Steering control method, storage medium, program product, electronic device and vehicle

Abstract

The present application relates to a steering control method, a storage medium, a program product, an electronic device and a vehicle. The steering control method includes: when a tire blows out on a vehicle, the steering of the vehicle is controlled according to the smaller value of first steering data and second steering data; wherein the first steering data is obtained from a steering wheel, and the second steering data is determined according to a driving state parameter of the vehicle. The present application ensures the stability of the vehicle and improves driving safety by determining the steering data based on the driving state parameter.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a steering control method, a storage medium, a program product, an electronic device and a vehicle. Background Art

[0002] When a vehicle has a tire blowout, it will instantly lose stability, and the user will usually twist the steering wheel to maintain the driving direction as much as possible.

[0003] However, in this situation, some users may jerk the steering wheel due to nervousness, which may easily cause the vehicle to roll over.

[0004] Therefore, how to improve driving safety when a vehicle has a tire blowout is a technical problem that needs to be solved urgently. Summary of the invention

[0005] The embodiments of the present application provide a steering control method, a storage medium, a program product, an electronic device and a vehicle, which ensure the stability of the vehicle and improve driving safety by determining steering data based on driving state parameters, so as to at least partially solve the above-mentioned technical problems.

[0006] In order to achieve the above-mentioned purpose, according to the first aspect of the present application, a steering control method is provided, comprising: when a vehicle has a tire blowout, controlling the steering of the vehicle according to the smaller value of first steering data and second steering data; wherein the first steering data is obtained from a steering wheel, and the second steering data is determined according to the driving state parameters of the vehicle.

[0007] Optionally, the first steering data includes a first steering angle, and the second steering data includes a second steering angle; controlling the steering of the vehicle based on the smaller value of the first steering data and the second steering data includes: if the first steering angle is smaller than the second steering angle, controlling the steering of the vehicle based on the first steering angle; if the first steering angle is greater than the second steering angle, controlling the steering of the vehicle based on the second steering angle.

[0008] Optionally, the first steering data includes a first steering rate, and the second steering data includes a second steering rate; controlling the steering of the vehicle based on the smaller value of the first steering data and the second steering data includes: if the first steering rate is less than the second steering rate, controlling the steering of the vehicle according to the first steering rate; if the first steering rate is greater than the second steering rate, controlling the steering of the vehicle according to the second steering rate.

[0009] Optionally, the first steering data includes a first steering angle and a first steering rate, and the second steering data includes a second steering angle and a second steering rate; controlling the steering of the vehicle based on the smaller value of the first steering data and the second steering data includes: if the first steering angle is smaller than the second steering angle, and the first steering rate is smaller than the second steering rate, then controlling the steering of the vehicle based on the first steering angle and the first steering rate; if the first steering angle is greater than the second steering angle, or the first steering rate is greater than the second steering rate, then controlling the steering of the vehicle based on the second steering angle and the second steering rate.

[0010] Optionally, the first steering data includes a first steering angle and a first steering rate, and the second steering data includes a second steering angle and a second steering rate; controlling the steering of the vehicle according to the smaller value of the first steering data and the second steering data includes: controlling the steering of the vehicle according to the smaller value of the first steering angle and the second steering angle, and the smaller value of the first steering rate and the second steering rate.

[0011] Optionally, the driving state parameters include a current driving speed and a current yaw angular velocity; the method further includes: determining the second steering data according to the current driving speed and the current yaw angular velocity.

[0012] Optionally, determining the second steering data based on the current driving speed and the current yaw angular velocity includes: determining a second steering angle in the second steering data based on the current driving speed, the current yaw angular velocity and a first corresponding relationship; wherein the first corresponding relationship includes: a corresponding relationship between each group of driving speed and yaw angular velocity and a steering angle.

