Vehicle transverse advancing control method and device, electronic equipment and vehicle

Abstract

The invention relates to the technical field of vehicle control, and provides a vehicle transverse advancing control method and device, electronic equipment and a vehicle. The method comprises the steps that in response to the fact that a vehicle starts a transverse advancing mode, the real-time steering wheel turning angle and the real-time vehicle speed are obtained; according to the real-time steering wheel rotation angle and the real-time vehicle speed, whether the vehicle continuously meets a preset alarm condition within a preset duration or not is determined; if yes, the attenuation mode of the rear wheel turning angle is determined, and the rear wheel turning angle is adjusted to be zero according to the attenuation mode so that the vehicle can exit the transverse advancing mode. In this way, when the vehicle continuously has safety risks, the vehicle can automatically exit from the transverse advancing mode, and the safety of the vehicle is guaranteed. Meanwhile, the rear wheel rotating angle is adjusted to be zero according to the attenuation mode, the transverse advancing mode can be stably quitted, and therefore the stability of the vehicle is kept while the safety of the vehicle is guaranteed.

Description

Technical Field

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

[0002] The vehicle's lateral forward movement is achieved by controlling the front and rear wheels to steer in the same direction. Under normal circumstances, the lateral forward movement mode is exited only when an exit command is received. However, when there is a safety risk in the lateral forward movement mode, the vehicle cannot automatically exit the lateral forward movement mode and there will be an instability problem.

[0003] In view of this, how to automatically exit the lateral forward mode and ensure the stability of the vehicle when there is a safety risk has become a technical problem that needs to be solved urgently. Summary of the invention

[0004] In view of this, the purpose of the present disclosure is to propose a control method, device, electronic device and vehicle for lateral forward movement of a vehicle, so as to solve the problem in the prior art that the lateral forward movement mode cannot be automatically exited when there is a safety risk and there is instability.

[0005] Based on the above purpose, the first aspect of the present disclosure provides a method for controlling the lateral movement of a vehicle, the method comprising: In response to the vehicle starting a lateral forward mode, obtaining a real-time steering wheel angle and a real-time vehicle speed; Determine whether the vehicle continues to meet the preset alarm conditions within a preset time period based on the real-time steering wheel angle and the real-time vehicle speed; If the condition is continuously satisfied, a decay mode of the rear wheel steering angle is determined, and the rear wheel steering angle is adjusted to a zero value according to the decay mode, so that the vehicle exits the lateral forward travel mode.

[0006] Based on the same inventive concept, the second aspect of the present disclosure provides a control device for lateral forward movement of a vehicle, comprising: An acquisition module is configured to acquire a real-time steering wheel angle and a real-time vehicle speed in response to the vehicle starting a lateral forward mode; A judgment module is configured to determine whether the vehicle continues to meet a preset alarm condition within a preset time period according to the real-time steering wheel angle and the real-time vehicle speed; The exit module is configured to determine the attenuation mode of the rear wheel steering angle if the condition is continuously satisfied, and adjust the rear wheel steering angle to a zero value according to the attenuation mode so that the vehicle exits the lateral forward mode.

[0007] Based on the same inventive concept, the third aspect of the present disclosure proposes an electronic device, including a memory, a processor, and a computer program stored in the memory and executable by the processor, wherein the processor implements the method as described above when executing the computer program.

[0008] Based on the same inventive concept, the fourth aspect of the present disclosure proposes a vehicle, which includes the vehicle lateral forward movement control device described in the second aspect or the electronic device described in the third aspect.

[0009] From the above, it can be seen that the present disclosure provides a control method, device, electronic device and vehicle for the lateral forward movement of a vehicle. When the vehicle turns on the lateral forward movement mode, the real-time steering wheel angle and the real-time vehicle speed are obtained. According to the real-time steering wheel angle and the real-time vehicle speed, it is determined whether the vehicle continues to meet the preset alarm conditions within the preset time period, so that it can accurately judge whether the vehicle continues to have safety risks. If it continues to meet the conditions, the attenuation mode of the rear wheel angle is determined, and the rear wheel angle is adjusted to zero according to the attenuation mode to make the vehicle exit the lateral forward movement mode. In this way, when the vehicle continues to have safety risks, it can automatically exit the lateral forward movement mode to ensure the safety of the vehicle. At the same time, by adjusting the rear wheel angle to zero according to the attenuation mode, the lateral forward movement mode can be smoothly exited, thereby ensuring the safety of the vehicle while maintaining the stability of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate the technical solutions in the present disclosure or related technologies, the drawings required for use in the embodiments or related technical descriptions are briefly introduced below. Obviously, the drawings described below are only embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0011] Figure 1 A flow chart of a method for controlling the lateral movement of a vehicle according to an embodiment of the present disclosure; Figure 2 It is a structural schematic diagram of a control device for lateral forward movement of a vehicle according to an embodiment of the present disclosure; Figure 3 It is a schematic diagram of the structure of an electronic device according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0012] In order to make the objectives, technical solutions and advantages of the present disclosure more clearly understood, the present disclosure is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings.

[0013] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present disclosure should be understood by people with ordinary skills in the field to which the present disclosure belongs. The "first", "second" and similar words used in the embodiments of the present disclosure do not indicate any order, quantity or importance, but are only used to distinguish different components. "Including" or "comprising" and similar words mean that the elements or objects appearing before the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0014] As mentioned above, how to automatically exit the lateral forward mode and ensure the stability of the vehicle when there is a safety risk has become an important research issue.

