Control Method, Device, Electronic Device and Vehicle for Lateral Forward Movement of Vehicle

Abstract

The present disclosure relates to the field of vehicle control technology, and provides a control method, device, electronic device and vehicle for lateral forward movement of a vehicle. The method includes: in response to the vehicle turning on the lateral forward movement mode, obtaining the real-time steering wheel angle and the real-time vehicle speed; determining whether the vehicle continuously meets a preset alarm condition within a preset duration according to the real-time steering wheel angle and the real-time vehicle speed; if continuously met, determining the attenuation mode of the rear wheel angle, and adjusting the rear wheel angle to zero according to the attenuation mode so that the vehicle exits the lateral forward movement mode. In this way, when there are continuous safety risks for the vehicle, 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 vehicle can smoothly exit the lateral forward movement mode, thereby maintaining the stability of the vehicle while ensuring its safety.

Description

Technical Field

[0001] The present disclosure relates to the technical field of vehicle control, and particularly to a control method, device, electronic device and vehicle for lateral forward movement of a vehicle. Background Art

[0002] The lateral forward movement effect of the vehicle is achieved by controlling the front and rear wheels to turn in the same direction. Usually, the lateral forward movement mode is exited only when an exit instruction is received. However, when there is a safety risk in the lateral forward movement mode of the vehicle, the lateral forward movement mode cannot be automatically exited and there will also be an unstable problem.

[0003] In view of this, how to automatically exit the lateral forward movement mode when there is a safety risk and ensure the stability of the vehicle has become an urgent technical problem to be solved. 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 to solve the problem in the prior art that the lateral forward movement mode cannot be automatically exited and there will also be an unstable problem when there is a safety risk.

[0005] Based on the above purpose, the first aspect of the present disclosure proposes a control method for lateral forward movement of a vehicle, and the method includes:

[0006] In response to the vehicle starting the lateral forward movement mode, obtain the real-time steering wheel angle and the real-time vehicle speed;

[0007] Determine whether the vehicle continuously meets a preset alarm condition within a preset duration according to the real-time steering wheel angle and the real-time vehicle speed;

[0008] If continuously met, determine the attenuation mode of the rear wheel angle, and adjust the rear wheel angle to zero according to the attenuation mode to make the vehicle exit the lateral forward movement mode.

[0009] Based on the same inventive concept, the second aspect of the present disclosure proposes a control device for lateral forward movement of a vehicle, including:

[0010] An acquisition module configured to obtain the real-time steering wheel angle and the real-time vehicle speed in response to the vehicle starting the lateral forward movement mode;

[0011] A judgment module configured to determine whether the vehicle continuously meets a preset alarm condition within a preset duration according to the real-time steering wheel angle and the real-time vehicle speed;

[0012] An exit module configured to, if continuously met, determine the attenuation mode of the rear wheel angle, and adjust the rear wheel angle to zero according to the attenuation mode to make the vehicle exit the lateral forward movement mode.

[0013] Based on the same inventive concept, a third aspect of the present disclosure provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable by the processor. When the processor executes the computer program, the above-described method is implemented.

[0014] Based on the same inventive concept, a fourth aspect of the present disclosure provides a vehicle, which includes the control device for the vehicle to move forward laterally in the second aspect or the electronic device in the third aspect.

[0015] As can be seen from the above, the present disclosure provides a method, a device, an electronic device, and a vehicle for controlling the vehicle to move forward laterally. When the vehicle activates 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 continuously meets the preset alarm conditions within a preset time period, and it is possible to accurately determine whether there is a continuous safety risk for the vehicle. If the conditions are continuously met, 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 enable the vehicle to exit the lateral forward movement mode. In this way, when there is a continuous safety risk for the vehicle, 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 vehicle can smoothly exit the lateral forward movement mode, thereby maintaining the stability of the vehicle while ensuring its safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present disclosure or related technologies, the following will briefly introduce the drawings required for use in the embodiments or related technology descriptions. Obviously, the drawings in the following description are only embodiments of the present disclosure. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0017] Figure 1 It is a flowchart of the method for controlling the vehicle to move forward laterally according to an embodiment of the present disclosure;

[0018] Figure 2 It is a schematic structural diagram of the device for controlling the vehicle to move forward laterally according to an embodiment of the present disclosure;

[0019] Figure 3 It is a schematic structural diagram of the electronic device according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0020] In order to make the objectives, technical solutions, and advantages of the present disclosure clearer and more understandable, the following further details the present disclosure with reference to specific embodiments and the accompanying drawings.

