment value, performing a difference process on the initial rear wheel steering angle and the third steering angle adjustment value to obtain a target rear wheel steering angle; or,

[0130] In response to the mass center distance change state being continuously increased within a first preset number of cycles, a fourth turning angle adjustment value is determined, and the initial rear wheel turning angle and the fourth turning angle adjustment value are added to obtain a target rear wheel turning angle.

[0131] In some embodiments, the target rear wheel turning angle determination module 203 is further configured to:

[0132] Get the radar distance between the obstacle and the vehicle and the number of radar distances;

[0133] In response to the number of the radar distance being one, taking the radar distance as the centroid distance between the obstacle and the vehicle; or,

[0134] In response to the number of the radar distances being multiple, vehicle size information is acquired, and a center of mass distance between the obstacle and the vehicle is determined according to the multiple radar distances and the vehicle size information.

[0135] In some embodiments, the initial rear wheel steering angle determination module 202 specifically includes:

[0136] a to-be-processed rear wheel turning angle determining unit, configured to determine the to-be-processed rear wheel turning angle according to the target front and rear wheel turning angle ratio and the front wheel turning angle;

[0137] a steering wheel angle average value determination unit, configured to continuously obtain vehicle steering wheel angles of a second preset number of cycles before a current cycle, and determine a steering wheel angle average value based on the plurality of vehicle steering wheel angles;

[0138] a steering wheel angle difference determination unit configured to obtain a current vehicle steering wheel angle of a current cycle, perform a difference processing on the current vehicle steering wheel angle and the steering wheel angle mean, and obtain a steering wheel angle difference;

[0139] The initial rear wheel turning angle determining unit is configured to determine an initial rear wheel turning angle according to the steering wheel angle difference and the rear wheel turning angle to be processed.

[0140] In some embodiments, the initial rear wheel turning angle determination unit is specifically configured as follows:

[0141] In response to the steering wheel angle difference being less than or equal to a preset difference threshold, taking the historical rear wheel steering angle of a cycle before the current cycle as the initial rear wheel steering angle; or,

[0142] In response to the steering wheel angle difference being greater than a preset difference threshold, the rear wheel angle to be processed is used as an initial rear wheel angle.

[0143] For the convenience of description, the above device is described by dividing it into various modules according to its functions. Of course, when implementing the present disclosure, the functions of each module can be implemented in the same or multiple software and / or hardware.

[0144] The device of the above embodiment is used to implement the corresponding wheel control method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0145] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments, the present disclosure also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the wheel control method described in any of the above embodiments is implemented.

[0146] Figure 3A more specific schematic diagram of the hardware structure of an electronic device provided in this embodiment is shown, and the device may include: a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040 are connected to each other through the bus 1050 in the device.

[0147] The processor 1010 can be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0148] The memory 1020 may be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 1020 may store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program codes are stored in the memory 1020 and are called and executed by the processor 1010.

[0149] The input / output interface 1030 is used to connect the input / output module to realize information input and output. The input / output module can be configured in the device as a component (not shown in the figure), or it can be externally connected to the device to provide corresponding functions. The input device may include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output device may include a display, a speaker, a vibrator, an indicator light, etc.

[0150] The communication interface 1040 is used to connect a communication module (not shown) to realize communication interaction between the device and other devices. The communication module can realize communication through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

[0151] The bus 1050 includes a path that transmits information between the various components of the device (eg, the processor 1010 , the memory 1020 , the input / output interface 1030 , and the communication interface 1040 ).

[0152] It should be noted that, although the above device only shows the processor 1010, the memory 1020, the input / output interface 1030, the communication interface 1040 and the bus 1050, in the specific implementation process, the device may also include other components necessary for normal operation. In addition, it can be understood by those skilled in the art that the above device may also only include the components necessary for implementing the embodiments of the present specification, and does not necessarily include all the components shown in the figure.

[0153] The electronic device of the above embodiment is used to implement the corresponding wheel control method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0154] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present disclosure also provides a non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the wheel control method described in any of the above embodiments.

[0155] The computer-readable medium of this embodiment includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device.

[0156] The computer instructions stored in the storage medium of the above embodiments are used to enable the computer to execute the wheel control method described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0157] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the present application also provides a vehicle, including the wheel control device in the above-mentioned embodiment, the electronic device in the above-mentioned embodiment, and the computer-readable storage medium in the above-mentioned embodiment, and the vehicle equipment implements the wheel control method described in any of the above embodiments.