[0015] Based on the above description, if Figure 1 As shown, the control method for the lateral movement of a vehicle proposed in this embodiment includes: Step 101, in response to the vehicle starting the lateral forward mode, obtaining the real-time steering wheel angle and the real-time vehicle speed.

[0016] In specific implementation, the lateral forward mode is the crab mode. The crab mode is a special vehicle driving mode that allows the vehicle to move laterally like a crab. By controlling the steering angle of the front and rear wheels, the vehicle can move laterally or diagonally. It is usually used in specific scenarios, such as moving out behind a pillar or passing through a narrow space. The crab mode is mainly achieved by controlling the steering angle of the front and rear wheels, and the vehicle can move laterally by turning the front and rear wheels at a large angle at the same time.

[0017] After the vehicle starts the lateral forward mode, the real-time steering wheel angle and the real-time vehicle speed are obtained, wherein the real-time steering wheel angle is the steering wheel request angle that changes in real time at each moment, and the real-time vehicle speed is the vehicle speed that changes in real time at each moment.

[0018] Step 102, determining whether the vehicle continues to meet a preset alarm condition within a preset time period according to the real-time steering wheel angle and the real-time vehicle speed.

[0019] In specific implementation, the real-time steering wheel angle and real-time vehicle speed can be used to accurately determine whether the vehicle is in a lateral forward mode and whether there is a safety risk. By determining whether the vehicle continues to meet the preset alarm conditions within a preset time, it can accurately determine whether the vehicle is in a lateral forward mode and whether there is a safety risk for a long time.

[0020] When the real-time steering wheel angle is too large and / or the real-time vehicle speed is too large and continues for a preset time, it indicates that there is a continuous safety risk in the lateral forward mode of the vehicle, and it is determined that the vehicle continues to meet the preset alarm conditions within the preset time.

[0021] Step 103: If the condition is continuously satisfied, determine the attenuation mode of the rear wheel steering angle, and adjust the rear wheel steering angle to zero according to the attenuation mode, so that the vehicle exits the lateral forward mode.

[0022] In specific implementation, when the vehicle continues to meet the preset alarm conditions within a preset time period and it is determined that there is a continuous safety risk for the vehicle in the lateral forward mode, the vehicle is controlled to exit the lateral forward mode by adjusting the rear wheel steering angle to zero.

[0023] The attenuation mode of the rear wheel steering angle is determined according to the current vehicle speed. When the current vehicle speed is greater than or equal to the preset fourth vehicle speed threshold, the first attenuation mode is determined, and the rear wheel steering angle is gradually reduced to zero according to the received real-time steering wheel angle. When the current vehicle speed is less than the preset fourth vehicle speed threshold, the second attenuation mode is determined, and the real-time rear wheel steering angle is directly set to zero.

[0024] Through the above-mentioned embodiment, when the vehicle turns on the lateral forward mode, the real-time steering wheel angle and the real-time vehicle speed are obtained. According to the real-time steering wheel angle and the real-time vehicle speed, it is determined whether the vehicle continues to meet the preset alarm conditions within the preset time period, and it is possible to accurately judge whether the vehicle continues to have safety risks. If it continues to meet the conditions, the attenuation mode of the rear wheel angle is determined, and the rear wheel angle is adjusted to zero according to the attenuation mode to make the vehicle exit the lateral forward mode. In this way, when the vehicle continues to have safety risks, it can automatically exit the lateral forward mode to ensure the safety of the vehicle. At the same time, by adjusting the rear wheel angle to zero according to the attenuation mode, the lateral forward mode can be smoothly exited, thereby ensuring the safety of the vehicle while maintaining the stability of the vehicle.

[0025] In some embodiments, before step 101, the method further includes: Step 1011, obtaining vehicle driving information.

[0026] Step 1012: Determine whether the vehicle meets a preset activation condition based on the vehicle driving information.

[0027] Step 1013, in response to determining that the vehicle meets the preset activation condition, controlling the vehicle to start the lateral forward mode.

[0028] In specific implementation, after receiving a request to start the lateral mode, it is determined whether there is a fault in the rear wheel steering system of the vehicle. When there is no fault in the rear wheel steering system of the vehicle, the lateral forward mode is controlled to be in a standby state.

[0029] When the lateral forward mode is in a standby state, the vehicle driving information is obtained, and it is determined whether the vehicle meets the preset activation conditions according to the vehicle driving information. When the vehicle meets the preset activation conditions, the vehicle is controlled to start the lateral forward mode and the lateral forward mode is controlled to be in an activated state.

[0030] By judging whether the vehicle meets the preset activation conditions, it is possible to judge whether the vehicle is currently in a safe driving state, thereby judging whether the vehicle is currently suitable for turning on the lateral forward mode. When the vehicle meets the preset activation conditions, it means that the vehicle is currently in a safe driving state, and the vehicle is controlled to turn on the lateral forward mode.

[0031] After the vehicle is controlled to start the lateral forward mode, the vehicle is controlled to travel according to the lateral forward mode. Specifically, the real-time steering wheel angle is obtained, and the rear wheel angle is controlled according to the real-time steering wheel angle, that is, the rear wheel angle follows the real-time steering wheel angle output. For example, when the real-time steering wheel angle is 540 degrees, the corresponding wheel angle is 40 degrees. After the lateral forward mode is turned on, when the real-time steering wheel angle is 540 degrees, the rear wheel angle is controlled to be 40 degrees.

[0032] Through the above scheme, it is possible to accurately determine whether the vehicle is in a safe driving state according to the vehicle driving information. When it is determined that the vehicle is in a safe driving state according to the vehicle driving information, it is determined that the vehicle meets the preset activation conditions, and the vehicle is controlled to start the lateral forward mode. In this way, the lateral forward mode of the vehicle can be turned on when the vehicle is in a safe driving state, and the safety of the vehicle can be ensured while the lateral forward mode is turned on.