[0021] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present disclosure should have the ordinary meanings understood by those of ordinary skill in the field to which the present disclosure belongs. The "first", "second" and similar terms used in the embodiments of the present disclosure do not indicate any order, quantity or importance, but are only used to distinguish different components. Words such as "including" or "comprising" 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. Words such as "connected" or "coupled" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right", etc. are only used to represent relative positional relationships, and when the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0022] As described above, how to automatically exit the lateral forward mode and ensure the smoothness of the vehicle when there are safety risks has become an important research issue.

[0023] Based on the above description, as Figure 1 shown, the control method for the vehicle to move forward laterally proposed in this embodiment, the method includes:

[0024] Step 101, in response to the vehicle starting the lateral forward mode, obtain the real-time steering wheel angle and the real-time vehicle speed.

[0025] Specifically, the lateral forward mode is the crab walking mode. The crab walking mode is a special vehicle driving mode that allows the vehicle to move laterally like a crab. By controlling the steering angles of the front and rear wheels, the vehicle can move laterally or obliquely, and is usually used in specific scenarios, such as moving out after closely approaching a pillar or passing through a narrow space. The crab walking mode is mainly achieved by controlling the steering angles of the front and rear wheels, and the vehicle can move laterally by simultaneously steering the front and rear wheels at large angles.

[0026] After the vehicle starts the lateral forward mode, obtain the real-time steering wheel angle and the real-time vehicle speed. Among them, the real-time steering wheel angle is the angle of the steering wheel requested 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.

[0027] Step 102, determine whether the vehicle continuously meets the preset alarm condition within a preset duration according to the real-time steering wheel angle and the real-time vehicle speed.

[0028] Specifically, according to the real-time steering wheel angle and the real-time vehicle speed, it is possible to accurately determine whether there are safety risks when the vehicle is in the lateral forward mode. By judging whether the vehicle continuously meets the preset alarm condition within a preset duration, it is possible to accurately determine whether there are safety risks for a long time when the vehicle is in the lateral forward mode.

[0029] When the real-time steering wheel angle is too large and / or the real-time vehicle speed is too large and lasts for a preset duration, it indicates that there is a continuous safety risk for the vehicle in the lateral forward driving mode, and it is determined that the vehicle continuously meets the preset alarm condition within the preset duration.

[0030] Step 103, if it is continuously met, determine the attenuation mode of the rear wheel angle, and adjust the rear wheel angle to zero according to the attenuation mode, so that the vehicle exits the lateral forward driving mode.

[0031] In specific implementation, when the vehicle continuously meets the preset alarm condition within the preset duration and it is determined that there is a continuous safety risk for the vehicle in the lateral forward driving mode, the vehicle is controlled to exit the lateral forward driving mode by adjusting the rear wheel angle to zero.

[0032] Determine the attenuation mode of the rear wheel angle according to the current vehicle speed. When the current vehicle speed is greater than or equal to the preset fourth vehicle speed threshold, determine the first attenuation mode, and gradually reduce the rear wheel angle 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, determine the second attenuation mode, and directly set the real-time rear wheel angle to zero.

[0033] Through the above embodiments, when the vehicle enables the lateral forward driving mode, obtain the real-time steering wheel angle and the real-time vehicle speed. Determine whether the vehicle continuously meets the preset alarm condition within the preset duration according to the real-time steering wheel angle and the real-time vehicle speed, and can accurately judge whether there is a continuous safety risk for the vehicle. If it is continuously met, determine the attenuation mode of the rear wheel angle, and adjust the rear wheel angle to zero according to the attenuation mode, so that the vehicle exits the lateral forward driving mode. In this way, when there is a continuous safety risk for the vehicle, it can automatically exit the lateral forward driving 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, it can smoothly exit the lateral forward driving mode, thereby maintaining the stability of the vehicle while ensuring the safety of the vehicle.

[0034] In some embodiments, before step 101, it further includes:

[0035] Step 1011, obtain the vehicle driving information.

[0036] Step 1012, determine whether the vehicle meets the preset activation condition according to the vehicle driving information.

[0037] Step 1013, in response to determining that the vehicle meets the preset activation condition, control the vehicle to enable the lateral forward driving mode.

[0038] In specific implementation, after receiving the opening request of the lateral mode, judge 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, control the lateral forward driving mode to be in the standby state.

[0039] When the lateral forward mode is in the standby state, vehicle driving information is obtained, and it is determined whether the vehicle meets a preset activation condition according to the vehicle driving information. When the vehicle meets the preset activation condition, the vehicle is controlled to turn on the lateral forward mode, and the lateral forward mode is controlled to be in the activated state.