[0013] Optionally, determining the second steering data based on the current driving speed and the current yaw angular velocity includes: determining a second turning rate in the second steering data based on the current driving speed, the current yaw angular velocity and a second corresponding relationship; wherein the second corresponding relationship includes: a corresponding relationship between each group of driving speed and yaw angular velocity and a steering rate.

[0014] Optionally, determining the second steering data based on the current driving speed and the current yaw angular velocity includes: determining a second steering angle and a second steering rate in the second steering data based on the current driving speed, the current yaw angular velocity and a third corresponding relationship; wherein the third corresponding relationship includes: a corresponding relationship between each group of driving speed and yaw angular velocity and a group of steering data, each group of the steering data including a steering angle and a steering rate.

[0015] According to a second aspect of the present application, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the above-mentioned steering control method is implemented.

[0016] According to a third aspect of the present application, a computer program product is provided, comprising a computer program, wherein the computer program implements the above-mentioned steering control method when executed by a processor.

[0017] According to a fourth aspect of the present application, an electronic device is provided, comprising: a memory on which a computer program is stored; and a processor for executing the computer program in the memory to implement the above-mentioned steering control method.

[0018] According to a fifth aspect of the present application, a vehicle is provided, comprising the above-mentioned electronic device.

[0019] The steering control method provided in the embodiment of the present application controls the steering of the vehicle when the tire is blown out according to the first steering data and the second steering data, wherein the first steering data is obtained from the steering wheel, and the second steering data is determined according to the driving state parameter. Since the embodiment of the present application controls the steering of the vehicle according to the smaller value of the first steering data and the second steering data, even if the user violently turns the steering wheel to cause the first steering data to be too large, the steering of the vehicle is controlled according to the second steering data, thereby avoiding the situation where the vehicle rolls over due to the user violently turning the steering wheel when the vehicle has a tire blowout, thereby ensuring driving safety. Moreover, compared with applying a reaction force to the steering wheel, the embodiment of the present application controls the steering of the vehicle when the tire is blown out through the second steering data, which, on the one hand, does not change the steering feel of the steering wheel, allowing the user to make a fierce steering input when the vehicle has a tire blowout, thereby avoiding the user from having a nervous psychology due to the increased steering feel; on the other hand, the stability of the vehicle is ensured through the second steering data, while responding to the user's steering needs to the maximum extent, thereby improving driving safety.

[0020] Other features and advantages of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application, and those skilled in the art can obtain other drawings based on these drawings without creative work.

[0022] In order to more completely understand the present application and its beneficial effects, the following description will be given in conjunction with the accompanying drawings, wherein the same figure numbers represent the same parts in the following description.

[0023] Figure 1 is a flow chart of a steering control method provided by an embodiment of the present application;

[0024] Figure 2 is a schematic diagram of a steering control system provided in an embodiment of the present application;

[0025] Figure 3 is a schematic diagram of a wire-controlled steering system provided in an embodiment of the present application;

[0026] Figure 4 is a functional schematic diagram of a control module provided in an embodiment of the present application;

[0027] Figure 5 is a functional schematic diagram of a wire-controlled steering main controller provided in an embodiment of the present application;

[0028] Figure 6 is a schematic diagram of a steering control method provided in an embodiment of the present application;

[0029] Figure 7 is a flow chart of another steering control method provided by an embodiment of the present application;

[0030] Figure 8 It is a schematic diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0031] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0032] According to a first aspect of the present application, an embodiment of the present application provides a steering control method.

[0033] See also Figure 1 , Figure 1 1 is a flow chart of a steering control method provided by an embodiment of the present application. The steering control method may include the following step S100:

[0034] Step S100: When a tire bursts on the vehicle, the steering of the vehicle is controlled according to the smaller value between the first steering data and the second steering data.

[0035] The second steering data is determined based on the driving state parameters of the vehicle. In some embodiments, the driving state parameters include but are not limited to: the current driving speed and / or the current yaw rate of the vehicle. In some embodiments, the second steering data includes but is not limited to at least one of the following: a second steering angle, a second steering rate.