[0158] The vehicle of the above-mentioned embodiment is used to implement the wheel control method described in any of the above-mentioned embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0159] It is understandable that before using the technical solutions of each embodiment of the present disclosure, the type, scope of use, usage scenarios, etc. of the personal information involved will be informed to the user in an appropriate manner, and the user's authorization will be obtained.

[0160] For example, in response to receiving an active request from a user, a prompt message is sent to the user to clearly remind the user that the operation requested to be performed will require obtaining and using the user's personal information. Thus, the user can independently choose whether to provide personal information to software or hardware such as an electronic device, application, server, or storage medium that performs the operation of the technical solution of the present disclosure according to the prompt message.

[0161] As an optional but non-limiting implementation, in response to receiving the user's active request, the prompt information may be sent to the user in the form of a pop-up window, in which the prompt information may be presented in text form. In addition, the pop-up window may also carry a selection control for the user to choose "agree" or "disagree" to provide personal information to the electronic device.

[0162] It is understandable that the above notification and the process of obtaining user authorization are merely illustrative and do not constitute a limitation on the implementation of the present disclosure. Other methods that meet relevant laws and regulations may also be applied to the implementation of the present disclosure.

[0163] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present disclosure is limited to these examples. Based on the concept of the present disclosure, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the embodiments of the present disclosure as described above, which are not provided in detail for the sake of simplicity.

[0164] In addition, to simplify the description and discussion, and in order not to obscure the embodiments of the present disclosure, known power / ground connections to integrated circuit (IC) chips and other components may or may not be shown in the provided figures. In addition, devices may be shown in the form of block diagrams to avoid obscuring the embodiments of the present disclosure, and this also takes into account the fact that the details of the implementation of these block diagram devices are highly dependent on the platform on which the embodiments of the present disclosure are to be implemented (i.e., these details should be fully within the scope of understanding of those skilled in the art). Where specific details (e.g., circuits) are set forth to describe exemplary embodiments of the present disclosure, it is apparent to those skilled in the art that the embodiments of the present disclosure may be implemented without these specific details or with variations in these specific details. Therefore, these descriptions should be considered illustrative rather than restrictive.

[0165] Although the present disclosure has been described in conjunction with specific embodiments of the present disclosure, many alternatives, modifications and variations of these embodiments will be apparent to those skilled in the art from the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may use the discussed embodiments.

[0166] The embodiments of the present disclosure are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the present application. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present disclosure should be included in the protection scope of the present disclosure.

Claims

1. A wheel control method, characterized in that: include: Detecting that the vehicle is in reverse gear, determining the target front and rear wheel steering angle ratio; Obtaining a front wheel steering angle of the vehicle, and determining an initial rear wheel steering angle according to the target front and rear wheel steering angle ratio and the front wheel steering angle; In response to detecting an obstacle within the reversing range of the vehicle, obtaining a center of mass distance between the obstacle and the vehicle, and adjusting the initial rear wheel turning angle according to the center of mass distance to obtain a target rear wheel turning angle; Control the rear wheel steering angle of the vehicle to adjust from the current steering angle value to the target rear wheel steering angle; The determining the initial rear wheel turning angle according to the target front and rear wheel turning angle ratio and the front wheel turning angle comprises: Determining a rear wheel turning angle to be processed according to the target front and rear wheel turning angle ratio and the front wheel turning angle; Continuously obtaining the vehicle steering wheel angles of a second preset number of cycles before the current cycle, and determining the average steering wheel angle according to the plurality of vehicle steering wheel angles; Obtaining a current vehicle steering wheel angle in a current cycle, performing a difference process between the current vehicle steering wheel angle and the steering wheel angle mean, and obtaining a steering wheel angle difference; An initial rear wheel steering angle is determined according to the steering wheel angle difference and the rear wheel steering angle to be processed.

2. The method according to claim 1, characterized in that Determining the target front and rear wheel turning angle ratio includes: Obtain the vehicle's speed and the initial front and rear wheel steering angle ratio; In response to the vehicle speed being less than or equal to a preset speed threshold, taking the initial front and rear wheel steering angle ratio as a target front and rear wheel steering angle ratio; or, In response to the vehicle speed being greater than a preset speed threshold, a target rear wheel steering angle control safety factor is determined according to the vehicle speed, and the target rear wheel steering angle control safety factor and the initial front and rear wheel steering angle ratio are multiplied to obtain a target front and rear wheel steering angle ratio.