[0033] In some embodiments, the vehicle driving information includes front wheel angle, rear wheel angle, gear information and vehicle speed; step 1013 includes: Step 1013A, in response to determining that both the front wheel steering angle and the rear wheel steering angle are switched to zero, the gear information is the forward gear, and the vehicle speed is less than a preset first vehicle speed threshold, determining that the vehicle meets the preset activation condition.

[0034] In specific implementation, when the front wheel steering angle and the rear wheel steering angle of the vehicle are switched to zero, the gear information is the forward gear and the vehicle speed is less than a preset first vehicle speed threshold, it is determined that the vehicle meets the preset activation conditions, the vehicle is controlled to start the lateral forward mode, and the lateral forward mode is controlled to be in an activated state.

[0035] When the vehicle speed is less than the preset first vehicle speed threshold and the gear information is the forward gear, it can be determined that the vehicle is currently in a low-speed forward state, and when the front wheel steering angle and the rear wheel steering angle of the vehicle are switched to zero, the vehicle rear wheels can be controlled to actively steer after the vehicle's lateral forward mode is activated. Therefore, when the above preset activation conditions are met, the vehicle can be controlled to start the lateral forward mode.

[0036] For example, the first vehicle speed threshold is 5 km / h. When the front wheel steering angle and the rear wheel steering angle of the vehicle have returned to zero angle value, the gear information is D gear and the vehicle speed is less than 5 km / h, it is determined that the vehicle meets the preset activation conditions, and the vehicle is controlled to start the lateral forward mode.

[0037] Alternatively, step 1013B, in response to determining that the vehicle speed is greater than or equal to a preset second vehicle speed threshold and the front wheel steering angle is zero, determining that the vehicle meets a preset activation condition; wherein the first vehicle speed threshold is less than or equal to the second vehicle speed threshold.

[0038] In specific implementation, when the vehicle speed is greater than a preset second vehicle speed threshold and the front wheel turning angle is zero, it can be determined that the vehicle is currently in a normal driving state, that the vehicle meets the preset activation conditions, and that the vehicle is controlled to start the lateral forward mode and control the lateral forward mode to be in an activated state.

[0039] When the vehicle speed is greater than the preset second vehicle speed threshold, it can be determined that the vehicle is currently in a normal driving state, and when the front wheel steering angle of the vehicle is zero, the rear wheels of the vehicle can be controlled to actively steer after the lateral forward mode of the vehicle is activated. Therefore, when the above preset activation conditions are met, the vehicle can be controlled to start the lateral forward mode.

[0040] For example, the second vehicle speed threshold is 10 km / h. When the vehicle speed is greater than 10 km / h and the front wheel turning angle is zero, it is determined that the vehicle meets the preset activation condition, and the vehicle is controlled to start the lateral forward mode.

[0041] In addition, the first vehicle speed threshold and the second vehicle speed threshold may be equal. When the first vehicle speed threshold and the second vehicle speed threshold are equal, the relationship between the vehicle speed and the first vehicle speed threshold is determined. When the vehicle speed is less than the preset first vehicle speed threshold, the front wheel angle, the rear wheel angle and the gear information are determined. When the front wheel angle and the rear wheel angle are both switched to zero and the gear information is the forward gear, the vehicle is in a low-speed forward state, and it is determined that the vehicle meets the preset activation conditions. When the vehicle speed is greater than or equal to the preset first vehicle speed threshold, the front wheel angle is determined. When the front wheel angle is zero, the vehicle is in a normal driving state, and it is determined that the vehicle meets the preset activation conditions.

[0042] Through the above scheme, when the front wheel steering angle and the rear wheel steering angle of the vehicle are switched to zero, the gear information is the forward gear and the vehicle speed is less than the preset first vehicle speed threshold, it can be accurately determined that the vehicle is currently in a low-speed driving state, thereby accurately identifying that the vehicle meets the preset activation conditions, so that the vehicle can start the lateral forward mode in a safe driving state. When the vehicle speed is greater than the preset second vehicle speed threshold and the front wheel steering angle is zero, it can be determined that the vehicle is currently in a straight driving state, thereby accurately identifying that the vehicle meets the preset activation conditions, so that the vehicle can start the lateral forward mode in a safe driving state.

[0043] In some embodiments, step 102 includes: Step 1021, in response to the real-time steering wheel angle being continuously greater than a preset steering wheel safety angle threshold or the real-time vehicle speed being continuously greater than a preset third vehicle speed threshold within a first preset time period, an alarm prompt is issued.

[0044] In specific implementation, the safe steering wheel angle threshold is a pre-set steering wheel angle threshold for ensuring vehicle safety in the lateral forward mode, and the third vehicle speed threshold is a pre-set vehicle speed threshold for ensuring vehicle safety in the lateral forward mode.

[0045] When the real-time steering wheel angle is greater than the preset steering wheel safety angle threshold or the real-time vehicle speed is greater than the preset third vehicle speed threshold, and this continues for a first preset time period, it is determined that there is an unsafe risk for the vehicle in the lateral forward mode, the lateral forward mode is controlled to be in an alarm state, and an alarm is issued to prompt the driver to reduce the speed or the steering wheel angle.