[0036] The first steering data is obtained from the steering wheel and is the steering data actually input by the user. In some embodiments, the first steering data includes but is not limited to at least one of the following: a first steering angle and a first steering rate. The first steering data may be collected by a sensor mounted on the vehicle. For example, the first steering angle and the first steering rate may be collected by the sensor, or the first steering angle may be first collected by the sensor, and then the first steering rate may be further determined based on the first steering angles collected twice adjacently and the collection cycle.

[0037] In the embodiment of the present application, when a tire blows out, the steering of the vehicle is controlled according to the smaller value of the first steering data and the second steering data. When the first steering data exceeds the second steering data, the embodiment of the present application controls the steering of the vehicle according to the second steering data. When the first steering data does not exceed the second steering data, the embodiment of the present application controls the steering of the vehicle according to the first steering data. For the specific comparison process of the first steering data and the second steering data, please refer to the following embodiment, which will not be elaborated here.

[0038] In summary, the steering control method provided by the embodiment of the present application controls the steering of the vehicle when the tire is blown out according to the first steering data and the second steering data, wherein the first steering data is obtained from the steering wheel, and the second steering data is determined according to the driving state parameter. Since the embodiment of the present application controls the steering of the vehicle according to the smaller value of the first steering data and the second steering data, even if the user violently turns the steering wheel to cause the first steering data to be too large, the steering of the vehicle is controlled according to the second steering data, thereby avoiding the situation where the vehicle rolls over due to the user violently turning the steering wheel when the vehicle has a tire blowout, thereby ensuring driving safety. Moreover, compared with applying a reaction force to the steering wheel, the embodiment of the present application controls the steering of the vehicle when the tire is blown out by the second steering data, on the one hand, the steering feel of the steering wheel is not changed, allowing the user to make a fierce steering input when the vehicle has a tire blowout, thereby avoiding the user from being nervous due to the increased steering feel; on the other hand, the stability of the vehicle is ensured by the second steering data, while responding to the user's steering needs to the maximum extent, thereby improving driving safety.

[0039] In some embodiments, the steering control method may further include: determining that a tire blowout occurs in the vehicle when it is detected that a tire pressure change rate of the vehicle tire exceeds a tire pressure change threshold.

[0040] During the driving process of the vehicle, the tire pressure of the vehicle tire can be continuously collected at a certain time interval to determine whether the vehicle has a tire blowout. The tire pressure change rate of the vehicle tire refers to the change in tire pressure of the vehicle tire within a preset time interval. The preset time interval can be the time interval between two adjacent tire pressure collections, or can be greater than the time interval between two adjacent tire pressure collections. This embodiment of the application does not limit this.

[0041] The tire pressure change threshold may be preset or determined in real time. For example, a uniform tire pressure change threshold may be preset, or the tire pressure change threshold may be set specifically based on the vehicle's driving state parameters, such as the vehicle's driving speed, driving acceleration, driving environment weather conditions, driving road altitude, etc. In some embodiments, the tire pressure change threshold may be 100 kPa, 80 kPa, or 60 kPa, etc. In actual applications, the specific value of the tire pressure change threshold may be flexibly set based on demand.

[0042] The embodiment of the present application determines whether a vehicle has a tire blowout based on the comparison result of the tire pressure change rate and the tire pressure change threshold. If the tire pressure change rate is greater than or equal to the tire pressure change threshold, the vehicle has a tire blowout; if the tire pressure change rate is less than the tire pressure change threshold, the vehicle has not a tire blowout.

[0043] In summary, the steering control method provided in the embodiment of the present application determines whether the vehicle has a tire blowout by using the tire pressure change rate. Since the tire pressure change rate can be determined based on the tire pressure, and the tire pressure can be conveniently obtained by a sensor, the timeliness and efficiency of tire blowout judgment are improved.