[0040] Among them, by determining whether the vehicle meets the preset activation condition, it can be judged whether the vehicle is in a safe driving state currently, so as to judge whether the vehicle is suitable for turning on the lateral forward mode currently. When the vehicle meets the preset activation condition, it means that the vehicle is in a safe driving state currently, and the vehicle is controlled to turn on the lateral forward mode.

[0041] After controlling the vehicle to turn on the lateral forward mode, the vehicle is controlled to drive 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 turning on the lateral forward mode, when the real-time steering wheel angle is 540 degrees, the rear wheel angle is controlled to be 40 degrees.

[0042] Through the above solution, it can be accurately judged 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 condition, and the vehicle is controlled to turn on 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 turning on the lateral forward mode.

[0043] In some embodiments, the vehicle driving information includes the front wheel angle, the rear wheel angle, the gear position information, and the vehicle speed; step 1013 includes:

[0044] Step 1013A, in response to determining that both the front wheel angle and the rear wheel angle have switched to zero, the gear position information is in the forward gear position, and the vehicle speed is less than a preset first vehicle speed threshold, it is determined that the vehicle meets the preset activation condition.

[0045] Specifically, when the front wheel angle and the rear wheel angle of the vehicle switch to zero, the gear position information is in the forward gear position, and the vehicle speed is less than the preset first vehicle speed threshold, it is determined that the vehicle meets the preset activation condition, the vehicle is controlled to turn on the lateral forward mode, and the lateral forward mode is controlled to be in the activated state.

[0046] When the vehicle speed is less than the preset first vehicle speed threshold and the gear position information is in the forward gear position, it can be determined that the vehicle is currently in a low-speed forward state. When the front wheel angle and the rear wheel angle of the vehicle switch to zero, the rear wheels of the vehicle can be actively steered after the lateral forward mode of the vehicle is activated. Therefore, when the above preset activation condition is met, the vehicle can be controlled to turn on the lateral forward mode.

[0047] For example, the first vehicle speed threshold is 5 km / h. When the front wheel angle and the rear wheel angle of the vehicle have returned to the zero angle value, the gear information is in D gear, and the vehicle speed is less than 5 km / h, it is determined that the vehicle meets the preset activation condition, and the vehicle is controlled to turn on the lateral forward mode.

[0048] Alternatively, in 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 angle is zero, it is determined that the vehicle meets the preset activation condition; wherein, the first vehicle speed threshold is less than or equal to the second vehicle speed threshold.

[0049] In specific implementation, when the vehicle speed is greater than the preset second vehicle speed threshold and the front wheel angle is zero, it can be determined that the vehicle is currently in a normal driving state, it is determined that the vehicle meets the preset activation condition, the vehicle is controlled to turn on the lateral forward mode, and the lateral forward mode is controlled to be in an activated state.

[0050] 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. When the front wheel angle of the vehicle is zero, the rear wheels of the vehicle can be actively steered 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 turn on the lateral forward mode.

[0051] 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 angle is zero, it is determined that the vehicle meets the preset activation condition, and the vehicle is controlled to turn on the lateral forward mode.

[0052] In addition, the first vehicle speed threshold and the second vehicle speed threshold can 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 judged. 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 judged. When the front wheel angle and the rear wheel angle are both switched to zero and the gear information is in the forward gear, the vehicle is in a low-speed forward state, and it is determined that the vehicle meets the preset activation condition. When the vehicle speed is greater than or equal to the preset first vehicle speed threshold, the front wheel angle is judged. 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 condition.

[0053] Through the above solution, when the front wheel angle and the rear wheel angle of the vehicle are switched to zero, the gear information is in 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, so as to accurately identify that the vehicle meets the preset activation condition, so that the vehicle can turn on 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 angle is zero, it can be determined that the vehicle is currently in a straight driving state, so as to accurately identify that the vehicle meets the preset activation condition, so that the vehicle can turn on the lateral forward mode in a safe driving state.

[0054] In some embodiments, step 102 includes:

[0055] Step 1021, in response to the real-time steering wheel angle continuously being greater than a preset steering wheel safety angle threshold or the real-time vehicle speed continuously being greater than a preset third vehicle speed threshold within a first preset duration, an alarm prompt is issued.

[0056] Specifically, the steering wheel safety angle threshold is a preset steering wheel angle threshold to ensure vehicle safety in the transverse forward mode, and the third vehicle speed threshold is a preset vehicle speed threshold to ensure vehicle safety in the transverse forward mode.

[0057] 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 lasts for the first preset duration, it is determined that there is an unsafe risk for the vehicle in the transverse forward mode. The transverse forward mode is controlled to be in an alarm state, and an alarm prompt is issued to prompt the driver to reduce the vehicle speed or the steering wheel angle.