[0046] Specifically, when the real-time steering wheel angle is greater than the preset steering wheel safety angle threshold and lasts for a first preset time, the driver is prompted to reduce the steering wheel angle. When the real-time vehicle speed is greater than the preset third vehicle speed threshold and lasts for a first preset time, the driver is prompted to reduce the speed. When the real-time steering wheel angle is greater than the preset steering wheel safety angle threshold and lasts for a first preset time, and the real-time vehicle speed is greater than the preset third vehicle speed threshold and lasts for a first preset time, the driver is prompted to reduce the steering wheel angle and reduce the speed.

[0047] For example, the preset safe steering wheel angle threshold is 585 degrees (when the real-time steering wheel angle is 585 degrees, the corresponding wheel angle is 41 degrees), the third vehicle speed threshold is 20km / h, and the preset duration is 10s. When the real-time steering wheel angle is greater than 585 degrees and lasts for 10s, the driver is prompted to reduce the steering wheel angle. When the real-time vehicle speed is greater than 20km / h and lasts for 10s, the driver is prompted to reduce the speed. When the real-time steering wheel angle is greater than 585 degrees and the real-time vehicle speed is greater than 20km / h and lasts for 10s, the driver is prompted to reduce the steering wheel angle and reduce the speed.

[0048] Step 1022, in response to determining that the steering wheel angle has not decreased or the vehicle speed has not decreased within a second preset time period after the alarm prompt is issued, determining that the vehicle continues to meet the preset alarm condition within the preset time period.

[0049] In specific implementation, within the second preset time after the alarm is issued, if the steering wheel angle does not decrease or the vehicle speed does not decrease, it means that the vehicle is continuously in a state of safety risk in the lateral forward mode, and it is determined that the vehicle continues to meet the preset alarm conditions within the preset time, and the lateral forward mode is controlled to be in a standby state. In the standby state of the lateral forward mode, the rear wheel angle is adjusted to zero according to the attenuation method, so that the vehicle exits the lateral forward mode, thereby ensuring the safety of the vehicle.

[0050] Specifically, when the alarm prompt issued is to reduce the steering wheel angle, and the steering wheel angle does not decrease within the second preset time length after the alarm prompt is issued, it is determined that the vehicle continues to meet the preset alarm condition within the preset time length. When the alarm prompt issued is to reduce the vehicle speed, and the vehicle speed does not decrease within the second preset time length after the alarm prompt is issued, it is determined that the vehicle continues to meet the preset alarm condition within the preset time length. When the alarm prompt issued is to reduce the steering wheel angle and reduce the vehicle speed, and the steering wheel angle does not decrease and / or the vehicle speed does not decrease within the second preset time length after the alarm prompt is issued, it is determined that the vehicle continues to meet the preset alarm condition within the preset time length.

[0051] For example, the second preset time length is 5 seconds. If the steering wheel angle does not decrease within 5 seconds after the driver is prompted to reduce the steering wheel angle, it is determined that the vehicle continues to meet the preset alarm condition within the preset time length. If the vehicle speed does not decrease within 5 seconds after the driver is prompted to reduce the speed, it is determined that the vehicle continues to meet the preset alarm condition within the preset time length. If the steering wheel angle does not decrease and / or the vehicle speed does not decrease within 5 seconds after the driver is prompted to reduce the steering wheel angle and reduce the speed, it is determined that the vehicle continues to meet the preset alarm condition within the preset time length.

[0052] In addition, after reaching the second preset time period, the real-time steering wheel angle is still greater than the preset steering wheel safety angle threshold or the real-time vehicle speed is still greater than the preset third vehicle speed threshold, determining that the vehicle continues to meet the preset alarm conditions within the preset time period, and adjusting the rear wheel angle to zero value in an attenuation manner to allow the vehicle to exit the lateral forward mode.

[0053] For example, if the real-time steering wheel angle does not decrease within the second preset time after the alarm is issued, or the real-time steering wheel angle decreases but does not decrease to the preset steering wheel safety angle threshold, it is determined that the vehicle continues to meet the preset alarm condition within the preset time. If the real-time vehicle speed does not decrease within the second preset time after the alarm is issued, or the real-time vehicle speed decreases but does not decrease to the preset third vehicle speed threshold, it is determined that the vehicle continues to meet the preset alarm condition within the preset time.

[0054] Through the above scheme, within the first preset time period, if the real-time steering wheel angle is continuously greater than the preset steering wheel safety angle threshold or the real-time vehicle speed is continuously greater than the preset third vehicle speed threshold, an alarm prompt is issued to facilitate the driver to decelerate or reduce the steering wheel angle according to the alarm prompt, thereby maintaining the lateral forward mode while ensuring safety. Within the second preset time period after the alarm prompt is issued, if the steering wheel angle is not reduced to the preset steering wheel safety angle threshold or the vehicle speed is not reduced to the preset third vehicle speed threshold, it is determined that the vehicle continues to meet the preset alarm conditions within the preset time period, and the rear wheel angle is adjusted to zero, so that the vehicle exits the lateral forward mode to ensure the safety of the vehicle.

[0055] In some embodiments, after step 1021, the method further includes: Step 10211, in response to determining that the rear wheel steering angle reaches a preset rear wheel maximum steering angle threshold within a second preset time period after the alarm prompt is issued, maintaining the rear wheel steering angle at the rear wheel maximum steering angle threshold.

[0056] In specific implementation, when an alarm is issued, the rear wheel angle is controlled according to the real-time steering wheel angle, that is, the rear wheel angle follows the real-time steering wheel angle output. Within the second preset time after the alarm is issued, it is determined whether the rear wheel angle reaches the preset rear wheel maximum angle threshold. When the rear wheel angle does not reach the preset rear wheel maximum angle threshold within the second preset time after the alarm is issued, the rear wheel angle continues to follow the real-time steering wheel angle output. When the rear wheel angle reaches the preset rear wheel maximum angle threshold within the second preset time after the alarm is issued, the rear wheel angle is maintained at the rear wheel maximum angle threshold.