[0044] In some embodiments, the first steering data includes a first steering angle, and the second steering data includes a second steering angle.

[0045] When a tire blows out on the vehicle, the steering of the vehicle is controlled according to the smaller value of the first steering angle and the second steering angle. In some embodiments, the above step S100 may include: if the first steering angle is less than the second steering angle, the steering of the vehicle is controlled according to the first steering angle; when a tire blows out on the vehicle, if the first steering angle is greater than the second steering angle, the steering of the vehicle is controlled according to the second steering angle.

[0046] In some embodiments, the first steering data includes a first steering rate and the second steering data includes a second steering rate.

[0047] When a tire blows out on the vehicle, the steering of the vehicle is controlled according to the smaller value of the first steering rate and the second steering rate. In some embodiments, the above step S100 may include: if the first steering rate is less than the second steering rate, the steering of the vehicle is controlled according to the first steering rate; when a tire blows out on the vehicle, if the first steering rate is greater than the second steering rate, the steering of the vehicle is controlled according to the second steering rate.

[0048] In some embodiments, the first steering data includes a first steering angle and a first steering rate, and the second steering data includes a second steering angle and a second steering rate.

[0049] In some embodiments, the above step S100 may include the following steps: if the first steering angle is smaller than the second steering angle, and the first steering rate is smaller than the second steering rate, then the steering of the vehicle is controlled according to the first steering angle and the first steering rate; if the first steering angle is greater than the second steering angle, or the first steering rate is greater than the second steering rate, then the steering of the vehicle is controlled according to the second steering angle and the second steering rate.

[0050] That is to say, in the case of a tire blowout, if any one of the two conditions, that the first steering angle is greater than the second steering angle and the first steering rate is greater than the second steering rate, is met, it can be determined that the user input is excessive, and the steering of the vehicle is controlled according to the second steering angle and the second steering rate. Otherwise, the user input is normal and not excessive, and the steering of the vehicle is controlled according to the first steering angle and the first steering rate actually input by the user.

[0051] It should be understood that step S100 may also have other control methods in practical applications. For example, in some embodiments, the above step S100 may also include the following steps: controlling the steering of the vehicle according to the smaller value of the first steering angle and the second steering angle, and the smaller value of the first steering rate and the second steering rate. That is, if the first steering angle is less than the second steering angle, and the first steering rate is greater than the second steering rate, then the steering of the vehicle is controlled according to the first steering angle and the second steering rate; if the first steering angle is greater than the second steering angle, and the first steering rate is less than the second steering rate, then the steering of the vehicle is controlled according to the second steering angle and the first steering rate; if the first steering angle is less than the second steering angle, and the first steering rate is less than the second steering rate, then the steering of the vehicle is controlled according to the first steering angle and the first steering rate; if the first steering angle is greater than the second steering angle, and the first steering rate is greater than the second steering rate, then the steering of the vehicle is controlled according to the second steering angle and the second steering rate.

[0052] In summary, in the steering control method provided by the embodiment of the present application, the first steering data includes a first steering angle and / or a first steering rate, and the second steering data includes a second steering angle and / or a second steering rate. In the steering control process when a vehicle has a tire blowout, the embodiment of the present application combines steering data of multiple dimensions to determine the input of the steering control, ensuring that the user's violent steering behavior is discovered in time, and the second steering data is used in time to control the steering to ensure driving safety.

[0053] In some embodiments, the driving state parameters include the current driving speed and the current yaw rate; the above steering control method may further include the following step S200:

[0054] Step S200: Determine second steering data according to the current driving speed and the current yaw angular velocity.

[0055] In the embodiment of the present application, the second steering data can be specifically acquired according to the current driving speed and the current yaw rate of the vehicle. The current driving speed may refer to the driving speed of the vehicle at the moment when the tire blowout is determined, and the current yaw rate may refer to the yaw rate of the vehicle at the moment when the tire blowout is determined.

