Rear wheel steering gear control method and device, vehicle-mounted terminal and vehicle

Abstract

The invention is suitable for the technical field of automobiles, and provides a control method and device of a rear wheel steering gear, a vehicle-mounted terminal and a vehicle, and the method comprises the steps that when it is detected that the vehicle is in a rear wheel steering gear maintenance mode, the follow-up relation between the rear wheel steering gear of the vehicle and a steering wheel is disconnected; obtaining vehicle information of a vehicle and / or maintenance information input by a user; determining a maintenance mode of a rear wheel steering gear of the vehicle based on the vehicle information and / or the maintenance information; and controlling a rack of the rear wheel steering gear to move to a target position based on the maintenance mode. Compared with the prior art, the follow-up relation between the rear wheel steering gear and the steering wheel is disconnected, and the rear wheel steering gear can be subjected to preliminary automatic maintenance conveniently; meanwhile, the maintenance mode of the rear wheel steering gear is flexibly determined in combination with the vehicle information and / or the maintenance information, so that the rack can be moved to the target position meeting the actual condition, subsequent offline maintenance is facilitated, the maintenance cost is reduced, and the later maintenance efficiency is improved.

Description

Technical Field

[0001] The present application belongs to the field of automobile technology, and in particular relates to a control method and device for a rear-wheel steering gear, a vehicle-mounted terminal and a vehicle. Background Art

[0002] At present, more and more models are equipped with rear-wheel steering gears. Since the rear-wheel steering gear moves with the steering wheel, the difficulty of repairing the rear-wheel steering gear, such as four-wheel alignment inspection and repair or rear-wheel steering gear repair alone, is greatly increased.

[0003] The existing technology usually directly repairs the rear wheel steering gear through offline maintenance, which increases the maintenance cost and reduces the maintenance efficiency. Summary of the invention

[0004] Embodiments of the present application provide a control method and device for a rear-wheel steering device, a vehicle-mounted terminal, and a vehicle.

[0005] In a first aspect, an embodiment of the present application provides a method for controlling a rear wheel steering device, comprising:

[0006] When it is detected that the vehicle is in a rear wheel steering gear maintenance mode, disconnecting the follow-up relationship between the rear wheel steering gear and the steering wheel of the vehicle;

[0007] Acquiring vehicle information of the vehicle and / or maintenance information input by a user;

[0008] Determining a maintenance method of a rear wheel steering gear of the vehicle based on the vehicle information and / or the maintenance information;

[0009] The rack of the rear wheel steering gear is controlled to move based on the maintenance method until the rack moves to a target position corresponding to the maintenance method.

[0010] Optionally, the vehicle information includes rear suspension information of the vehicle and / or four-wheel alignment parameter information of the vehicle; and based on the vehicle information, determining a maintenance method of a rear wheel steering gear of the vehicle includes:

[0011] If the rear suspension information is used to describe that the rear suspension of the vehicle does not meet the first setting requirement, and / or the four-wheel alignment parameters do not meet the second setting requirement, determining that the maintenance method is to move the rack to a target midpoint position;

[0012] If the rear suspension information is used to describe that the rear suspension of the vehicle meets the first setting requirement, and the four-wheel alignment parameters meet the second setting requirement, it is determined that the maintenance method is to move the rack to an initial midpoint position; the initial midpoint position is different from the target midpoint position.

[0013] Optionally, controlling the rack of the rear wheel steering gear to move based on the maintenance method until the rack moves to a target position corresponding to the maintenance method includes:

[0014] When the maintenance method is to move the rack to a target midpoint position, determining a deviation direction and a deviation angle of the rear wheels of the vehicle;

[0015] Determining the moving direction of the rack according to the deviation direction;

[0016] Based on the deviation angle, a moving stroke of the rack is calculated;

[0017] Determining the target midpoint position based on the moving direction and the moving distance;

[0018] The rack is controlled to move to the target midpoint position.

[0019] Optionally, controlling the rack to move to the target midpoint position includes:

[0020] Controlling the rear wheel steering system to replace the initial midpoint position of the rack with the target midpoint position;

[0021] Based on the initial length of the rack and the target midpoint position, obtaining a rack stroke;

[0022] If the rack stroke is in a visual display state, outputting information for prompting that the target midpoint position is set successfully;

[0023] If the setting operation is detected, the rack is controlled to move to the target midpoint position.

[0024] Optionally, before acquiring the vehicle information and / or the maintenance information input by the user, the method further includes:

[0025] When a maintenance request is detected, obtaining the vehicle speed, vehicle status, and current gear position of the vehicle;

[0026] If the vehicle speed is zero, the vehicle state is a power-on state and the current gear is a designated gear, it is determined that the vehicle enters the rear wheel steering gear maintenance mode.

[0027] Optionally, obtaining the vehicle speed, vehicle state, and current gear of the vehicle includes:

[0028] If the vehicle speed is not zero, decelerating the vehicle until the vehicle speed becomes zero;

[0029] If the current gear is a non-designated gear, the vehicle is controlled to shift to the designated gear.

[0030] Optionally, disconnecting the follow-up relationship between the rear wheel steering device and the steering wheel of the vehicle includes:

[0031] The communication connection between the rear wheel steering gear and the steering wheel of the vehicle is disconnected.

