Method and device for optimizing steering control of front and rear wheels of a vehicle, electronic equipment and medium

Abstract

The application 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, an electronic device and a medium, wherein the method comprises the following steps: determining a first lateral acceleration and a first longitudinal acceleration of the vehicle according to a current running state of the vehicle, performing weight distribution on the first lateral acceleration and the first longitudinal acceleration, and when a weight distribution result meets a preset weight constraint condition, determining a target weight matrix meeting a preset control condition according to the weight distribution result, and then obtaining a target proportion value of the front and rear wheels of the vehicle, so as to update a steering angle proportion relationship of the front and rear wheels of the vehicle according to the target proportion value. Therefore, the problem of body vibration and reduced comfort caused by the change of the proportion relationship of the front and rear wheels when the vehicle changes from a driving mode to a parking mode is solved, and the comfort of the vehicle when changing from the driving mode to the parking mode is improved by assigning different weight proportions to the lateral and longitudinal accelerations of the vehicle.

Description

Technical Field

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

[0002] With the gradual development of automotive technology, research on automotive theories and technologies is increasingly being applied to practical engineering, such as four-wheel steering technology. Compared to traditional front-wheel steering vehicles, four-wheel steering technology allows the front and rear wheels to steer in the same direction while driving, giving the vehicle better comfort, stability, and safety. When parking, it uses the opposite direction of the front and rear wheels, allowing the vehicle to handle various parking scenarios with a smaller turning radius, thus providing better handling.

[0003] In related technologies, vehicles often use front and rear wheel angle ratio control, that is, the front and rear wheel angles change according to a certain ratio, and the vehicle steering is controlled by assigning values ​​to the front and rear wheel angle ratios according to a map table.

[0004] However, the aforementioned steering angle control algorithm involves transitional calculations of the front and rear wheel steering angle ratios during driving and parking. When switching from driving mode to parking mode, the vehicle's comfort is easily affected because the front and rear wheel steering angle ratios are not fixed, which urgently needs to be addressed. Summary of the Invention

[0005] This application provides a method, device, electronic device, and medium for optimizing the steering control of the front and rear wheels of a vehicle, in order to solve problems such as vehicle body vibration and reduced comfort caused by the change in the ratio of the front and rear wheels when the vehicle switches from driving mode to parking mode.

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

[0007] Obtain the current operating status of the vehicle;

[0008] The first lateral acceleration and the first longitudinal acceleration of the vehicle are determined according to the current operating state, and the first lateral acceleration and the first longitudinal acceleration are weighted. When the weighting result satisfies the preset weighting constraint, the target weight matrix that satisfies the preset control condition is determined according to the weighting result.

[0009] The target ratio values ​​of the front and rear wheels of the vehicle are obtained based on the target weight matrix, and the steering angle ratio relationship of the front and rear wheels of the vehicle is updated based on the target ratio values.

[0010] According to one embodiment of this application, the step of weighting the first lateral acceleration and the first longitudinal acceleration, and determining a target weight matrix that satisfies preset control conditions based on the weighting result when the weighting result satisfies preset weight constraints, includes:

[0011] Based on a preset first weight, the first lateral acceleration and the first longitudinal acceleration are weighted and assigned respectively to obtain the second lateral acceleration and the second longitudinal acceleration.

[0012] Determine 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;

[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 the preset first weight is updated, and the first lateral acceleration and the first longitudinal acceleration are weighted according to 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 the updated weight allocation result is determined to satisfy the preset weight constraint condition.

[0014] The target weight matrix that satisfies the preset control conditions is determined based on the updated weight allocation results.

[0015] According to one embodiment of this application, before determining the target weight matrix that satisfies the preset control conditions based on the weight allocation results when the weight allocation result satisfies the preset weight constraint conditions, the method further includes:

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

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

[0018] Monitor the updated ratio of the steering angles of the front and rear wheels of the vehicle;

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

[0020] If the updated steering result of the front and rear wheel steering angle ratio is inconsistent with the actual steering result, the step of obtaining the current operating status of the vehicle is repeated.