[0058] Specifically, when the real-time steering wheel angle is greater than the preset steering wheel safety angle threshold and lasts for the first preset duration, 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 the first preset duration, the driver is prompted to reduce the vehicle speed. When the real-time steering wheel angle is greater than the preset steering wheel safety angle threshold and lasts for the first preset duration, and the real-time vehicle speed is greater than the preset third vehicle speed threshold and lasts for the first preset duration, the driver is prompted to reduce the steering wheel angle and the vehicle speed.

[0059] For example, the preset steering wheel safety 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 20 km / h, and the preset duration is 10 s. When the real-time steering wheel angle is greater than 585 degrees and lasts for 10 s, the driver is prompted to reduce the steering wheel angle. When the real-time vehicle speed is greater than 20 km / h and lasts for 10 s, the driver is prompted to reduce the vehicle speed. When the real-time steering wheel angle is greater than 585 degrees, the real-time vehicle speed is greater than 20 km / h, and lasts for 10 s, the driver is prompted to reduce the steering wheel angle and the vehicle speed.

[0060] Step 1022, in response to determining that within a second preset duration after the alarm prompt is issued, the steering wheel angle has not decreased or the vehicle speed has not decreased, it is determined that the vehicle continuously meets the preset alarm conditions within the preset duration.

[0061] During specific implementation, within the second preset duration after an alarm prompt is issued, if the steering wheel angle does not decrease or the vehicle speed does not decrease, it indicates that the vehicle remains in a state with potential safety risks in the lateral forward mode. It is determined that the vehicle continuously meets the preset alarm conditions within the preset duration, and the lateral forward mode is controlled to be in a standby ready state. In the standby ready state of the lateral forward mode, the rear wheel angle is adjusted to zero according to an attenuation method to enable the vehicle to exit the lateral forward mode, thus ensuring the safety of the vehicle.

[0062] Specifically, when the issued alarm prompt is to decrease the steering wheel angle and the steering wheel angle does not decrease within the second preset duration after the alarm prompt is issued, it is determined that the vehicle continuously meets the preset alarm conditions within the preset duration. When the issued alarm prompt is to decrease the vehicle speed and the vehicle speed does not decrease within the second preset duration after the alarm prompt is issued, it is determined that the vehicle continuously meets the preset alarm conditions within the preset duration. When the issued alarm prompt is to decrease the steering wheel angle and decrease the vehicle speed, and the steering wheel angle does not decrease and / or the vehicle speed does not decrease within the second preset duration after the alarm prompt is issued, it is determined that the vehicle continuously meets the preset alarm conditions within the preset duration.

[0063] For example, the second preset duration is 5s. If the steering wheel angle does not decrease within 5s after prompting the driver to decrease the steering wheel angle, it is determined that the vehicle continuously meets the preset alarm conditions within the preset duration. If the vehicle speed does not decrease within 5s after prompting the driver to decrease the vehicle speed, it is determined that the vehicle continuously meets the preset alarm conditions within the preset duration. If the steering wheel angle does not decrease and / or the vehicle speed does not decrease within 5s after prompting the driver to decrease the steering wheel angle and decrease the vehicle speed, it is determined that the vehicle continuously meets the preset alarm conditions within the preset duration.

[0064] In addition, after reaching the second preset duration, if 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, it is determined that the vehicle continuously meets the preset alarm conditions within the preset duration, and the rear wheel angle is adjusted to zero according to an attenuation method to enable the vehicle to exit the lateral forward mode.

[0065] For example, within the second preset duration after the alarm is issued, if the real-time steering wheel angle does not decrease, 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 continuously meets the preset alarm conditions within the preset duration. Within the second preset duration after the alarm is issued, if the real-time vehicle speed does not decrease, or the real-time vehicle speed decreases but does not decrease to the preset third vehicle speed threshold, it is determined that the vehicle continuously meets the preset alarm conditions within the preset duration.

[0066] Through the above solution, within the first preset duration, if the real-time steering wheel angle continuously exceeds the preset steering wheel safety angle threshold or the real-time vehicle speed continuously exceeds the preset third vehicle speed threshold, an alarm prompt is issued, facilitating the driver to decelerate or reduce the steering wheel angle according to the alarm prompt, so as to continue to maintain the lateral forward mode while ensuring safety. Within the second preset duration after the alarm prompt is issued, if the steering wheel angle does not decrease to the preset steering wheel safety angle threshold or the vehicle speed does not decrease to the preset third vehicle speed threshold, it is determined that the vehicle continuously meets the preset alarm condition within the preset duration, and the rear wheel angle is adjusted to zero, causing the vehicle to exit the lateral forward mode and ensuring the safety of the vehicle.