[0057] For example, the preset maximum rear wheel angle threshold is 42 degrees (when the real-time steering wheel angle is 630 degrees, the corresponding wheel angle is 42 degrees), and the second preset duration is 5 seconds. When the real-time steering wheel angle is 585 degrees, an alarm is issued to prompt the driver to reduce the steering wheel angle. If the real-time steering wheel angle increases to 630 degrees in the 3rd second after the alarm is issued, and the real-time steering wheel angle continues to exceed 630 degrees after the 3rd second, the rear wheel angle will no longer follow the real-time steering wheel angle output, and the rear wheel angle will be maintained at 42 degrees.

[0058] After step 10211, after reaching the second preset time, when the real-time steering wheel angle has not decreased to the preset steering wheel safety angle threshold, or the real-time vehicle speed has not decreased to the preset third vehicle speed threshold, execute step 103 to exit the lateral forward mode.

[0059] Through the above solution, within the second preset time after the alarm is issued, when the rear wheel angle reaches the preset rear wheel maximum angle threshold, the rear wheel angle is maintained at the rear wheel maximum angle threshold, thereby avoiding the unsafe risk caused by the rear wheel angle continuing to increase with the real-time steering wheel angle.

[0060] In some embodiments, after step 10211, the method further includes: Step 10211A, determine whether the real-time steering wheel angle is less than the rear wheel maximum angle threshold.

[0061] Step 10211B, in response to determining that the real-time steering wheel angle is less than the rear wheel maximum angle threshold, setting the rear wheel angle to the real-time steering wheel angle.

[0062] In a specific implementation, after the rear wheel steering angle is maintained at the preset rear wheel maximum steering angle threshold, it is determined whether the received real-time steering wheel angle decreases. When the real-time steering wheel angle does not decrease, the rear wheel steering angle is maintained at the preset rear wheel maximum steering angle threshold. When the received real-time steering wheel angle decreases and the real-time steering wheel angle is less than the preset rear wheel maximum steering angle threshold, the rear wheel angle is set as the real-time steering wheel angle.

[0063] For example, the preset maximum rear wheel angle threshold is 42 degrees (when the real-time steering wheel angle is 630 degrees, the corresponding wheel angle is 42 degrees). If the real-time steering wheel angle increases to 630 degrees 3 seconds after the alarm is issued, and the real-time steering wheel angle continues to exceed 630 degrees after 3 seconds, the rear wheel angle is maintained at 42 degrees. If the real-time steering wheel angle decreases to 630 degrees 5 seconds after the alarm is issued, and the real-time steering wheel angle continues to be less than 630 degrees after 5 seconds, the rear wheel angle is set to the real-time steering wheel angle, and the rear wheel angle follows the real-time steering wheel angle output.

[0064] Through the above scheme, after the rear wheel angle is set to the rear wheel maximum angle threshold, when the real-time steering wheel angle decreases and is less than the rear wheel maximum angle threshold, the rear wheel angle is controlled to continue to follow the real-time steering wheel angle. In this way, the vehicle can be controlled to continue to maintain the lateral forward mode according to the real-time steering wheel angle, or to stably exit the lateral forward mode according to the real-time steering wheel angle.

[0065] In some embodiments, step 103 includes: Step 103A, obtaining the current vehicle speed.

[0066] Step 103B, in response to determining that the current vehicle speed is greater than or equal to a preset fourth vehicle speed threshold, determining that the attenuation mode is the first attenuation mode, in response to determining that the received real-time steering wheel angle is less than the real-time rear wheel angle, setting the real-time rear wheel angle to the real-time steering wheel angle until the real-time rear wheel angle decreases to zero.

[0067] In specific implementation, the first attenuation mode is to gradually reduce the rear wheel angle to zero according to the received real-time steering wheel angle. When the received real-time steering wheel angle is less than the real-time rear wheel angle, the real-time rear wheel angle is set as the real-time steering wheel angle until the real-time rear wheel angle is reduced to zero, and the lateral forward mode is exited.

[0068] For example, when the real-time rear wheel angle is 42 degrees and the received real-time steering wheel angle is 585 degrees (corresponding to a wheel angle of 41 degrees), the real-time rear wheel angle is updated to 41 degrees until the real-time rear wheel angle follows the real-time steering wheel angle and decreases to zero.

[0069] In addition, multiple real-time steering wheel angles within a preset cycle length are obtained, a minimum steering wheel angle is determined from the multiple real-time steering wheel angles, and the rear wheel angle is set to the minimum steering wheel angle until the real-time rear wheel angle decreases to zero.

[0070] For example, the preset cycle duration is 2 seconds. If multiple real-time steering wheel angles of 540 degrees (corresponding to a wheel angle of 40 degrees), 585 degrees (corresponding to a wheel angle of 41 degrees), and 640 degrees (corresponding to a wheel angle of 42 degrees) are received within 2 seconds, the rear wheel angle is set to 40 degrees until the real-time rear wheel angle decreases to zero.

[0071] Alternatively, in step 103C, in response to determining that the current vehicle speed is less than a preset fourth vehicle speed threshold, determining that the attenuation mode is the second attenuation mode, and setting the real-time rear wheel steering angle to zero.

[0072] In specific implementation, the second attenuation mode is to directly set the rear wheel angle to zero. When the real-time vehicle speed is less than the preset fourth vehicle speed threshold and the real-time rear wheel angle is not zero, the real-time rear wheel angle is directly set to zero, and the lateral forward mode is exited.

