Steering control optimization method and device for front and rear wheels of vehicle, electronic equipment and medium

Abstract

The invention relates to the technical field of vehicles, in particular to a steering control optimization method and device for front and rear wheels of a vehicle, electronic equipment and a medium, and the method comprises the following steps: determining a first transverse acceleration and a first longitudinal acceleration of the vehicle according to the current running state of the vehicle, the first transverse acceleration and the first longitudinal acceleration are subjected to weight distribution, when a weight distribution result meets a preset weight constraint condition, a target weight matrix meeting a preset control condition is determined according to the weight distribution result, and then a target proportion value of the front wheel and the rear wheel of the vehicle is obtained; and updating the corner proportional relation of the front and rear wheels of the vehicle according to the target proportional value. Therefore, the problems that when the vehicle enters the parking mode from the driving mode, due to the fact that the proportional relation between the front wheel and the rear wheel changes, a vehicle body vibrates, and comfort is reduced are solved, and the comfort of the vehicle entering the parking mode from the driving mode is improved by conducting assignment of different weight proportions on the transverse acceleration and the longitudinal acceleration of the vehicle.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a method, device, electronic equipment and medium for optimizing steering control of front and rear wheels of a vehicle. Background Art

[0002] With the gradual development of automobile industry technology, more and more research on automobile theoretical technology is applied to practical engineering, such as four-wheel steering technology. Compared with traditional front-wheel steering vehicles, four-wheel steering technology can use the same steering of the front and rear wheels when driving, making the vehicle more comfortable, stable, and safer; when parking, the front and rear wheels are steered in different directions, and the vehicle can cope with various parking scenarios with a smaller turning radius, making the vehicle more maneuverable.

[0003] In the related art, vehicles mostly adopt front and rear wheel steering angle proportional control, that is, the front and rear wheel steering angles are transformed according to a certain proportional relationship, and the front and rear wheel steering angle ratio is assigned according to a map table to control the vehicle steering.

[0004] However, the above-mentioned steering angle control algorithm involves transition calculation of the front and rear wheel steering angle ratio during driving and parking. When entering parking mode from driving mode, the front and rear wheel steering angle ratio is not fixed, which can easily affect the comfort of the vehicle and urgently needs to be solved. Summary of the invention

[0005] The present application provides a method, device, electronic device and medium for optimizing the steering control of the front and rear wheels of a vehicle, so as to solve the problems of vehicle body vibration and reduced comfort caused by the change in the proportional relationship between the front and rear wheels when the vehicle enters the parking mode from the driving mode.

[0006] The first embodiment of the present application provides a method for optimizing the steering control of front and rear wheels of a vehicle, comprising the following steps:

[0007] Get the current running status of the vehicle;

[0008] Determining a first lateral acceleration and a first longitudinal acceleration of the vehicle according to the current running state, and weighting the first lateral acceleration and the first longitudinal acceleration, and when a weight allocation result satisfies a preset weight constraint condition, determining a target weight matrix that satisfies a preset control condition according to the weight allocation result;

[0009] The target ratio value of the front and rear wheels of the vehicle is obtained according to the target weight matrix, so as to update the steering angle ratio relationship of the front and rear wheels of the vehicle according to the target ratio value.

[0010] According to an embodiment of the present application, the weight distribution of the first lateral acceleration and the first longitudinal acceleration, and when the weight distribution result satisfies a preset weight constraint condition, determining a target weight matrix that satisfies a preset control condition according to the weight distribution result, includes:

[0011] Based on a preset first weight, respectively weight the first lateral acceleration and the first longitudinal acceleration to obtain a second lateral acceleration and a second longitudinal acceleration;

[0012] determining whether an absolute value of the second lateral acceleration is less than an absolute value of the first lateral acceleration, and whether the second longitudinal acceleration is less than the first longitudinal acceleration;

[0013] If the absolute value of the second lateral acceleration is greater than or equal to the absolute value of the first lateral acceleration, or the second longitudinal acceleration is greater than or equal to the first longitudinal acceleration, then updating the preset first weight, and performing weight distribution on the first lateral acceleration and the first longitudinal acceleration based on the updated weight, respectively, until the absolute value of the second lateral acceleration is less than the absolute value of the first lateral acceleration, and the second longitudinal acceleration is less than the first longitudinal acceleration, and it is determined that the updated weight distribution result satisfies the preset weight constraint condition;

[0014] A target weight matrix satisfying the preset control condition is determined according to the updated weight distribution result.