[0067] In some embodiments, after step 1021, it further includes:

[0068] Step 10211, in response to determining that within the second preset duration after the alarm prompt is issued, the rear wheel angle reaches the preset maximum rear wheel angle threshold, maintaining the rear wheel angle at the maximum rear wheel angle threshold.

[0069] Specifically, when the alarm prompt is issued, the rear wheel angle is controlled according to the real-time steering wheel angle, that is, the rear wheel angle follows the output of the real-time steering wheel angle. Within the second preset duration after the alarm prompt is issued, it is determined whether the rear wheel angle reaches the preset maximum rear wheel angle threshold. When the rear wheel angle does not reach the preset maximum rear wheel angle threshold within the second preset duration after the alarm prompt is issued, the rear wheel angle continues to follow the output of the real-time steering wheel angle. When the rear wheel angle reaches the preset maximum rear wheel angle threshold within the second preset duration after the alarm prompt is issued, the rear wheel angle is maintained at the maximum rear wheel angle threshold.

[0070] 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 s. When the real-time steering wheel angle is 585 degrees, an alarm prompt is issued to prompt the driver to reduce the steering wheel angle. At the 3rd s after the alarm prompt is issued, the real-time steering wheel angle increases to 630 degrees, and after the 3rd s, the real-time steering wheel angle continuously exceeds 630 degrees, then the rear wheel angle no longer follows the output of the real-time steering wheel angle, and the rear wheel angle is maintained at 42 degrees.

[0071] After step 10211, after reaching the second preset duration, when the real-time steering wheel angle does not decrease to the preset steering wheel safety angle threshold, or the real-time vehicle speed does not decrease to the preset third vehicle speed threshold, step 103 is executed to exit the lateral forward mode.

[0072] With the above solution, within the second preset duration after the alarm prompt is issued, when the rear wheel steering angle reaches the preset maximum rear wheel steering angle threshold, the rear wheel steering angle is maintained at the maximum rear wheel steering angle threshold. In this way, the unsafe risk brought by the continuous increase of the rear wheel steering angle following the real-time steering wheel steering angle is avoided.

[0073] In some embodiments, after step 10211, it further includes:

[0074] Step 10211A, determining whether the real-time steering wheel steering angle is less than the maximum rear wheel steering angle threshold.

[0075] Step 10211B, in response to determining that the real-time steering wheel steering angle is less than the maximum rear wheel steering angle threshold, setting the rear wheel steering angle to the real-time steering wheel steering angle.

[0076] Specifically, after the rear wheel steering angle is maintained at the preset maximum rear wheel steering angle threshold, it is determined whether the received real-time steering wheel steering angle decreases. When the real-time steering wheel steering angle does not decrease, the rear wheel steering angle is maintained at the preset maximum rear wheel steering angle threshold. When the received real-time steering wheel steering angle decreases and the real-time steering wheel steering angle is less than the preset maximum rear wheel steering angle threshold, the rear wheel steering angle is set to the real-time steering wheel steering angle.

[0077] For example, the preset maximum rear wheel steering angle threshold is 42 degrees (when the real-time steering wheel steering angle is 630 degrees, the corresponding wheel steering angle is 42 degrees). If the real-time steering wheel steering angle increases to 630 degrees at the 3rd second after the alarm prompt is issued and continues to exceed 630 degrees after the 3rd second, the rear wheel steering angle is maintained at 42 degrees. When the real-time steering wheel steering angle decreases to 630 degrees at the 5th second after the alarm prompt is issued and continues to be less than 630 degrees after the 5th second, the rear wheel steering angle is set to the real-time steering wheel steering angle, and the rear wheel steering angle follows the real-time steering wheel steering angle output.

[0078] With the above solution, after the rear wheel steering angle is set to the maximum rear wheel steering angle threshold, when the real-time steering wheel steering angle decreases and is less than the maximum rear wheel steering angle threshold, the rear wheel steering angle is controlled to continue to follow the real-time steering wheel steering angle. In this way, the vehicle can be controlled to continue to maintain the lateral forward mode according to the real-time steering wheel steering angle, or stably exit the lateral forward mode according to the real-time steering wheel steering angle.

[0079] In some embodiments, step 103 includes:

[0080] Step 103A, obtaining the current vehicle speed.

[0081] Step 103B, in response to determining that the current vehicle speed is greater than or equal to a preset fourth vehicle speed threshold, determine the attenuation mode as 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, set the real-time rear wheel angle to the real-time steering wheel angle until the real-time rear wheel angle decreases to zero.