[0056] In some embodiments, a first corresponding relationship can be established, so that the above step S200 may include: determining the second steering angle in the second steering data according to the current driving speed, the current yaw angular velocity and the first corresponding relationship; wherein the first corresponding relationship includes: the corresponding relationship between each group of driving speed and yaw angular velocity and a steering angle.

[0057] In some embodiments, a second corresponding relationship can be established, so that the above step S200 may include: determining the second turning rate in the second steering data according to the current driving speed, the current yaw angular velocity and the second corresponding relationship; wherein the second corresponding relationship includes: the corresponding relationship between each group of driving speed and yaw angular velocity and a turning rate.

[0058] In some embodiments, a third corresponding relationship can be established, so that the above step S200 may include: determining the second steering angle and the second steering rate in the second steering data according to the current driving speed, the current yaw angular velocity and the third corresponding relationship; wherein the third corresponding relationship includes: the correspondence between each group of driving speed and yaw angular velocity and a group of steering data, each group of steering data includes a steering angle and a steering rate.

[0059] In some embodiments, the first corresponding relationship may be expressed as follows:

[0060] Formula 1:

[0061] Among them, formula 1 can be derived from the following formula 2:

[0062] Formula 2:

[0063] Where ω is the current yaw rate, v is the current driving speed, is the wheelbase of the vehicle, is the steering angle. Substituting the current driving speed and the current yaw rate into Formula 1 can determine the steering angle. Wherein, T is defined as shown in Formula 3 below:

[0064] Formula 3:

[0065] in, m refers to the mass of the vehicle, C FA Refers to the vehicle's front axle lateral stiffness. C RA It refers to the lateral stiffness of the rear axle of the vehicle. It refers to the distance from the rear axle to the center of mass of the vehicle. It is the distance from the front axle to the center of mass of the vehicle.

[0066] In some embodiments, the second corresponding relationship may be expressed as follows:

[0067] Formula 4:

[0068] in, S is the turning rate, △t is the collection cycle, After the steering angle is calculated according to the above formula 1, the steering angle and the preset collection period are substituted into formula 4 to determine the steering rate.

[0069] It should be understood that the third corresponding relationship includes the first corresponding relationship and the second corresponding relationship, so the third corresponding relationship can be calculated according to Formula 1 and Formula 4.

[0070] In summary, the steering control method provided in the embodiment of the present application acquires the second steering data by combining the corresponding relationship according to the current driving speed and the current yaw rate of the vehicle when a tire blows out. The embodiment of the present application acquires the second steering data matching the driving state parameters of the vehicle, which can ensure that the second steering data matches the driving state of the vehicle, thereby improving the accuracy of the steering control and ensuring driving safety.

[0071] Below, the steering control method provided in an embodiment of the present application is introduced and explained with an example.

[0072] like Figure 2As shown, the steering control system may include a high-frequency tire pressure sensor 1, a lateral / longitudinal and yaw angle sensor 2, a control device 3 and a wire-controlled steering system 4. Figure 3 As shown, the wire-controlled steering system 4 includes: a steering wheel input module 41, a wire-controlled steering main controller 42 and a steering actuator 43.

[0073] The high-frequency tire pressure sensor is used to collect the tire pressure of the vehicle and transmit it to the control device, which determines whether the vehicle has a tire blowout based on the tire pressure. Figure 4 and Figure 6 In some embodiments, the control module can also determine the wheel where the tire has burst, and output the position of the wheel with the burst tire, such as Figure 4 and Figure 6 shown.

[0074] The lateral / longitudinal and yaw angle sensors are used to collect data such as yaw angular velocity and driving speed, and transmit them to the control module, such as Figure 4 and Figure 6 The control module can establish a corresponding relationship, so that when a tire blowout occurs on the vehicle, the second steering data is determined according to the driving state parameters of the vehicle in combination with the corresponding relationship, such as Figure 4 and Figure 6 shown.