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

[0022]

[0023] Where x represents the vehicle operating parameters, 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 steering angle of the left front wheel and β is the steering angle of the right front wheel.

[0024] According to the vehicle front and rear wheel steering control optimization method of this application embodiment, the first lateral acceleration and the first longitudinal acceleration of the vehicle are determined based on the current operating state of the vehicle. Weights are then assigned to the first lateral acceleration and the first longitudinal acceleration. When the weight assignment result satisfies preset weight constraints, a target weight matrix satisfying preset control conditions is determined based on the weight assignment result, thereby obtaining the target ratio value of the front and rear wheels of the vehicle. The steering angle ratio relationship of the front and rear wheels of the vehicle is updated based on the target ratio value. This solves the problems of vehicle vibration and reduced comfort caused by the change in the front and rear wheel ratio relationship when the vehicle transitions from driving mode to parking mode. By assigning different weight ratios to the vehicle's lateral and longitudinal accelerations, the comfort of the vehicle when transitioning from driving mode to parking mode is improved.

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

[0026] The acquisition module is used to acquire the current operating status of the vehicle;

[0027] The determination module is used to determine the first lateral acceleration and the first longitudinal acceleration of the vehicle according to the current operating state, and to assign weights to the first lateral acceleration and the first longitudinal acceleration. When the weight assignment result meets the preset weight constraint conditions, the module determines the target weight matrix that meets the preset control conditions according to the weight assignment result.

[0028] An update module is used to obtain the target ratio values ​​of the front and rear wheels of the vehicle based on the target weight matrix, so as to update the steering angle ratio relationship of the front and rear wheels of the vehicle based on the target ratio values.

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

[0030] The weight allocation unit is used to allocate weights to the first lateral acceleration and the first longitudinal acceleration based on a preset first weight, so as to obtain the second lateral acceleration and the second longitudinal acceleration.

[0031] The first judgment unit is used to determine 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;

[0032] An update unit is 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 to assign weights to the first lateral acceleration and the first longitudinal acceleration based on the updated weights, 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 to determine that the updated weight assignment result satisfies the preset weight constraint condition.

[0033] The determining unit is used to determine the target weight matrix that satisfies the preset control conditions based on the updated weight allocation results.

[0034] According to one embodiment of this application, before determining the target weight matrix that satisfies the preset control conditions based on the weight allocation results when the weight allocation result meets the preset weight constraint conditions, the determining module further includes:

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

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

[0037] A monitoring unit is used to monitor the updated ratio of the steering angles of the front and rear wheels of the vehicle;

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

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

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

[0041]

[0042] Where x represents the vehicle operating parameters, 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 steering angle of the left front wheel and β is the steering angle of the right front wheel.

[0043] The vehicle front and rear wheel steering control optimization device according to an embodiment of this application determines the vehicle's first lateral acceleration and first longitudinal acceleration based on the vehicle's current operating state, assigns weights to the first lateral acceleration and first longitudinal acceleration, and determines a target weight matrix that satisfies preset control conditions when the weight assignment result meets preset weight constraints. This yields a target ratio value for the vehicle's front and rear wheels, which is then used to update the steering angle ratio between the front and rear wheels. This solves the problem of vehicle vibration and reduced comfort caused by changes in the front and rear wheel ratio when the vehicle transitions from driving mode to parking mode. By assigning different weight ratios to the vehicle's lateral and longitudinal accelerations, the comfort of the vehicle when transitioning from driving mode to parking mode is improved.

[0044] A third aspect of this application provides an electronic device, including: 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 vehicle front and rear wheel steering control optimization method as described in the above embodiments.

[0045] A fourth aspect of this application provides a computer-readable storage medium storing computer instructions for causing the computer to perform the vehicle front and rear wheel steering control optimization method as described in the above embodiments.

[0046] A fifth aspect of this application provides a computer program product, including a computer program that is executed to implement the vehicle front and rear wheel steering control optimization method described in the above embodiments.