[0082] Specifically, in the first attenuation mode, the rear wheel angle is gradually reduced 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, set the real-time rear wheel angle to the real-time steering wheel angle until the real-time rear wheel angle decreases to zero, and exit the lateral forward mode.

[0083] 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), update the real-time rear wheel angle to 41 degrees until the real-time rear wheel angle follows the real-time steering wheel angle and decreases to zero.

[0084] In addition, obtain multiple real-time steering wheel angles within a preset cycle duration, determine the minimum steering wheel angle from the multiple real-time steering wheel angles, and set the rear wheel angle to the minimum steering wheel angle until the real-time rear wheel angle decreases to zero.

[0085] For example, the preset cycle duration is 2s. The multiple real-time steering wheel angles received within 2s are 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), then set the rear wheel angle to 40 degrees until the real-time rear wheel angle decreases to zero.

[0086] Alternatively, in Step 103C, in response to determining that the current vehicle speed is less than the preset fourth vehicle speed threshold, determine the attenuation mode as the second attenuation mode, and set the real-time rear wheel angle to zero.

[0087] Specifically, in the second attenuation mode, the rear wheel angle is directly set 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, directly set the real-time rear wheel angle to zero and exit the lateral forward mode.

[0088] After exiting the lateral forward mode, after the real-time steering wheel angle is adjusted to zero, control the lateral forward mode to be in a standby state, waiting for the next activation of the lateral forward mode.

[0089] With the above solution, when the current vehicle speed is greater than or equal to the preset fourth vehicle speed threshold, if 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. Thus, the real-time rear wheel angle can be gradually reduced to zero according to the real-time steering wheel angle, and 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 vehicle stability.

[0090] With the above embodiments, when the vehicle activates the lateral forward mode, the real-time steering wheel angle and the real-time vehicle speed are obtained. It is determined whether the vehicle continuously meets the preset alarm conditions within a preset duration according to the real-time steering wheel angle and the real-time vehicle speed, and it can accurately judge whether there is a continuous safety risk for the vehicle. If it is continuously met, the attenuation method of the rear wheel angle is determined, and the rear wheel angle is adjusted to zero according to the attenuation method to make the vehicle exit the lateral forward mode. In this way, when there is a continuous safety risk for the vehicle, it can automatically exit the lateral forward mode to ensure vehicle safety. At the same time, by adjusting the rear wheel angle to zero according to the attenuation method, the lateral forward mode can be smoothly exited, thus maintaining vehicle stability while ensuring vehicle safety.

[0091] It should be noted that the embodiments of the present disclosure can be further described in the following manner:

[0092] Step 1: When a crab walk mode activation request is received, it is determined that the rear-wheel steering system is fault-free, and the crab walk mode enters the standby state.

[0093] Step 2: When the front-wheel angle and the rear-wheel angle have returned to the 0 angle value, the gear position value is in D gear, and the vehicle speed is lower than the first vehicle speed threshold (alternatively, the vehicle speed is higher than the second vehicle speed threshold and the front-wheel angle is 0 angle value), the crab walk mode enters the activation state.

[0094] Step 3: Control the rear-wheel angle to be the same as the real-time steering wheel angle.

[0095] 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 continuously exceed the preset values (the steering wheel safety angle threshold and the third vehicle speed threshold) corresponding to the crab walk mode for the first preset duration, the driver is reminded to decelerate or reduce the steering wheel angle.

[0096] Step 5: When there is no deceleration or the steering wheel angle is not reduced, the crab walk mode enters the alarm state.

[0097] Step 6: Start timing after entering the alarm execution state. When still in the alarm state after exceeding the second preset duration, the crab walk mode directly jumps to the standby preparation state.

[0098] When the alarm state does not reach the second preset duration, after the rear wheel steering angle reaches the preset maximum rear wheel steering angle threshold, the rear wheel steering angle no longer follows the real-time steering wheel steering angle output, but controls the rear wheel steering angle to maintain the maximum rear wheel steering angle threshold until the target rear wheel steering angle calculated after the driver reduces the real-time steering wheel steering angle is lower than the maximum rear wheel steering angle threshold.

[0099] Step 7, when entering the standby preparation state, perform attenuation processing on the rear wheel steering angle: among all the target rear wheel steering angles obtained by the driver operating the steering wheel, only the minimum value is taken and 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, directly control the rear wheel steering angle to be 0.

[0100] Step 8, when the rear wheel steering angle is 0, control the crab walking function to enter Step 1 and wait for the next activation of the crab walking mode.

[0101] Through the above embodiments, the four-wheel steering vehicle can achieve the crab walking (lateral forward movement effect) of the vehicle by controlling the front and rear wheels to steer in the same direction, improving the convenience of vehicle parking and lane-changing operations.