[0015] According to an embodiment of the present application, when the weight distribution result satisfies the preset weight constraint condition, before determining the target weight matrix that satisfies the preset control condition according to the weight distribution result, the method further includes:

[0016] Based on a preset control algorithm, a target control equation for vehicle steering is obtained according to current operating parameters of the vehicle, and a target threshold for vehicle steering is obtained according to the target control equation.

[0017] According to an embodiment of the present application, after updating the front and rear wheel angle ratio of the vehicle according to the target ratio value, the method further includes:

[0018] Monitoring the updated steering angle ratio relationship between the front and rear wheels of the vehicle;

[0019] Determining whether the steering result of the updated steering angle ratio relationship of the front and rear wheels of the vehicle is consistent with the actual steering result;

[0020] If the updated steering result of the steering angle ratio relationship between the front and rear wheels of the vehicle is inconsistent with the actual steering result, the step of obtaining the current operating state of the vehicle is re-executed.

[0021] According to one embodiment of the present application, the target control equation is:

[0022]

[0023] Among them, x is the vehicle operating parameter, Q is the state weight matrix, R is the control input weight matrix, and u is the control input front wheel steering angle α is the left front wheel turning angle, and β is the right front wheel turning angle.

[0024] According to the steering control optimization method of the front and rear wheels of the vehicle of the embodiment of the present application, the first lateral acceleration and the first longitudinal acceleration of the vehicle are determined according to the current running state of the vehicle, and the first lateral acceleration and the first longitudinal acceleration are weighted, and when the weighted distribution result meets the preset weight constraint condition, the target weight matrix that meets the preset control condition is determined according to the weighted distribution result, and then the target ratio value of the front and rear wheels of the vehicle is obtained, so as to update the angle ratio relationship of the front and rear wheels of the vehicle according to the target ratio value. In this way, the vehicle body vibration caused by the change of the ratio relationship between the front and rear wheels when the vehicle enters the parking mode from the driving mode is solved, and the comfort of the vehicle entering the parking mode from the driving mode is improved by assigning different weight ratios to the lateral and longitudinal accelerations of the vehicle.

[0025] A second aspect of the present application provides a steering control optimization device for front and rear wheels of a vehicle, comprising:

[0026] An acquisition module is used to obtain the current running status of the vehicle;

[0027] a determination module, configured to determine a first lateral acceleration and a first longitudinal acceleration of the vehicle according to the current running state, and to perform weight distribution on the first lateral acceleration and the first longitudinal acceleration, and when a weight distribution result satisfies a preset weight constraint condition, determine a target weight matrix that satisfies a preset control condition according to the weight distribution result;

[0028] The updating module is used to obtain the target ratio value of the front and rear wheels of the vehicle according to the target weight matrix, so as to update the steering angle ratio relationship of the front and rear wheels of the vehicle according to the target ratio value.

[0029] According to one embodiment of the present application, the determining module includes:

[0030] a weight distribution unit, configured to distribute weights to the first lateral acceleration and the first longitudinal acceleration respectively based on a preset first weight, so as to obtain a second lateral acceleration and a second longitudinal acceleration;

[0031] a first judging unit, configured to judge whether an absolute value of the second lateral acceleration is smaller than an absolute value of the first lateral acceleration, and whether the second longitudinal acceleration is smaller than the first longitudinal acceleration;

[0032] an updating unit, configured to update the preset first weight if the absolute value of the second lateral acceleration is greater than or equal to the absolute value of the first lateral acceleration, or the second longitudinal acceleration is greater than or equal to the first longitudinal acceleration, and respectively weight the first lateral acceleration and the first longitudinal acceleration based on the updated weight, until the absolute value of the second lateral acceleration is less than the absolute value of the first lateral acceleration, and the second longitudinal acceleration is less than the first longitudinal acceleration, and it is determined that the updated weight allocation result satisfies the preset weight constraint condition;

[0033] A determination unit is used to determine a target weight matrix that meets the preset control condition according to the updated weight distribution result.

[0034] According to an embodiment of the present application, when the weight distribution result satisfies the preset weight constraint condition, before determining the target weight matrix that satisfies the preset control condition according to the weight distribution result, the determination module further includes:

[0035] An acquisition unit is used to obtain a target control equation for vehicle steering based on a preset control algorithm and current operating parameters of the vehicle, and obtain a target threshold value for vehicle steering based on the target control equation. ;

[0036] According to an embodiment of the present application, after updating the front and rear wheel angle ratio relationship of the vehicle according to the target ratio value, the updating module further includes:

[0037] A monitoring unit, used to monitor the updated rotation angle ratio relationship between the front and rear wheels of the vehicle;

[0038] A second judgment unit is used to judge whether the steering result of the updated steering angle ratio relationship of the front and rear wheels of the vehicle is consistent with the actual steering result;

[0039] An execution unit is used to re-execute the step of obtaining the current running state of the vehicle if the steering result of the updated steering angle ratio relationship between the front and rear wheels of the vehicle is inconsistent with the actual steering result.