[0075] The steering wheel input module is used to collect the first steering data and transmit it to the wire steering main controller. The wire steering main controller is used to compare the first steering data with the second steering data from the control module to output the first steering data or the second steering data to the steering actuator, such as Figure 5 and Figure 6 As shown. The first steering data includes the first steering angle K1 (deg) and the first steering rate S1 (deg / s); the second steering data includes the second steering angle K (deg) and the second steering rate S (deg / s). If either of the two conditions K1>K and S1>S is met, it is determined that the user input is excessive, and the wire steering main controller sends the second steering data K and S to the steering actuator. If K1≤K and S1≤S are met at the same time, it is determined that the user input is normal and not excessive, and the wire steering main controller sends the first steering data K1 and S1 to the steering actuator.

[0076] Based on the above description, if Figure 7 As shown, the steering control method provided in the embodiment of the present application includes the following steps S701 to S705:

[0077] Step S701: judging whether the vehicle has a tire blowout according to the tire pressure change rate; if a tire blowout has occurred, executing from the following step S702, if no tire blowout has occurred, returning to step S701;

[0078] Step S702: determining second steering data according to the driving state parameter;

[0079] Step S703: determine whether the first steering data is greater than or equal to the second steering data; if greater than or equal to, the user input is excessive, and the process starts from the following step S704; if less than, the user input is normal, and the process starts from the following step S705;

[0080] Step S704: controlling the steering of the vehicle according to the second steering data;

[0081] Step S705: Control the steering of the vehicle according to the first steering data.

[0082] According to the second aspect of the present application, the embodiment of the present application further provides a non-transitory computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the steps of the above-mentioned steering control method are implemented. The non-transitory computer-readable storage medium has all the beneficial effects of the above-mentioned steering control method, and the present application will not repeat them here.

[0083] According to the third aspect of the present application, an embodiment of the present application further provides an electronic device, comprising: a memory and a processor, wherein a computer program is stored in the memory; and the processor is used to execute the computer program in the memory to implement the steps of the above-mentioned steering control method. The electronic device has all the beneficial effects of the above-mentioned steering control method, which will not be described in detail in this application.

[0084] The computer-readable storage medium may be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or component, or any combination thereof, which is not specifically limited in the present application. 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 thereof.

[0085] In some embodiments of the present application, computer-readable storage media may be any tangible media that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0086] The computer-readable storage medium may be included in the electronic device or may exist independently without being installed in the electronic device. The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the electronic device, the electronic device:

[0087] When a tire bursts on a vehicle, controlling the steering of the vehicle according to a smaller value between the first steering data and the second steering data;

[0088] The first steering data is obtained from a steering wheel, and the second steering data is determined according to a driving state parameter of the vehicle.

[0089] Computer program code for performing the operations of some embodiments of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via 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., via the Internet using an Internet service provider).

[0090] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In this regard, each box in the flowchart or block diagram may represent a module, a program segment, or a portion of a code, which contains one or more executable instructions for implementing a specified logical function.

[0091] It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures.

[0092] For example, two boxes shown in succession may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of boxes in the block diagram and / or flow chart, can be implemented by a dedicated hardware-based system that performs the specified function or operation, or can be implemented by a combination of dedicated hardware and computer instructions.

[0093] The units described in some embodiments of the present application may be implemented by software or hardware, and the units described may also be arranged in a processor.

[0094] 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.

[0095] According to a fifth aspect of the present application, Figure 8 As shown, the embodiment of the present application further provides a vehicle 10, which includes the above electronic device. The vehicle has all the beneficial effects of the above electronic device, etc., which will not be described in detail in this application.

[0096] The vehicle may be a fuel vehicle, a plug-in hybrid vehicle or a new energy vehicle, etc., and this application does not make any specific limitation on this.