[0102] It should be noted that the method of the embodiments of the present disclosure can be executed by a single device, such as a computer or a server. The method of this embodiment can also be applied to a distributed scenario and completed by multiple devices cooperating with each other. In this case of a distributed scenario, one of the multiple devices can only execute one or more steps of the method of the embodiments of the present disclosure, and these multiple devices will interact with each other to complete the described method.

[0103] It should be noted that some embodiments of the present disclosure have been described above. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be executed in a different order than in the above embodiments and still achieve the desired result. Additionally, the processes depicted in the figures do not necessarily require the specific order or sequential order shown to achieve the desired result. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0104] Based on the same inventive concept, corresponding to the method of any of the above embodiments, the present disclosure also provides a control device for vehicle lateral forward movement.

[0105] Refer to Figure 2 , the control device for vehicle lateral forward movement includes:

[0106] An acquisition module 201, configured to acquire the real-time steering wheel steering angle and the real-time vehicle speed in response to the vehicle starting the lateral forward movement mode;

[0107] A judgment module 202, configured to determine whether the vehicle continuously meets a preset alarm condition within a preset duration according to the real-time steering wheel angle and the real-time vehicle speed;

[0108] An exit module 203, configured to, if continuously met, determine the attenuation mode of the rear wheel angle, and adjust the rear wheel angle to zero according to the attenuation mode, so that the vehicle exits the lateral forward mode.

[0109] In some embodiments, before the vehicle is in response to starting the lateral forward mode, the device further includes:

[0110] An information acquisition module, configured to acquire vehicle driving information;

[0111] An activation judgment module, configured to determine whether the vehicle meets a preset activation condition according to the vehicle driving information;

[0112] A control module, configured to control the vehicle to start the lateral forward mode in response to determining that the vehicle meets the preset activation condition.

[0113] In some embodiments, the vehicle driving information includes the front wheel angle, the rear wheel angle, the gear information, and the vehicle speed; the control module includes:

[0114] A first activation determination unit, configured to determine that the vehicle meets the preset activation condition in response to determining that both the front wheel angle and the rear wheel angle are switched to zero, the gear information is in the forward gear, and the vehicle speed is less than a preset first vehicle speed threshold;

[0115] Or,

[0116] A second activation determination unit, configured to determine that the vehicle meets the 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 angle is zero;

[0117] Wherein, the first vehicle speed threshold is less than or equal to the second vehicle speed threshold.

[0118] In some embodiments, the judgment module 202 includes:

[0119] An alarm prompt unit, configured to issue an alarm prompt in response to the real-time steering wheel angle continuously being greater than a preset steering wheel safety angle threshold or the real-time vehicle speed continuously being greater than a preset third vehicle speed threshold within a first preset duration;

[0120] An alarm condition satisfaction determination unit, configured to determine that the vehicle continuously meets the preset alarm condition within the preset duration in response to determining that the steering wheel angle does not decrease or the vehicle speed does not decrease within a second preset duration after the alarm prompt is issued.

[0121] In some embodiments, after the alarm prompt is issued, the determination module 202 further includes:

[0122] A rear wheel steering angle maintaining unit, configured to, in response to determining that within a second preset time period after the alarm prompt is issued, the rear wheel steering angle reaches a preset maximum rear wheel steering angle threshold, maintain the rear wheel steering angle as the maximum rear wheel steering angle threshold.

[0123] In some embodiments, after the rear wheel steering angle is maintained as the maximum rear wheel steering angle threshold, the determination module 202 further includes:

[0124] A real-time steering wheel angle determination unit, configured to determine whether the real-time steering wheel angle is less than the maximum rear wheel steering angle threshold;

[0125] A rear wheel steering angle setting unit, configured to, in response to determining that the real-time steering wheel angle is less than the maximum rear wheel steering angle threshold, set the rear wheel steering angle as the real-time steering wheel angle.

[0126] In some embodiments, the exit module 203 includes:

[0127] A current vehicle speed acquisition unit, configured to acquire the current vehicle speed;

[0128] 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 steering angle, set the real-time rear wheel steering angle as the real-time steering wheel angle until the real-time rear wheel steering angle decreases to zero;

[0129] Or,

[0130] A second exit unit, configured to, in response to determining that the current vehicle speed is less than the 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.

[0131] For the convenience of description, when describing the above device, various modules are described separately according to their functions. Of course, when implementing the present disclosure, the functions of each module can be implemented in one or more software and / or hardware.

[0132] The device in the above embodiment is used to implement the corresponding vehicle lateral forward control method in any of the foregoing embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be elaborated herein.