[0047] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

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

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

[0050] Figure 2 This is a schematic diagram of a vehicle turning radius acquisition method according to an embodiment of this application;

[0051] Figure 3This is a block diagram of a vehicle front and rear wheel steering control optimization device according to an embodiment of this application;

[0052] Figure 4 This is a schematic diagram of the structure of an electronic device according to an embodiment of this application. Detailed Implementation

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

[0054] The following describes a method, apparatus, electronic device, and medium for optimizing the steering control of the front and rear wheels of a vehicle according to embodiments of this application, with reference to the accompanying drawings. Addressing the problem mentioned in the background art of vehicle vibration and reduced comfort caused by the change in the front-to-rear wheel ratio when a vehicle transitions from driving mode to parking mode, this application provides a method for optimizing the steering control of the front and rear wheels of a vehicle. In this method, a first lateral acceleration and a first longitudinal acceleration of the vehicle are determined based on the current operating state of the vehicle. Weights are then assigned to the first lateral acceleration and the first longitudinal acceleration. When the weight assignment result satisfies preset weight constraints, a target weight matrix satisfying preset control conditions is determined based on the weight assignment result, thereby obtaining a target ratio value for the front and rear wheels of the vehicle. The steering angle ratio of the front and rear wheels of the vehicle is updated based on the target ratio value. This solves the problem of vehicle vibration and reduced comfort caused by the change in the front-to-rear wheel ratio when a vehicle transitions from driving mode to parking mode. By assigning different weight ratios to the lateral and longitudinal accelerations of the vehicle, the comfort of the vehicle during the transition from driving mode to parking mode is improved.

[0055] Specifically, Figure 1 This is a flowchart illustrating a method for optimizing steering control of the front and rear wheels of a vehicle, as provided in an embodiment of this application.

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

[0057] In step S101, the current operating status of the vehicle is obtained.

[0058] Specifically, during driving and parking, the vehicle's steering ratio is generally controlled as follows:

[0059]

[0060] Where a and b are the distances from the front and rear wheels to the center of gravity, respectively; u is the vehicle speed; k r For the equivalent lateral stiffness of the front wheel, kf denoted as , where m is the equivalent lateral stiffness of the front wheels; m is the vehicle mass; and L is the wheelbase.

[0061] As can be seen from the above formula, the front-to-rear wheel steering angle ratio k changes in real time with the vehicle speed. Therefore, to address the problem of vehicle body vibration caused by changes in the front-to-rear wheel steering angle ratio during driving and parking, which affects the user's driving comfort, this embodiment of the application is based on the vehicle's first lateral acceleration. First longitudinal acceleration Using the minimum turning radius as the target performance, the front and rear wheel steering angles of the vehicle are assigned different weight ratios through the LQR (Linear Quadratic Regulator) weight allocation method. This is to adjust the steering angle ratio between the front and rear wheels of the vehicle during parking transitions, thereby improving the comfort of the vehicle during parking transitions.

[0062] Therefore, in order to solve the above problems, the vehicle in this application embodiment has four-wheel steering function and is equipped with an air-type active suspension. The vehicle's driving parameters, such as vehicle 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, such as the vehicle is driving in a straight line, turning, accelerating or braking.

[0063] It should be noted that the embodiments of this application use dynamic equations to obtain the vehicle's driving parameters. This allows for continuous monitoring of the vehicle's position and attitude changes during the acquisition process, without directly involving forces. Therefore, the vehicle's driving position and direction, i.e., its current operating state, can be obtained through the dynamic equations, thereby improving the vehicle's operating accuracy. Furthermore, as... Figure 2 As shown, this embodiment of the application obtains the front wheel steering radius of the vehicle based on the Ackermann steering principle. Furthermore, based on Figure 2 The turning radius of the vehicle's four wheels can be obtained, such as Where α is the left front wheel steering angle, β is the right front wheel steering angle, γ is the left rear wheel steering angle, δ is the right rear wheel steering angle, and L is the wheelbase. Based on the Ackermann steering principle, the combination of the front and rear wheel steering angles of the vehicle is considered, so that the vehicle's handling and safety can be further improved by dynamically adjusting the steering characteristics.