[0073] After exiting the lateral forward mode, when the real-time steering wheel angle is adjusted to a zero value, the lateral forward mode is controlled to be in a standby state, waiting for the next activation of the lateral forward mode.

[0074] Through the above scheme, when the current vehicle speed is greater than or equal to the preset fourth vehicle speed threshold, when the received real-time steering wheel angle is less than the real-time rear wheel angle, the real-time rear wheel angle is set to the real-time steering wheel angle until the real-time rear wheel angle decreases to zero, so that the real-time rear wheel angle can be gradually reduced to zero according to the real-time steering wheel angle, so that the lateral forward mode can be smoothly exited. When the current vehicle speed is less than the preset fourth vehicle speed threshold, the real-time rear wheel angle is directly set to zero, which can quickly exit the lateral forward mode while ensuring the stability of the vehicle.

[0075] Through the above-mentioned embodiment, when the vehicle turns on the lateral forward mode, the real-time steering wheel angle and the real-time vehicle speed are obtained. According to the real-time steering wheel angle and the real-time vehicle speed, it is determined whether the vehicle continues to meet the preset alarm conditions within the preset time period, and it is possible to accurately judge whether the vehicle continues to have safety risks. If it continues to meet the conditions, the attenuation mode of the rear wheel angle is determined, and the rear wheel angle is adjusted to zero according to the attenuation mode to make the vehicle exit the lateral forward mode. In this way, when the vehicle continues to have safety risks, it can automatically exit the lateral forward mode to ensure the safety of the vehicle. At the same time, by adjusting the rear wheel angle to zero according to the attenuation mode, the lateral forward mode can be smoothly exited, thereby ensuring the safety of the vehicle while maintaining the stability of the vehicle.

[0076] It should be noted that the embodiments of the present disclosure may be further described in the following manner: Step 1, receiving a request to start the crab mode, determining that the rear wheel steering system has no faults, and the crab mode enters a standby state.

[0077] Step 2: the front wheel steering angle and the rear wheel steering angle have returned to 0 degrees, the gear position is D, the vehicle speed is lower than the first speed threshold (or the vehicle speed is higher than the second speed threshold and the front wheel steering angle is 0 degrees), and the crab mode becomes active.

[0078] Step 3, control the rear wheel angle to be the same as the real-time steering wheel angle.

[0079] Step 4, monitor the real-time steering wheel angle and the real-time vehicle speed. When the real-time steering wheel angle and the real-time vehicle speed continue to exceed the preset values ​​corresponding to the crab mode (steering wheel safety angle threshold and the third vehicle speed threshold) for a first preset time period, remind the driver to slow down or reduce the steering wheel angle.

[0080] Step 5: When the vehicle does not decelerate or the steering wheel angle does not decrease, the crab mode enters the alarm state.

[0081] Step 6, start timing after entering the alarm execution state. When the alarm state is still in place after exceeding the second preset time, the crab mode directly jumps to the standby preparation state.

[0082] The alarm state does not reach the second preset time length. After the rear wheel angle reaches the preset rear wheel maximum angle threshold, the rear wheel angle no longer follows the real-time steering wheel angle output, but controls the rear wheel angle to maintain the rear wheel maximum angle threshold until the driver reduces the real-time steering wheel angle and the calculated rear wheel angle target value is lower than the rear wheel maximum angle threshold.

[0083] Step 7, when entering the standby state, the rear wheel steering angle is attenuated: among all the rear wheel steering angle target values ​​obtained by the driver operating the steering wheel, only the minimum value is output in each cycle until the rear wheel steering angle is reduced to 0; when the rear wheel steering angle is not 0, but the vehicle speed is lower than the fourth vehicle speed threshold, the rear wheel steering angle is directly controlled to 0.

[0084] Step 8, when the rear wheel turning angle is 0, the crab mode function is controlled to enter step 1 and wait for the next activation of the crab mode.

[0085] Through the above-mentioned embodiments, a four-wheel steering vehicle can realize the crab walk (lateral forward movement effect) of the vehicle by controlling the front and rear wheels to steer in the same direction, thereby improving the convenience of the vehicle's parking and lane changing operations.

[0086] It should be noted that the method of the embodiment of the present disclosure can be performed by a single device, such as a computer or a server. The method of the present embodiment can also be applied in a distributed scenario and completed by multiple devices cooperating with each other. In the case of such a distributed scenario, one of the multiple devices can only perform one or more steps in the method of the embodiment of the present disclosure, and the multiple devices will interact with each other to complete the described method.

[0087] It should be noted that the above describes some embodiments of the present disclosure. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the above embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0088] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the present disclosure also provides a control device for the lateral movement of a vehicle.

[0089] refer to Figure 2 , the control device for the lateral movement of the vehicle comprises: The acquisition module 201 is configured to acquire a real-time steering wheel angle and a real-time vehicle speed in response to the vehicle starting a lateral forward mode; The judgment module 202 is configured to determine whether the vehicle continuously meets the preset alarm condition within a preset time period according to the real-time steering wheel angle and the real-time vehicle speed; The exit module 203 is configured to determine a decay mode of the rear wheel steering angle if the condition is continuously satisfied, and adjust the rear wheel steering angle to a zero value according to the decay mode, so that the vehicle exits the lateral forward mode.

[0090] In some embodiments, before responding to the vehicle starting the lateral forward mode, the device further includes: An information acquisition module is configured to acquire vehicle driving information; an activation judgment module, configured to determine whether the vehicle meets a preset activation condition according to the vehicle driving information; The control module is configured to control the vehicle to start a lateral forward mode in response to determining that the vehicle meets a preset activation condition.