[0097] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0098] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0099] The embodiments, implementation methods and related technical features of the present application can be combined and replaced with each other without conflict.

[0100] The above are only preferred embodiments of the present application and do not constitute any form of limitation to the present application. Although the descriptions of various embodiments in the embodiments of the present application have different focuses, for parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments. However, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present application without departing from the content of the technical solution of the present application are still within the scope of the technical solution of the present application.

Claims

1. A steering control method, characterized in that: include: When a tire bursts on a vehicle, controlling the steering of the vehicle according to a smaller value between the first steering data and the second steering data; Wherein, the first steering data is obtained from a steering wheel, and the second steering data is determined according to a driving state parameter of the vehicle; Wherein, the driving state parameters include a current driving speed and a current yaw angular velocity; the method further comprises: determining the second steering data according to the current driving speed and the current yaw angular velocity; Wherein, determining the second steering data according to the current driving speed and the current yaw angular velocity comprises: determining a second steering angle and a second steering rate in the second steering data according to the current driving speed, the current yaw angular velocity and a third corresponding relationship; wherein the third corresponding relationship comprises: a corresponding relationship between each set of driving speed and yaw angular velocity and a set of steering data, each set of the steering data comprising a steering angle and a steering rate; The third corresponding relationship includes: and ; Wherein, ω is the current yaw angular velocity, v is the current driving speed, l is the wheelbase of the vehicle, is the second steering angle; S is the second turning rate, △t is the acquisition period; T is determined by the following method: ; wherein said m is the mass of the vehicle, C FA is the front axle cornering stiffness of the vehicle, C RA is the rear axle cornering stiffness of the vehicle, l h is the distance from the rear axle to the center of mass of the vehicle, l v is the distance from the front axle to the center of mass of the vehicle.

2. The method according to claim 1, characterized in that The first steering data includes a first steering angle, and the second steering data includes a second steering angle; The controlling the steering of the vehicle according to the smaller value of the first steering data and the second steering data comprises: If the first steering angle is smaller than the second steering angle, controlling the steering of the vehicle according to the first steering angle; If the first steering angle is greater than the second steering angle, the steering of the vehicle is controlled according to the second steering angle.

3. The method according to claim 1, characterized in that The first turning data includes a first turning rate, and the second turning data includes a second turning rate; The controlling the steering of the vehicle according to the smaller value of the first steering data and the second steering data comprises: If the first steering rate is less than the second steering rate, controlling the steering of the vehicle according to the first steering rate; If the first steering rate is greater than the second steering rate, the steering of the vehicle is controlled according to the second steering rate.

4. The method according to claim 1, characterized in that: The first steering data includes a first steering angle and a first steering rate, and the second steering data includes a second steering angle and a second steering rate; The controlling the steering of the vehicle according to the smaller value of the first steering data and the second steering data comprises: If the first steering angle is smaller than the second steering angle, and the first steering rate is smaller than the second steering rate, controlling the steering of the vehicle according to the first steering angle and the first steering rate; If the first steering angle is greater than the second steering angle, or the first steering rate is greater than the second steering rate, the steering of the vehicle is controlled according to the second steering angle and the second steering rate.

5. The method according to claim 1, characterized in that The first steering data includes a first steering angle and a first steering rate, and the second steering data includes a second steering angle and a second steering rate; The controlling the steering of the vehicle according to the smaller value of the first steering data and the second steering data comprises: The steering of the vehicle is controlled according to a smaller value of the first steering angle and the second steering angle and a smaller value of the first steering rate and the second steering rate.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steering control method according to any one of claims 1 to 5 is implemented.

7. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steering control method according to any one of claims 1 to 5 is implemented.

8. An electronic device, characterized in that: include: a memory having a computer program stored thereon; A processor, configured to execute the computer program in the memory to implement the steering control method according to any one of claims 1 to 5.

9. A vehicle, characterized in that: Comprising the electronic device as claimed in claim 8.

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