3. The method according to claim 1, characterized in that: The obtaining of the center-of-mass distance between the obstacle and the vehicle, and adjusting the initial rear wheel turning angle according to the center-of-mass distance to obtain a target rear wheel turning angle includes: Get the center of mass distance between the obstacle and the vehicle; In response to the center-of-mass distance being less than a preset distance threshold, determining a first steering angle adjustment value, performing a difference process on the initial rear wheel steering angle and the first steering angle adjustment value to obtain a target rear wheel steering angle; or, In response to the center-of-mass distance being greater than or equal to a preset distance threshold, a second steering angle adjustment value is determined, and the initial rear wheel steering angle and the second steering angle adjustment value are added together to obtain a target rear wheel steering angle.

4. The method according to claim 1, characterized in that The obtaining of the center-of-mass distance between the obstacle and the vehicle, and adjusting the initial rear wheel turning angle according to the center-of-mass distance to obtain a target rear wheel turning angle includes: Continuously obtaining the center of mass distance between the obstacle and the vehicle for a first preset number of cycles, and determining a center of mass distance change state according to the multiple center of mass distances; In response to the mass center distance change state being a continuous decrease within a first preset number of cycles, determining a third steering angle adjustment value, performing a difference process on the initial rear wheel steering angle and the third steering angle adjustment value to obtain a target rear wheel steering angle; or, In response to the mass center distance change state being continuously increased within a first preset number of cycles, a fourth turning angle adjustment value is determined, and the initial rear wheel turning angle and the fourth turning angle adjustment value are added to obtain a target rear wheel turning angle.

5. The method according to claim 1, characterized in that The obtaining of the distance between the center of mass of the obstacle and the vehicle comprises: Get the radar distance between the obstacle and the vehicle and the number of radar distances; In response to the number of the radar distance being one, taking the radar distance as the centroid distance between the obstacle and the vehicle; or, In response to the number of the radar distances being multiple, vehicle size information is acquired, and a center of mass distance between the obstacle and the vehicle is determined according to the multiple radar distances and the vehicle size information.

6. The method according to claim 1, characterized in that The determining the initial rear wheel turning angle according to the steering wheel angle difference and the rear wheel turning angle to be processed comprises: In response to the steering wheel angle difference being less than or equal to a preset difference threshold, taking the historical rear wheel steering angle of a cycle before the current cycle as the initial rear wheel steering angle; or, In response to the steering wheel angle difference being greater than a preset difference threshold, the rear wheel angle to be processed is used as an initial rear wheel angle.

7. A wheel control device, characterized in that: include: A gear detection module is configured to detect that the vehicle gear is in reverse gear and determine a target front and rear wheel turning angle ratio; an initial rear wheel turning angle determination module, configured to obtain a front wheel turning angle of the vehicle, and determine an initial rear wheel turning angle according to the target front and rear wheel turning angle ratio and the front wheel turning angle; a target rear wheel turning angle determination module, configured to, in response to detecting an obstacle within the reversing range of the vehicle, obtain a mass center distance between the obstacle and the vehicle, and adjust the initial rear wheel turning angle according to the mass center distance to obtain a target rear wheel turning angle; A steering angle adjustment module is configured to control the rear wheel steering angle of the vehicle to adjust from a current steering angle value to a target rear wheel steering angle; The determining the initial rear wheel turning angle according to the target front and rear wheel turning angle ratio and the front wheel turning angle comprises: Determining a rear wheel turning angle to be processed according to the target front and rear wheel turning angle ratio and the front wheel turning angle; Continuously obtaining the vehicle steering wheel angles of a second preset number of cycles before the current cycle, and determining the average steering wheel angle according to the plurality of vehicle steering wheel angles; Obtaining a current vehicle steering wheel angle in a current cycle, performing a difference process between the current vehicle steering wheel angle and the steering wheel angle mean, and obtaining a steering wheel angle difference; An initial rear wheel steering angle is determined according to the steering wheel angle difference and the rear wheel steering angle to be processed.

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

9. A vehicle, characterized in that: The electronic device comprising the electronic device described in claim 8.

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