[0091] In some embodiments, the vehicle driving information includes front wheel angle, rear wheel angle, gear information and vehicle speed; the control module includes: A first activation determination unit is configured to determine that the vehicle meets a preset activation condition in response to determining that both the front wheel steering angle and the rear wheel steering angle are switched to zero, the gear information is a forward gear, and the vehicle speed is less than a preset first vehicle speed threshold; or, a second activation determination unit configured to determine that the vehicle satisfies a preset activation condition in response to determining that the vehicle speed is greater than or equal to a preset second vehicle speed threshold and the front wheel steering angle is zero; Wherein, the first vehicle speed threshold is less than or equal to the second vehicle speed threshold.

[0092] In some embodiments, the determination module 202 includes: an alarm prompting unit, configured to issue an alarm prompt in response to the real-time steering wheel angle being continuously greater than a preset steering wheel safety angle threshold or the real-time vehicle speed being continuously greater than a preset third vehicle speed threshold within a first preset time period; The alarm condition satisfaction determination unit is configured to determine that the vehicle continues to satisfy the preset alarm condition within a preset time period in response to determining that the steering wheel angle has not decreased or the vehicle speed has not decreased within a second preset time period after the alarm prompt is issued.

[0093] In some embodiments, after the alarm is issued, the determination module 202 further includes: The rear wheel steering angle maintaining unit is configured to maintain the rear wheel steering angle at the rear wheel maximum steering angle threshold in response to determining that the rear wheel steering angle reaches a preset rear wheel maximum steering angle threshold within a second preset time period after the alarm prompt is issued.

[0094] In some embodiments, after maintaining the rear wheel steering angle at the rear wheel maximum steering angle threshold, the judging module 202 further includes: a real-time steering wheel angle determination unit, configured to determine whether the real-time steering wheel angle is less than the rear wheel maximum steering angle threshold; The rear wheel angle setting unit is configured to set the rear wheel angle as the real-time steering wheel angle in response to determining that the real-time steering wheel angle is less than the rear wheel maximum angle threshold.

[0095] In some embodiments, the exit module 203 includes: A current vehicle speed obtaining unit is configured to obtain a current vehicle speed; a first exit unit, configured to, in response to determining that the current vehicle speed is greater than or equal to a preset fourth vehicle speed threshold, determine that the attenuation mode is the first attenuation mode, and in response to determining that the received real-time steering wheel angle is less than the real-time rear wheel angle, set the real-time rear wheel angle as the real-time steering wheel angle until the real-time rear wheel angle decreases to zero; or, The second exit unit is configured to, in response to determining that the current vehicle speed is less than a preset fourth vehicle speed threshold, determine that the attenuation mode is the second attenuation mode and set the real-time rear wheel steering angle to zero.

[0096] For the convenience of description, the above device is described by dividing it into various modules according to its functions. Of course, when implementing the present disclosure, the functions of each module can be implemented in the same or multiple software and / or hardware.

[0097] The device of the above embodiment is used to implement the corresponding vehicle lateral forward movement control method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0098] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the present disclosure also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the method for controlling the lateral movement of the vehicle as described in any of the above embodiments is implemented.

[0099] Figure 3 A more specific schematic diagram of the hardware structure of an electronic device provided in this embodiment is shown, and the device may include: a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040 are connected to each other through the bus 1050 in the device.

[0100] The processor 1010 can be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0101] The memory 1020 may be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 1020 may store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program codes are stored in the memory 1020 and are called and executed by the processor 1010.

[0102] The input / output interface 1030 is used to connect the input / output module to realize information input and output. The input / output module can be configured in the device as a component (not shown in the figure), or it can be externally connected to the device to provide corresponding functions. The input device may include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output device may include a display, a speaker, a vibrator, an indicator light, etc.

[0103] The communication interface 1040 is used to connect a communication module (not shown in the figure) to realize communication interaction between the device and other devices. The communication module can realize communication through wired means (such as USB (Universal Serial Bus), network cable, etc.) or wireless means (such as mobile network, WIFI (Wireless Fidelity), Bluetooth, etc.).

[0104] The bus 1050 includes a path that transmits information between the various components of the device (eg, the processor 1010 , the memory 1020 , the input / output interface 1030 , and the communication interface 1040 ).

[0105] It should be noted that, although the above device only shows the processor 1010, the memory 1020, the input / output interface 1030, the communication interface 1040 and the bus 1050, in the specific implementation process, the device may also include other components necessary for normal operation. In addition, it can be understood by those skilled in the art that the above device may also only include the components necessary for implementing the embodiments of the present specification, and does not necessarily include all the components shown in the figure.

[0106] The electronic device of the above embodiment is used to implement the corresponding vehicle lateral forward control method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0107] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present disclosure also provides a non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the vehicle lateral forward control method as described in any of the above embodiments.

[0108] The computer-readable medium of this embodiment includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device.

[0109] The computer instructions stored in the storage medium of the above embodiment are used to enable the computer to execute the vehicle lateral forward movement control method as described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0110] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments, the present application also provides a vehicle, including a control device for the lateral movement of the vehicle in the above-mentioned embodiments, or an electronic device, or a storage medium, and the vehicle equipment implements the control method for the lateral movement of the vehicle in any of the above-mentioned embodiments.

[0111] The vehicle of the above-mentioned embodiment is used to implement the control method for the lateral forward movement of the vehicle described in any of the above-mentioned embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0112] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present disclosure is limited to these examples. Based on the concept of the present disclosure, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the embodiments of the present disclosure as described above, which are not provided in detail for the sake of simplicity.