[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 the first lateral acceleration and the first longitudinal acceleration are weighted. When the weighting result meets the preset weight constraint conditions, the target weight matrix that meets the preset control conditions is determined according to the weighting result.

[0065] According to one embodiment of this application, before determining the target weight matrix that satisfies the preset control conditions based on the weight allocation result when the weight allocation result satisfies the preset weight constraint conditions, the method further includes: obtaining the target control equation for vehicle steering based on the current operating parameters of the vehicle according to the preset control algorithm, and obtaining the target threshold for vehicle steering based on the target control equation.

[0066] According to one embodiment of this application, a weight allocation is performed on a first lateral acceleration and a first longitudinal acceleration. When the weight allocation result satisfies a preset weight constraint condition, a target weight matrix satisfying a preset control condition is determined based on the weight allocation result. The method includes: weight allocation is performed on the first lateral acceleration and the first longitudinal acceleration based on a preset first weight 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 the weight allocation is performed on 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 the updated weight allocation result is determined to satisfy the preset weight constraint condition; a target weight matrix satisfying the preset control condition, i.e., a state weight matrix, is determined based on the updated weight allocation result.

[0067] The preset control algorithm, preset weight constraints, preset control conditions, and preset first weight can be set by those skilled in the art according to actual testing needs, or can be obtained through a limited number of computer simulations, and are not specifically limited here.

[0068] Specifically, such as Figure 2 As shown, the relationship between the front and rear wheel steering angles of the vehicle can be obtained from the embodiments of this application. According to the dynamic equations, the first lateral acceleration is... and first longitudinal acceleration All of these are related to α, β, γ, and δ, therefore the weight allocation control algorithm of LQR can be used for optimization. and k.

[0069] Specifically, in this embodiment of the application, after obtaining the current operating state of the vehicle through the dynamic equation, the first step is to determine the vehicle's first lateral acceleration based on the current operating state. and the first longitudinal acceleration The dynamic equations are transformed into state equations concerning the lateral and longitudinal accelerations of the vehicle body. Since the lateral and longitudinal accelerations of a vehicle significantly affect its cornering stability, acceleration, deceleration, and braking performance, adjusting these accelerations is crucial. In this embodiment, the lateral and longitudinal accelerations of the vehicle body coordinate system can be assumed to be... Based on the vehicle's lateral and longitudinal accelerations and a preset first weight, such as the LQR weight allocation method, the target control equation is obtained, which is the equation concerning the optimal control performance index.

[0070]

[0071] Where x represents the vehicle's current operating parameters. v is the velocity of the vehicle's center of mass, ω r Let be the vehicle's yaw rate; Q is the state weight matrix. q1 is the weighting coefficient of the first lateral acceleration, and q2 is the weighting coefficient of the first longitudinal acceleration; R is the control input weighting matrix, and u is the control input front wheel steering angle. α is the steering angle of the left front wheel and β is the steering angle of the right front wheel.

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

[0073] Secondly, based on a preset first weight, such as the LQR weight allocation method, the first lateral acceleration of the front and rear wheels of the vehicle is respectively... and the first longitudinal acceleration Perform weight allocation to optimize the first lateral acceleration. and the first longitudinal acceleration The second lateral acceleration of the vehicle is obtained. Second longitudinal acceleration At this point, the vehicle's second lateral acceleration The absolute value of the first lateral acceleration The magnitude of the absolute value, and the second longitudinal acceleration The absolute value of the first longitudinal acceleration The absolute values ​​are compared to determine whether the weight allocation result meets the preset weight constraints. If it does, the target weight matrix Q that meets the preset control conditions is obtained based on the weight allocation result.