[0040] According to one embodiment of the present application, the target control equation is:

[0041]

[0042] Among them, x is the vehicle operating parameter, Q is the state weight matrix, R is the control input weight matrix, and u is the control input front wheel steering angle α is the left front wheel turning angle, and β is the right front wheel turning angle.

[0043] According to the steering control optimization device for the front and rear wheels of the vehicle of the embodiment of the present application, the first lateral acceleration and the first longitudinal acceleration of the vehicle are determined according to the current running state of the vehicle, and the first lateral acceleration and the first longitudinal acceleration are weighted, and when the weighted distribution result satisfies the preset weight constraint condition, the target weight matrix that satisfies the preset control condition is determined according to the weighted distribution result, and then the target ratio value of the front and rear wheels of the vehicle is obtained, so as to update the angle ratio relationship of the front and rear wheels of the vehicle according to the target ratio value. Thus, the problem of body vibration and reduced comfort caused by the change of the ratio relationship between the front and rear wheels when the vehicle enters the parking mode from the driving mode is solved, and the comfort of the vehicle entering the parking mode from the driving mode is improved by assigning different weight ratios to the lateral and longitudinal accelerations of the vehicle.

[0044] The third aspect of the present application provides an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steering control optimization method for the front and rear wheels of a vehicle as described in the above embodiment.

[0045] A fourth aspect of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the steering control optimization method for the front and rear wheels of a vehicle as described in the above embodiment.

[0046] The fifth aspect of the present application provides a computer program product, including a computer program, which is executed to implement the steering control optimization method for the front and rear wheels of a vehicle as described in the above embodiment.

[0047] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0049] Figure 1 A flowchart of a method for optimizing steering control of front and rear wheels of a vehicle provided according to an embodiment of the present application;

[0050] Figure 2 A schematic diagram of a method for obtaining a vehicle turning radius according to an embodiment of the present application;

[0051] Figure 3is a block diagram of an example of a steering control optimization device for front and rear wheels of a vehicle according to an embodiment of the present application;

[0052] Figure 4 Schematic diagram of the structure of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0053] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0054] The following describes the steering control optimization method, device, electronic device and medium of the front and rear wheels of the vehicle of the embodiment of the present application with reference to the accompanying drawings. In view of the problem mentioned in the above background technology that the vehicle enters the parking mode from the driving mode, the body vibration caused by the change of the front and rear wheel ratio relationship reduces the comfort, the present application provides a steering control optimization method for the front and rear wheels of the vehicle, in which the first lateral acceleration and the first longitudinal acceleration of the vehicle are determined according to the current running state of the vehicle, and the first lateral acceleration and the first longitudinal acceleration are weighted, and when the weight allocation result meets the preset weight constraint condition, the target weight matrix that meets the preset control condition is determined according to the weight allocation result, and then the target ratio value of the front and rear wheels of the vehicle is obtained, so as to update the angle ratio relationship of the front and rear wheels of the vehicle according to the target ratio value. Thus, the vehicle enters the parking mode from the driving mode, and the body vibration caused by the change of the front and rear wheel ratio relationship reduces the comfort and other problems are solved, and the comfort of the vehicle entering the parking mode from the driving mode is improved by assigning different weight ratios to the lateral and longitudinal accelerations of the vehicle.

[0055] Specifically, Figure 1 A flow chart of a method for optimizing steering control of front and rear wheels of a vehicle provided in an embodiment of the present application.

[0056] like Figure 1 As shown, the steering control optimization method for the front and rear wheels of the vehicle includes the following steps:

[0057] In step S101, the current running state of the vehicle is obtained.

[0058] Specifically, during driving and parking, the steering ratio control of the vehicle is generally:

[0059]

[0060] Among them, a and b are the distances from the front and rear wheels to the center of mass respectively; u is the vehicle speed; k r is the equivalent cornering stiffness of the front wheel, kf is the equivalent cornering stiffness of the front wheel; m is the vehicle body mass; L is the wheelbase.