[0133] Based on the same inventive concept, corresponding to the method of any of the above embodiments, the present disclosure further provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, it implements the control method for the vehicle to move forward horizontally in any one of the above embodiments.

[0134] Figure 3 FIG. shows a more specific schematic diagram of the hardware structure of the electronic device provided in this embodiment. The device may include: a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. Among them, the processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040 are communicatively connected to each other inside the device through the bus 1050.

[0135] The processor 1010 can be implemented in a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, etc., and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0136] The memory 1020 can be implemented in the form of a ROM (Read Only Memory), a RAM (Random Access Memory), a static storage device, a dynamic storage device, etc. The memory 1020 can store an operating system and other application programs. When implementing the technical solutions provided in the embodiments of this specification through software or firmware, the relevant program codes are stored in the memory 1020 and are called and executed by the processor 1010.

[0137] The input / output interface 1030 is used to connect to an input / output module to implement information input and output. The input / output module can be configured as a component in the device (not shown in the figure) or externally connected to the device to provide corresponding functions. Among them, the input device can include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output device can include a display, a speaker, a vibrator, an indicator light, etc.

[0138] The communication interface 1040 is used to connect to a communication module (not shown in the figure) to enable communication and interaction between this device and other devices. The communication module can achieve 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.).

[0139] The bus 1050 includes a path for transmitting information between various components of the device (such as the processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040).

[0140] 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, those skilled in the art can understand that the above device may also only include the components necessary to implement the solution of the embodiments of this specification, and does not necessarily include all the components shown in the figure.

[0141] The electronic device of the above embodiment is used to implement the corresponding control method for the vehicle to move forward horizontally in any of the foregoing embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be elaborated here.

[0142] Based on the same inventive concept, corresponding to the method of any of the above embodiments, the present disclosure also provides a non-transitory computer-readable storage medium storing computer instructions for causing the computer to execute the control method for the vehicle to move forward horizontally as described in any of the foregoing embodiments.

[0143] 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. The information can be computer-readable instructions, data structures, program modules, 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 technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD), or other optical storage, magnetic cassette tapes, magnetic disk storage, or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible by a computing device.

[0144] The computer instructions stored in the storage medium of the above embodiments are used to cause the computer to execute the control method for the vehicle to move forward horizontally as described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be elaborated here.

[0145] Based on the same inventive concept, corresponding to the method of any of the above embodiments, the present application further provides a vehicle, including the control device for the vehicle to move forward horizontally, or an electronic device, or a storage medium in the above embodiments, and the vehicle device implements the control method for the vehicle to move forward horizontally as described in any of the above embodiments.

[0146] The vehicle of the above embodiments is used to implement the control method for the vehicle to move forward horizontally as described in any of the foregoing embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be elaborated here.

[0147] Those of ordinary skill in the art should understand that: the discussion of any of the above embodiments is only exemplary and is not intended to imply that the scope of the present disclosure is limited to these examples; under the idea of the present disclosure, the technical features in the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations in different aspects of the embodiments of the present disclosure as described above, and they are not provided in detail for the sake of brevity.

[0148] In addition, for simplicity of description and discussion, and in order not to make the embodiments of the present disclosure difficult to understand, the well-known power / ground connections to integrated circuit (IC) chips and other components may or may not be shown in the provided drawings. In addition, the devices may be shown in block diagram form in order not to make the embodiments of the present disclosure difficult to understand, 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 completely within the understanding of those skilled in the art). In the case where specific details (such as circuits) are set forth to describe the exemplary embodiments of the present disclosure, it will be apparent to those skilled in the art that the embodiments of the present disclosure can be implemented without these specific details or with variations of these specific details. Therefore, these descriptions should be considered illustrative rather than restrictive.

[0149] Although the present disclosure has been described in connection with specific embodiments of the present disclosure, many alternatives, modifications, and variations of these embodiments will be apparent to those of ordinary skill in the art based on the foregoing description. For example, other memory architectures (such as dynamic RAM (DRAM)) may be used with the embodiments discussed.

[0150] 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 shall be included within the protection scope 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, determining a decay mode of the rear wheel steering angle, and adjusting the rear wheel steering angle to a zero value according to the decay mode, so that the vehicle exits the lateral forward travel mode; 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; 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 directly set to zero.

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 a 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. 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; An exit module 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; The exit module comprises: 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; 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 directly set the real-time rear wheel steering angle to zero.

8. 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 6 is implemented.

9. A vehicle, characterized in that: It includes the vehicle lateral movement control device as described in claim 7 or the electronic device as described in claim 8.

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