[0074] As one possible approach, if the second lateral acceleration The absolute value is less than the first lateral acceleration. The absolute value of, and the second longitudinal acceleration The absolute value is less than the first longitudinal acceleration. The absolute value of the value satisfies the preset weight constraint condition. When the target control equation J is obtained, the target threshold is obtained, which is the optimal value (minimum value) of the front and rear wheel steering angle ratio of the vehicle, thereby determining the target weight matrix Q that satisfies the preset control conditions.

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

[0076] It should be noted that the first lateral acceleration in the embodiments of this application and the first longitudinal acceleration For the lateral and longitudinal accelerations without the introduction of the LQR weight allocation method, that is, the first lateral acceleration of the vehicle determined based on the current operating state as described above. and the first longitudinal acceleration The second lateral acceleration in this application embodiment Second longitudinal acceleration This refers to the introduction of the LQR weight allocation method for lateral and longitudinal acceleration.

[0077] In step S103, the target ratio values ​​of the front and rear wheels of the vehicle are 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 values.

[0078] Specifically, in this embodiment of the application, after obtaining the target weight matrices Q and R that satisfy the preset control conditions, the target ratio value k of the front and rear wheels of the vehicle is obtained based on the target weight matrices Q and R, and the front wheel steering angle is input according to the control input. Control input rear wheel angle The proportional relationship with k, i.e. The front and rear wheel turning angles of the vehicle are obtained. At this time, the host computer assigns the value k to the actuator. The original map table is updated according to the target ratio value k, so that the front and rear wheel turning angles can be changed during the transition from driving to parking through the actuator, that is, the turning radius of the vehicle is minimized.

[0079] According to one embodiment of this application, after updating the front and rear wheel steering angle ratio of the vehicle according to the target ratio value, the method further includes: monitoring the updated steering angle ratio of the vehicle's front and rear wheels; determining whether the steering result of the updated steering angle ratio of the vehicle's front and rear wheels is consistent with the actual steering result; if the steering result of the updated steering angle ratio of the vehicle's front and rear wheels is inconsistent with the actual steering result, then re-executing the step of obtaining the current operating state of the vehicle.

[0080] Specifically, in this embodiment, after updating the front and rear wheel steering angle ratio of the vehicle according to the target ratio value, the updated front and rear wheel steering angle ratio of the vehicle continues to be monitored. If the steering result of the updated front and rear wheel steering angle ratio is inconsistent with the actual steering result of the vehicle, it indicates that there is a deviation in the steering of the front and rear wheels. 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, and the corresponding target ratio value k is obtained according to the re-obtained target weight matrix Q. Then, the original map table is updated with the new target ratio value k until the steering result of the updated front and rear wheel steering angle ratio is consistent with the actual steering result of the vehicle. Thus, by combining the LQR weight allocation method with optimization conditions, the vibration of the vehicle body caused by the change in the front and rear wheel ratio when the vehicle enters parking mode from driving mode is reduced, thereby reducing comfort.

[0081] According to the vehicle front and rear wheel steering control optimization method of this application embodiment, the first lateral acceleration and the first longitudinal acceleration of the vehicle are determined based on the current operating state of the vehicle. Weights are then assigned to the first lateral acceleration and the first longitudinal acceleration. When the weight assignment result satisfies preset weight constraints, a target weight matrix satisfying preset control conditions is determined based on the weight assignment result, thereby obtaining the target ratio value of the front and rear wheels of the vehicle. The steering angle ratio relationship of the front and rear wheels of the vehicle is updated based on the target ratio value. This solves the problems of vehicle vibration and reduced comfort caused by the change in the front and rear wheel ratio relationship when the vehicle transitions from driving mode to parking mode. By assigning different weight ratios to the vehicle's lateral and longitudinal accelerations, the comfort of the vehicle when transitioning from driving mode to parking mode is improved.

[0082] Next, referring to the accompanying drawings, a vehicle front and rear wheel steering control optimization device according to an embodiment of this application is described.