[0061] According to the above formula, it can be seen that as the vehicle speed changes, the front and rear wheel steering angle ratio k of the vehicle changes in real time. Therefore, in order to solve the problem that the vehicle body vibrates due to the change in the front and rear wheel steering angle ratio during driving and parking, thereby affecting the driving comfort of the user, the embodiment of the present application is based on the first lateral acceleration of the vehicle. First longitudinal acceleration and minimum turning radius as target performance, and assign different weight ratios to the front and rear wheel turning angles of the vehicle through the weight allocation method of LQR (Linear Quadratic Regulator), so as to adjust the turning angle ratio of the front and rear wheels of the vehicle when the vehicle is in the transition from parking to driving, thereby improving the comfort of the vehicle in the transition from parking to driving.

[0062] Therefore, in order to solve the above problems, the vehicle in the embodiment of the present application has a four-wheel steering function, and the shock absorber is an air-type active suspension. The vehicle's driving parameters, such as the vehicle's acceleration, speed, driving position and stability, are obtained according to the geodetic coordinate system and related vehicle dynamics equations. At the same time, the corresponding current driving state of the vehicle is obtained according to the obtained driving parameters, for example, whether the vehicle is in a straight line driving, turning, accelerating or braking, etc.

[0063] It should be noted that the embodiment of the present application uses the dynamic equation to obtain the driving parameters of the vehicle. During the acquisition process, the position and posture changes of the vehicle can be continuously paid attention to without directly involving the force. Therefore, the driving position and driving direction of the vehicle, that is, the current running state of the vehicle, can be obtained through the dynamic equation to improve the running accuracy of the vehicle. At the same time, Figure 2 As shown, the embodiment of the present application obtains the front wheel steering radius of the vehicle according to the Ackerman steering principle. Further according to Figure 2 The four-wheel turning radius of the vehicle can be obtained, such as Among them, α is the left front wheel turning angle, β is the right front wheel turning angle, γ is the left rear wheel turning angle, δ is the right rear wheel turning angle, and L is the wheelbase. Based on the Ackerman steering principle, the combined relationship between the front and rear wheel angles of the vehicle is considered, so that the steering characteristics can be dynamically adjusted to further improve the vehicle's handling and safety.

[0064] In step S102, the first lateral acceleration and the first longitudinal acceleration of the vehicle are determined according to the current operating state, and weights are assigned to the first lateral acceleration and the first longitudinal acceleration. When the weight assignment result satisfies the preset weight constraint condition, a target weight matrix that satisfies the preset control condition is determined according to the weight assignment result.

[0065] According to one embodiment of the present application, when the weight distribution result satisfies the preset weight constraint condition, before determining the target weight matrix that satisfies the preset control condition according to the weight distribution result, it also includes: based on a preset control algorithm, obtaining the target control equation for vehicle steering according to the current operating parameters of the vehicle, and obtaining the target threshold for vehicle steering according to the target control equation.

[0066] According to one embodiment of the present application, weights are assigned to the first lateral acceleration and the first longitudinal acceleration, and when the weight assignment result satisfies a preset weight constraint condition, a target weight matrix that satisfies a preset control condition is determined according to the weight assignment result, including: based on a preset first weight, weights are assigned to the first lateral acceleration and the first longitudinal acceleration respectively to obtain a second lateral acceleration and a second longitudinal acceleration; it is determined whether the absolute value of the second lateral acceleration is less than the absolute value of the first lateral acceleration, and whether the second longitudinal acceleration is less than the first longitudinal acceleration; if the absolute value of the second lateral acceleration is greater than or equal to the absolute value of the first lateral acceleration, or the second longitudinal acceleration is greater than or equal to the first longitudinal acceleration, the preset first weight is updated, and based on the updated weight, the first lateral acceleration and the first longitudinal acceleration are weighted respectively, until the absolute value of the second lateral acceleration is less than the absolute value of the first lateral acceleration, and the second longitudinal acceleration is less than the first longitudinal acceleration, and it is determined that the updated weight assignment result satisfies the preset weight constraint condition; and a target weight matrix that satisfies the preset control condition, i.e., a state weight matrix, is determined according to the updated weight assignment result.

[0067] Among them, the preset control algorithm, preset weight constraint condition, preset control condition and preset first weight can be set by technical personnel in this field according to actual test requirements, or can be obtained through a limited number of computer simulations, and are not specifically limited here.

[0068] Specifically, Figure 2 As shown, the embodiment of the present application can obtain the relationship between the front and rear wheel turning angles of the vehicle as follows: According to the dynamic equation, the first lateral acceleration and the first longitudinal acceleration are all related to α, β, γ, and δ, so the LQR weight distribution control algorithm can be used to optimize and k.