[0113] In addition, to simplify the description and discussion, and in order not to obscure the embodiments of the present disclosure, known power / ground connections to integrated circuit (IC) chips and other components may or may not be shown in the provided figures. In addition, devices may be shown in the form of block diagrams to avoid obscuring the embodiments of the present disclosure, and this also takes into account the fact that the details of the implementation of these block diagram devices are highly dependent on the platform on which the embodiments of the present disclosure are to be implemented (i.e., these details should be fully within the scope of understanding of those skilled in the art). Where specific details (e.g., circuits) are set forth to describe exemplary embodiments of the present disclosure, it is apparent to those skilled in the art that the embodiments of the present disclosure may be implemented without these specific details or with variations in these specific details. Therefore, these descriptions should be considered illustrative rather than restrictive.

[0114] Although the present disclosure has been described in conjunction with specific embodiments of the present disclosure, many alternatives, modifications and variations of these embodiments will be apparent to those skilled in the art from the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may use the discussed embodiments.

[0115] The embodiments of the present disclosure are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the present disclosure. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present disclosure should be included in the scope of protection of the present disclosure.

Claims

1. A method for controlling a vehicle to move forward laterally, characterized in that: The method comprises: In response to the vehicle starting a lateral forward mode, obtaining a real-time steering wheel angle and a real-time vehicle speed; Determine whether the vehicle continues to meet the preset alarm conditions within a preset time period based on the real-time steering wheel angle and the real-time vehicle speed; If the condition is continuously satisfied, a decay mode of the rear wheel steering angle is determined, and the rear wheel steering angle is adjusted to a zero value according to the decay mode, so that the vehicle exits the lateral forward travel mode.

2. The method according to claim 1, characterized in that Before the step of responding to the vehicle starting the lateral forward travel mode, the method further includes: Obtain vehicle driving information; determining whether the vehicle meets a preset activation condition according to the vehicle driving information; In response to determining that the vehicle meets a preset activation condition, the vehicle is controlled to start a lateral forward travel mode.

3. The method according to claim 2, characterized in that The vehicle driving information includes a front wheel steering angle, a rear wheel steering angle, gear information and vehicle speed; and determining that the vehicle meets a preset activation condition includes: In response to determining that both the front wheel steering angle and the rear wheel steering angle are switched to zero, the gear information is a forward gear, and the vehicle speed is less than a preset first vehicle speed threshold, determining that the vehicle meets a preset activation condition; or, In response to determining that the vehicle speed is greater than or equal to a preset second vehicle speed threshold and the front wheel steering angle is zero, determining that the vehicle meets a preset activation condition; Wherein, the first vehicle speed threshold is less than or equal to the second vehicle speed threshold.

4. The method according to claim 1, characterized in that: The determining, based on the real-time steering wheel angle and the real-time vehicle speed, whether the vehicle continues to meet the preset alarm condition within a preset time period includes: In response to the real-time steering wheel angle being continuously greater than a preset steering wheel safety angle threshold or the real-time vehicle speed being continuously greater than a preset third vehicle speed threshold within a first preset time period, issuing an alarm prompt; In response to determining that the steering wheel angle does not decrease or the vehicle speed does not decrease within a second preset time period after the alarm prompt is issued, it is determined that the vehicle continues to meet the preset alarm condition within the preset time period.

5. The method according to claim 4, characterized in that After the alarm is issued, the method further includes: In response to determining that the rear wheel steering angle reaches a preset rear wheel maximum steering angle threshold within a second preset time period after the alarm prompt is issued, the rear wheel steering angle is maintained at the rear wheel maximum steering angle threshold.

6. The method according to claim 5, characterized in that After maintaining the rear wheel turning angle at the rear wheel maximum turning angle threshold, the method further includes: Determining whether the real-time steering wheel angle is less than the rear wheel maximum steering angle threshold; In response to determining that the real-time steering wheel angle is less than the rear wheel maximum steering angle threshold, the rear wheel angle is set as the real-time steering wheel angle.

7. The method according to claim 1, characterized in that The determining of the attenuation mode of the rear wheel steering angle and adjusting the rear wheel steering angle to a zero value according to the attenuation mode comprises: Get the current vehicle speed; In response to determining that the current vehicle speed is greater than or equal to a preset fourth vehicle speed threshold, determining that the attenuation mode is the first attenuation mode, and in response to determining that the received real-time steering wheel angle is less than the real-time rear wheel angle, setting the real-time rear wheel angle as the real-time steering wheel angle until the real-time rear wheel angle decreases to zero; or, In response to determining that the current vehicle speed is less than a preset fourth vehicle speed threshold, the attenuation mode is determined to be the second attenuation mode, and the real-time rear wheel steering angle is set to zero.

8. A control device for a vehicle moving forward laterally, characterized in that: include: An acquisition module is configured to acquire a real-time steering wheel angle and a real-time vehicle speed in response to the vehicle starting a lateral forward mode; A judgment module is configured to determine whether the vehicle continues to meet a preset alarm condition within a preset time period according to the real-time steering wheel angle and the real-time vehicle speed; The exit module is configured to determine the attenuation mode of the rear wheel steering angle if the condition is continuously satisfied, and adjust the rear wheel steering angle to a zero value according to the attenuation mode so that the vehicle exits the lateral forward mode.

9. An electronic device, characterized in that: The method comprises a memory, a processor and a computer program stored in the memory and running on the processor, wherein when the processor executes the program, the method according to any one of claims 1 to 7 is implemented.

10. A vehicle, characterized in that: It includes the vehicle lateral forward movement control device as described in claim 8 or the electronic device as described in claim 9.

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