[0083] Figure 3 This is a block diagram of a vehicle front and rear wheel steering control optimization device according to an embodiment of this application.

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

[0085] The acquisition module 100 is used to acquire the current operating status of the vehicle;

[0086] The determination module 200 is used to determine the first lateral acceleration and the first longitudinal acceleration of the vehicle according to the current operating state, and to assign weights to the first lateral acceleration and the first longitudinal acceleration. When the weight assignment result meets the preset weight constraint conditions, the target weight matrix that meets the preset control conditions is determined according to the weight assignment result.

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

[0088] According to one embodiment of this application, the determining module 200 includes:

[0089] The weight allocation unit is used to allocate weights to the first lateral acceleration and the first longitudinal acceleration based on a preset first weight, so as to obtain the second lateral acceleration and the second longitudinal acceleration.

[0090] The first judgment unit is used to determine 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.

[0091] The updating unit is 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 to assign weights to the first lateral acceleration and the first longitudinal acceleration based on the updated weights, 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 to determine that the updated weight assignment result satisfies the preset weight constraint condition.

[0092] The determination unit is used to determine the target weight matrix that meets the preset control conditions based on the updated weight allocation results.

[0093] According to one embodiment of this application, before determining the target weight matrix that satisfies the preset control conditions based on the weight allocation result when the weight allocation result meets the preset weight constraint conditions, the determining module 200 further includes:

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

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

[0096] The monitoring unit is used to monitor the updated ratio of the steering angles of the front and rear wheels of the vehicle.

[0097] The second judgment unit is used to determine whether the updated steering result of the steering angle ratio 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 operating state of the vehicle if the updated steering result of the steering angle ratio between the front and rear wheels of the vehicle is inconsistent with the actual steering result.

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

[0100]

[0101] Where x represents the vehicle operating parameters, 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 steering angle of the left front wheel and β is the steering angle of the right front wheel.

[0102] The vehicle front and rear wheel steering control optimization device according to an embodiment of this application determines the vehicle's first lateral acceleration and first longitudinal acceleration based on the vehicle's current operating state, assigns weights to the first lateral acceleration and first longitudinal acceleration, and determines a target weight matrix that satisfies preset control conditions when the weight assignment result meets preset weight constraints. This yields a target ratio value for the vehicle's front and rear wheels, which is then used to update the steering angle ratio between the front and rear wheels. This solves the problem of vehicle vibration and reduced comfort caused by changes in the front and rear wheel ratio when the vehicle transitions from driving mode to parking mode. By assigning different weight ratios to the vehicle's lateral and longitudinal accelerations, the comfort of the vehicle when transitioning from driving mode to parking mode is improved.

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

[0104] The memory 401, the processor 402, and the computer program stored on the memory 401 and capable of running on the processor 402.

[0105] When the processor 402 executes the program, it implements the vehicle front and rear wheel steering control optimization method provided in the above embodiments.

[0106] Furthermore, electronic devices also include:

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

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

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

[0110] If the memory 401, processor 402, and communication interface 403 are implemented independently, then the communication interface 403, memory 401, and processor 402 can be interconnected via a bus to complete communication between them. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized into address buses, data buses, control buses, etc. For ease of representation, Figure 4 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

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

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

[0113] This embodiment also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described method for optimizing steering control of the front and rear wheels of a vehicle.

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

[0115] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0116] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0117] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0118] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Furthermore, computer-readable media can even be paper or other suitable media on which programs can be printed, because programs can be obtained electronically, for example, by optically scanning the paper or other media, followed by editing, interpreting, or otherwise processing as necessary, and then stored in computer memory.

[0119] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0120] Those skilled in the art will understand that all or part of the steps of the methods described in the above embodiments can be implemented by a program instructing related hardware, and the program can be stored in a computer-readable storage medium. When executed, the program includes one or a combination of the steps of the method embodiments.

[0121] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0122] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.