[0069] Specifically, after the embodiment of the present application obtains the current running state of the vehicle through the dynamic equation, first, the first lateral acceleration of the vehicle is determined according to the current running state. and the first longitudinal acceleration The dynamic equation is converted into a state equation about the lateral and longitudinal acceleration of the vehicle body. Since the lateral and longitudinal acceleration of the vehicle has a great influence on the stability, acceleration, deceleration and braking performance of the vehicle when turning, it is particularly important to adjust the lateral and longitudinal acceleration of the vehicle. In the embodiment of the present application, it can be assumed that the lateral and longitudinal acceleration of the vehicle body coordinate system According to the lateral and longitudinal accelerations of the vehicle and the preset first weight, for example, the LQR weight distribution method is used to obtain the target control equation, that is, the equation for the optimal control performance index.

[0070]

[0071] Among them, x is the current operating parameter of the vehicle, v is the velocity of the vehicle’s center of mass, ω r is the vehicle's yaw rate; Q is the state weight matrix, q 1 is the weight coefficient of the first lateral acceleration, q 2 is the weight coefficient of the first longitudinal acceleration; R is the control input weight matrix, u is the control input front wheel steering angle α is the left front wheel turning angle, and β is the right front wheel turning angle.

[0072] It should be noted that based on the equation J of the optimal control performance index, a constant matrix P can be assumed: Therefore, P is solved based on the Riccati equation, that is, P is determined according to the determined Q and R, and then the final target front and rear wheel ratio value k is solved based on P.

[0073] Secondly, based on the preset first weight, for example, the LQR weight distribution method is used to distribute the first lateral acceleration of the front and rear wheels of the vehicle respectively. and the first longitudinal acceleration Weight distribution to optimize the first lateral acceleration and the first longitudinal acceleration Get the second lateral acceleration of the vehicle and the second longitudinal acceleration At this time, the second lateral acceleration of the vehicle The absolute value of the first lateral acceleration The absolute value of the second longitudinal acceleration The absolute value of the first longitudinal acceleration The absolute value of is compared to determine whether the weight allocation result satisfies the preset weight constraint condition. If so, the target weight matrix Q that satisfies the preset control condition is obtained based on the weight allocation result.

[0074] As a feasible method, if the second lateral acceleration The absolute value of the first lateral acceleration is less than The absolute value of the second longitudinal acceleration The absolute value of the first longitudinal acceleration is less than The absolute value of When , the target threshold of the target control equation J is obtained, that is, the optimal value (minimum value) of the front and rear wheel steering angle ratio distribution of the vehicle, thereby determining the target weight matrix Q that meets the preset control conditions.

[0075] As another possible implementation method, if the second lateral acceleration The absolute value of the first lateral acceleration is greater than or equal to The absolute value of the second longitudinal acceleration Greater than or equal to the first longitudinal acceleration Right now , the preset first weight is updated, and the first lateral acceleration is respectively calculated based on the updated weight. and the first longitudinal acceleration Redistribute the weight until the second lateral acceleration The absolute value of the first lateral acceleration is less than The absolute value of the second longitudinal acceleration The absolute value of the first longitudinal acceleration is less than When the absolute value of is reached, it is determined that the updated weight distribution result satisfies the preset weight constraint condition, and the target weight matrix Q that satisfies the preset control condition is determined according to the updated weight distribution result.

[0076] It should be noted that the first lateral acceleration in the embodiment of the present application is and the first longitudinal acceleration is the lateral acceleration and longitudinal acceleration without the LQR weight distribution method, that is, the first lateral acceleration of the vehicle determined according to the current running state and the first longitudinal acceleration The second lateral acceleration of the embodiment of the present application and the second longitudinal acceleration That is the lateral acceleration and longitudinal acceleration introduced into the LQR weight distribution method.

[0077] In step S103, a target ratio value of the front and rear wheels of the vehicle is obtained according to the target weight matrix, so as to update the steering angle ratio relationship of the front and rear wheels of the vehicle according to the target ratio value.

[0078] Specifically, after obtaining the target weight matrices Q and R that meet the preset control conditions, the embodiment of the present application obtains the target ratio value k of the front and rear wheels of the vehicle according to the target weight matrices Q and R, and controls the front wheel steering angle according to the control input. Control input rear wheel steering angle The proportional relationship between and k is The front and rear wheel steering angles of the vehicle are obtained. At this time, k is assigned to the actuator through the host computer, and the original map table is updated according to the target proportional value k, so that the actuator can realize the change of the front and rear wheel steering angles during the transition from driving to parking, that is, control the turning radius of the vehicle to minimize.

[0079] According to one embodiment of the present application, after updating the steering angle ratio relationship of the front and rear wheels of the vehicle according to the target ratio value, it also includes: monitoring the updated steering angle ratio relationship of the front and rear wheels of the vehicle; judging whether the steering result of the updated steering angle ratio relationship of the front and rear wheels of the vehicle is consistent with the actual steering result; if the steering result of the updated steering angle ratio relationship of the front and rear wheels of the vehicle is inconsistent with the actual steering result, re-executing the step of obtaining the current operating state of the vehicle.

[0080] Specifically, after updating the steering angle ratio relationship of the front and rear wheels of the vehicle according to the target ratio value, the embodiment of the present application continues to monitor the updated steering angle ratio relationship of the front and rear wheels of the vehicle. If the steering result of the updated steering angle ratio relationship of the front and rear wheels of the vehicle is inconsistent with the actual steering result of the vehicle, it means that there is a deviation in the steering of the front and rear wheels of the vehicle. At this time, the step of obtaining the current operating state of the vehicle is re-executed, that is, the target weight matrix Q is re-obtained to obtain the corresponding target ratio value k according to the re-obtained target weight matrix Q, and then the original map table is updated with the new target ratio value k until the steering result of the updated steering angle ratio relationship of the front and rear wheels of the vehicle is consistent with the actual steering result of the vehicle. Therefore, the LQR weight allocation method is combined with the optimization conditions to reduce the body vibration caused by the change in the front and rear wheel ratio relationship when the vehicle enters the parking mode from the driving mode, thereby reducing the comfort.

[0081] According to the steering control optimization method of the front and rear wheels of the vehicle of the embodiment of the present application, the first lateral acceleration and the first longitudinal acceleration of the vehicle are determined according to the current running state of the vehicle, and the first lateral acceleration and the first longitudinal acceleration are weighted, and when the weighted distribution result meets the preset weight constraint condition, the target weight matrix that meets the preset control condition is determined according to the weighted distribution result, and then the target ratio value of the front and rear wheels of the vehicle is obtained, so as to update the angle ratio relationship of the front and rear wheels of the vehicle according to the target ratio value. In this way, the vehicle body vibration caused by the change of the ratio relationship between the front and rear wheels when the vehicle enters the parking mode from the driving mode is solved, and the comfort of the vehicle entering the parking mode from the driving mode is improved by assigning different weight ratios to the lateral and longitudinal accelerations of the vehicle.

[0082] Next, the steering control optimization device for the front and rear wheels of a vehicle proposed in accordance with an embodiment of the present application will be described with reference to the accompanying drawings.

[0083] Figure 3It is a block diagram of a steering control optimization device for front and rear wheels of a vehicle according to an embodiment of the present application.

[0084] like Figure 3 As shown, the steering control optimization device 10 for the front and rear wheels of a vehicle includes: an acquisition module 100, a determination module 200 and an update module 300.

[0085] Wherein, the acquisition module 100 is used to acquire the current running state of the vehicle;

[0086] A determination module 200, configured to determine a first lateral acceleration and a first longitudinal acceleration of the vehicle according to a current operating state, and to perform weight distribution on the first lateral acceleration and the first longitudinal acceleration, and when a weight distribution result satisfies a preset weight constraint condition, determine a target weight matrix that satisfies a preset control condition according to the weight distribution result;

[0087] The updating module 300 is used to obtain the target ratio value of the front and rear wheels of the vehicle according to the target weight matrix, so as to update the steering angle ratio relationship of the front and rear wheels of the vehicle according to the target ratio value.

[0088] According to one embodiment of the present application, the determination module 200 includes:

[0089] A weight distribution unit, configured to distribute weights to the first lateral acceleration and the first longitudinal acceleration respectively based on a preset first weight, so as to obtain a second lateral acceleration and a second longitudinal acceleration;

[0090] a first judging unit, configured to judge whether an absolute value of the second lateral acceleration is smaller than an absolute value of the first lateral acceleration, and whether the second longitudinal acceleration is smaller than the first longitudinal acceleration;

[0091] an updating unit, configured to update a preset first weight if the absolute value of the second lateral acceleration is greater than or equal to the absolute value of the first lateral acceleration, or the second longitudinal acceleration is greater than or equal to the first longitudinal acceleration, and respectively weight the first lateral acceleration and the first longitudinal acceleration based on the updated weight, until the absolute value of the second lateral acceleration is less than the absolute value of the first lateral acceleration, and the second longitudinal acceleration is less than the first longitudinal acceleration, and it is determined that the updated weight allocation result satisfies the preset weight constraint condition;

[0092] The determination unit is used to determine a target weight matrix that meets a preset control condition according to the updated weight distribution result.