Claims

1. A method for optimizing steering control of the front and rear wheels of a vehicle, characterized in that, Includes the following steps: Obtain the current operating status of the vehicle; The first lateral acceleration and the first longitudinal acceleration of the vehicle are determined according to the current operating state, and the first lateral acceleration and the first longitudinal acceleration are weighted. When the weighting result satisfies the preset weight constraint condition, the target weight matrix that satisfies the preset control condition is determined according to the weighting result. The target ratio values ​​of the front and rear wheels of the vehicle are obtained based on the target weight matrix, and the steering angle ratio relationship of the front and rear wheels of the vehicle is updated based on the target ratio values. Wherein, the target ratio value is the target ratio value of the front and rear wheels of the vehicle; The first lateral acceleration and the first longitudinal acceleration are input to the LQR, which includes a state weight matrix and a control input weight matrix. The target scale value is determined based on the target control equation, the state weight matrix, and the control input weight matrix.

2. The method according to claim 1, characterized in that, The step of assigning weights to the first lateral acceleration and the first longitudinal acceleration, and determining a target weight matrix that satisfies preset control conditions based on the weight assignment results when the weight assignment results satisfy preset weight constraints, includes: Based on a preset first weight, the first lateral acceleration and the first longitudinal acceleration are weighted and assigned respectively to obtain the second lateral acceleration and the second longitudinal acceleration. Determine 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, then the preset first weight is updated, and the first lateral acceleration and the first longitudinal acceleration are weighted according to 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 the updated weight allocation result is determined to satisfy the preset weight constraint condition. The target weight matrix that satisfies the preset control conditions is determined based on the updated weight allocation results.

3. The method according to claim 1, characterized in that, Before determining the target weight matrix that satisfies the preset control conditions based on the weight allocation results, when the weight allocation results meet the preset weight constraints, the process further includes: Based on the preset control algorithm, the target control equation for vehicle steering is obtained according to the current operating parameters of the vehicle, and the 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 steering angle ratio of the vehicle according to the target ratio value, the method further includes: Monitor the updated ratio of the steering angles of the front and rear wheels of the vehicle; Determine whether the updated steering angle ratio of the front and rear wheels of the vehicle is consistent with the actual steering result; If the updated steering result of the front and rear wheel steering angle ratio is inconsistent with the actual steering result, the step of obtaining the current operating status of the vehicle is repeated.

5. The method according to claim 3, characterized in that, The target control equation is: in, For vehicle operating parameters, The state weight matrix is... To control the input weight matrix, To control the input front wheel steering angle , For the left front wheel steering angle, This refers to the steering angle of the right front wheel.

6. A steering control optimization device for the front and rear wheels of a vehicle, characterized in that, include: The acquisition module is used to acquire the current operating status of the vehicle; The determination module is used to determine the first lateral acceleration and the first longitudinal acceleration of the vehicle according to the current operating state, and to assign weights to the first lateral acceleration and the first longitudinal acceleration. When the weight assignment result meets the preset weight constraint conditions, the module determines the target weight matrix that meets the preset control conditions according to the weight assignment result. The update 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. Wherein, the target ratio value is the target ratio value of the front and rear wheels of the vehicle; The first lateral acceleration and the first longitudinal acceleration are input to the LQR, which includes a state weight matrix and a control input weight matrix. The target scale value is determined based on the target control equation, the state weight matrix, and the control input weight matrix.

7. The apparatus according to claim 6, characterized in that, The determining module includes: The weight allocation unit is used to allocate weights to the first lateral acceleration and the first longitudinal acceleration based on a preset first weight, so as to obtain the second lateral acceleration and the second longitudinal acceleration. The judgment unit is used to determine 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; An update unit is 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 to assign weights to the first lateral acceleration and the first longitudinal acceleration based on the updated weights, 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 to determine that the updated weight assignment result satisfies the preset weight constraint condition. The determining unit is used to determine the target weight matrix that satisfies the preset control conditions based on the updated weight allocation results.

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, the processor executing the program to implement the vehicle front and rear wheel steering control optimization method as described in any one of claims 1-5.

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

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

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