[0093] According to an embodiment of the present application, when the weight distribution result satisfies the preset weight constraint condition, before determining the target weight matrix that satisfies the preset control condition according to the weight distribution result, the determination module 200 further includes:

[0094] The acquisition unit is used to obtain a target control equation for vehicle steering based on a preset control algorithm and current operating parameters of the vehicle, and to obtain a target threshold value for vehicle steering based on the target control equation.

[0095] According to one embodiment of the present application, after updating the front and rear wheel angle ratio relationship of the vehicle according to the target ratio value, the updating module 300 further includes:

[0096] A monitoring unit, used to monitor the updated steering angle ratio relationship between the front and rear wheels of the vehicle;

[0097] A second judgment unit is used to judge whether the steering result of the updated steering angle ratio relationship between the front and rear wheels of the vehicle is consistent with the actual steering result;

[0098] The execution unit is used to re-execute the step of obtaining the current running state of the vehicle if the steering result of the updated steering angle ratio relationship between the front and rear wheels of the vehicle is inconsistent with the actual steering result.

[0099] According to one embodiment of the present application, the target control equation is:

[0100]

[0101] Among them, x is the vehicle operating parameter, Q is the state weight matrix, R is the control input weight matrix, and u is the control input front wheel steering angle α is the left front wheel turning angle, and β is the right front wheel turning angle.

[0102] According to the steering control optimization device for the front and rear wheels of the vehicle of the embodiment of the present application, the first lateral acceleration and the first longitudinal acceleration of the vehicle are determined according to the current running state of the vehicle, and the first lateral acceleration and the first longitudinal acceleration are weighted, and when the weighted distribution result satisfies the preset weight constraint condition, the target weight matrix that satisfies the preset control condition is determined according to the weighted distribution result, and then the target ratio value of the front and rear wheels of the vehicle is obtained, so as to update the angle ratio relationship of the front and rear wheels of the vehicle according to the target ratio value. Thus, the problem of body vibration and reduced comfort caused by the change of the ratio relationship between the front and rear wheels when the vehicle enters the parking mode from the driving mode is solved, and the comfort of the vehicle entering the parking mode from the driving mode is improved by assigning different weight ratios to the lateral and longitudinal accelerations of the vehicle.

[0103] Figure 4 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. The electronic device may include:

[0104] Memory 401 , processor 402 , and a computer program stored in the memory 401 and executable on the processor 402 .

[0105] When the processor 402 executes the program, the steering control optimization method for the front and rear wheels of the vehicle provided in the above embodiment is implemented.

[0106] Furthermore, the electronic device further comprises:

[0107] The communication interface 403 is used for communication between the memory 401 and the processor 402 .

[0108] The memory 401 is used to store computer programs that can be executed on the processor 402 .

[0109] The memory 401 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0110] If the memory 401, the processor 402 and the communication interface 403 are implemented independently, the communication interface 403, the memory 401 and the processor 402 can be connected to each other through a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 4 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0111] Optionally, in a specific implementation, if the memory 401, the processor 402 and the communication interface 403 are integrated on a chip, the memory 401, the processor 402 and the communication interface 403 can communicate with each other through an internal interface.

[0112] The processor 402 may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0113] This embodiment also provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the steering control optimization method for the front and rear wheels of a vehicle as described above is implemented.

[0114] This embodiment also provides a computer program product, including a computer program, which is executed to implement the steering control optimization method for the front and rear wheels of a vehicle of the above embodiment.

[0115] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0116] In addition, 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. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0117] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0118] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purpose of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or N wirings (electronic devices), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or otherwise processing in a suitable manner if necessary, and then stored in a computer memory.

[0119] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiment, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0120] A person skilled in the art may understand that all or part of the steps in the above-mentioned embodiment method may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0121] In addition, each functional unit in each embodiment of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0122] The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A method for optimizing steering control of front and rear wheels of a vehicle, characterized in that: The following steps are involved: Get the current running status of the vehicle; Determining a first lateral acceleration and a first longitudinal acceleration of the vehicle according to the current running state, and weighting the first lateral acceleration and the first longitudinal acceleration, and when a weight allocation result satisfies a preset weight constraint condition, determining a target weight matrix that satisfies a preset control condition according to the weight allocation result; The target ratio value of the front and rear wheels of the vehicle is obtained according to the target weight matrix, so as to update the steering angle ratio relationship of the front and rear wheels of the vehicle according to the target ratio value.

2. The method according to claim 1, characterized in that The step of weighting the first lateral acceleration and the first longitudinal acceleration, and determining a target weight matrix satisfying a preset control condition according to the weight distribution result when the weight distribution result satisfies a preset weight constraint condition, comprises: Based on a preset first weight, respectively weight the first lateral acceleration and the first longitudinal acceleration to obtain a second lateral acceleration and a second longitudinal acceleration; determining whether an absolute value of the second lateral acceleration is less than an absolute value of the first lateral acceleration, and whether the second longitudinal acceleration is less than the first longitudinal acceleration; If the absolute value of the second lateral acceleration is greater than or equal to the absolute value of the first lateral acceleration, or the second longitudinal acceleration is greater than or equal to the first longitudinal acceleration, then updating the preset first weight, and performing weight distribution on the first lateral acceleration and the first longitudinal acceleration based on the updated weight, respectively, until the absolute value of the second lateral acceleration is less than the absolute value of the first lateral acceleration, and the second longitudinal acceleration is less than the first longitudinal acceleration, and it is determined that the updated weight distribution result satisfies the preset weight constraint condition; A target weight matrix satisfying the preset control condition is determined according to the updated weight distribution result.

3. The method according to claim 1, characterized in that When the weight distribution result satisfies the preset weight constraint condition, before determining the target weight matrix satisfying the preset control condition according to the weight distribution result, the method further includes: Based on a preset control algorithm, a target control equation for vehicle steering is obtained according to current operating parameters of the vehicle, and a target threshold for vehicle steering is obtained according to the target control equation.

4. The method according to claim 1, characterized in that: After updating the front and rear wheel angle ratio of the vehicle according to the target ratio value, the method further includes: Monitoring the updated steering angle ratio relationship between the front and rear wheels of the vehicle; Determining whether the steering result of the updated steering angle ratio relationship of the front and rear wheels of the vehicle is consistent with the actual steering result; If the updated steering result of the steering angle ratio relationship between the front and rear wheels of the vehicle is inconsistent with the actual steering result, the step of obtaining the current operating state of the vehicle is re-executed.

5. The method according to claim 3, characterized in that: The target control equation is: Among them, x is the vehicle operating parameter, Q is the state weight matrix, R is the control input weight matrix, and u is the control input front wheel steering angle α is the left front wheel turning angle, and β is the right front wheel turning angle.

6. A steering control optimization device for front and rear wheels of a vehicle, characterized in that: include: An acquisition module is used to obtain the current running status of the vehicle; a determination module, configured to determine a first lateral acceleration and a first longitudinal acceleration of the vehicle according to the current running state, and to perform weight distribution on the first lateral acceleration and the first longitudinal acceleration, and when a weight distribution result satisfies a preset weight constraint condition, determine a target weight matrix that satisfies a preset control condition according to the weight distribution result; The updating module is used to obtain the target ratio value of the front and rear wheels of the vehicle according to the target weight matrix, so as to update the steering angle ratio relationship of the front and rear wheels of the vehicle according to the target ratio value.

7. The device according to claim 6, characterized in that The determining module comprises: a weight distribution unit, configured to distribute weights to the first lateral acceleration and the first longitudinal acceleration respectively based on a preset first weight, so as to obtain a second lateral acceleration and a second longitudinal acceleration; a judging unit, configured to judge whether an absolute value of the second lateral acceleration is smaller than an absolute value of the first lateral acceleration, and whether the second longitudinal acceleration is smaller than the first longitudinal acceleration; an updating unit, configured to update the preset first weight if the absolute value of the second lateral acceleration is greater than or equal to the absolute value of the first lateral acceleration, or the second longitudinal acceleration is greater than or equal to the first longitudinal acceleration, and respectively weight the first lateral acceleration and the first longitudinal acceleration based on the updated weight, until the absolute value of the second lateral acceleration is less than the absolute value of the first lateral acceleration, and the second longitudinal acceleration is less than the first longitudinal acceleration, and it is determined that the updated weight allocation result satisfies the preset weight constraint condition; A determination unit is used to determine a target weight matrix that meets the preset control condition according to the updated weight distribution result.

8. An electronic device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steering control optimization method for the front and rear wheels of a vehicle as described in any one of claims 1 to 5.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the steering control optimization method for the front and rear wheels of a vehicle as described in any one of claims 1 to 5.

10. A computer program product, comprising a computer program, characterized in that The computer program is executed to implement the steering control optimization method for the front and rear wheels of a vehicle according to any one of claims 1 to 5.

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