[0032] In a second aspect, an embodiment of the present application provides a control device for a rear wheel steering device, comprising:

[0033] A first disconnection unit is used to disconnect the follow-up relationship between the rear wheel steering gear and the steering wheel of the vehicle when it is detected that the vehicle is in a rear wheel steering gear maintenance mode;

[0034] A first acquisition unit, used to acquire vehicle information of the vehicle and / or maintenance information input by a user;

[0035] A first mode determination unit, configured to determine a maintenance mode of a rear wheel steering gear of the vehicle based on the vehicle information and / or the maintenance information;

[0036] The first control unit is used to control the movement of the rack of the rear wheel steering gear based on the maintenance method until the rack moves to a target position corresponding to the maintenance method.

[0037] In a third aspect, an embodiment of the present application provides a vehicle-mounted terminal, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, a rear-wheel steering control method as described in any one of the first aspects above is implemented.

[0038] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the control method of a rear-wheel steering device as described in any one of the above-mentioned first aspects is implemented.

[0039] In a fifth aspect, an embodiment of the present application provides a computer program product, which, when executed on a vehicle-mounted terminal, enables the vehicle-mounted terminal to execute the rear-wheel steering control method described in any one of the above-mentioned first aspects.

[0040] In a sixth aspect, an embodiment of the present application provides a vehicle, comprising an on-board terminal, wherein the on-board terminal is used to execute a control method for a rear-wheel steering device as described in any one of the first aspects.

[0041] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0042] The embodiment of the present application provides a control method for a rear-wheel steering gear, which disconnects the follow-up relationship between the rear-wheel steering gear of the vehicle and the steering wheel when the vehicle is detected to be in the rear-wheel steering gear maintenance mode; obtains vehicle information and / or maintenance information input by the user; determines the maintenance method of the rear-wheel steering gear of the vehicle based on the vehicle information and / or maintenance information; controls the movement of the rack of the rear-wheel steering gear based on the maintenance method until the rack moves to the target position corresponding to the maintenance method. Compared with the prior art, the present application is provided with a rear-wheel steering gear maintenance mode in the vehicle to perform preliminary automatic maintenance on the rear-wheel steering gear; and when the rear-wheel steering gear maintenance mode is detected, the follow-up relationship between the rear-wheel steering gear and the steering wheel is first disconnected to reduce the difficulty of maintenance; thereafter, the present application can also flexibly determine the maintenance method of the rear-wheel steering gear in combination with the vehicle information and / or maintenance information, so that the rack can be moved to the target position that meets the actual situation, which is convenient for subsequent offline maintenance, thereby reducing maintenance costs and improving the maintenance efficiency in the later stage. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0044] Figure 1 is a flow chart of a control method for a rear wheel steering device provided in an embodiment of the present application;

[0045] Figure 2 is a flow chart of a control method for a rear wheel steering device provided in another embodiment of the present application;

[0046] Figure 3 This is a schematic diagram of an application scenario in which a user determines a maintenance method according to an embodiment of the present application;

[0047] Figure 4 is a flow chart of a control method for a rear wheel steering device provided in yet another embodiment of the present application;

[0048] Figure 5 is a flow chart of a control method for a rear wheel steering device provided in another embodiment of the present application;

[0049] Figure 6 It is a schematic diagram of the rack travel provided by an embodiment of the present application;

[0050] Figure 7 is a schematic structural diagram of a control device for a rear wheel steering device provided in one embodiment of the present application;

[0051] Figure 8 It is a structural diagram of a vehicle-mounted terminal provided in one embodiment of the present application. DETAILED DESCRIPTION

[0052] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0053] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0054] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0055] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.

[0056] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0057] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0058] In actual application, since the rear wheel steering gear moves with the steering wheel, the difficulty of maintenance is greatly increased when it comes to the maintenance of the rear wheel steering gear, such as four-wheel alignment inspection and maintenance or the rear wheel steering gear alone maintenance.

[0059] The existing technology usually directly repairs the rear wheel steering gear through offline maintenance, which increases the maintenance cost and reduces the maintenance efficiency.

[0060] Therefore, in all the embodiments of the present application, a control method for a rear-wheel steering gear is provided to achieve preliminary automatic maintenance of the rear-wheel steering gear, so as to improve the maintenance efficiency of subsequent offline maintenance and reduce maintenance costs.

[0061] It should be noted that in all embodiments of the present application, the vehicle is provided with a rear-wheel steering gear maintenance function, and this function can be triggered by a rear-wheel steering gear maintenance mode set in the vehicle.

[0062] See also Figure 1 , Figure 1 This is a flow chart of a control method for a rear wheel steering device provided by an embodiment of the present application. In the embodiment of the present application, the execution subject of the control method for the rear wheel steering device is a vehicle-mounted terminal.

[0063] It should be noted that the vehicle-mounted terminal may be a vehicle-mounted information terminal (Head Unit System, HUT).

[0064] In practical applications, HUT is an intelligent multimedia device integrated into the car center console, also known as car navigation or car center console.

[0065] like Figure 1 As shown, the control method of the rear wheel steering device provided in one embodiment of the present application may include S101 to S104, which are described in detail as follows:

[0066] In S101, when it is detected that the vehicle is in a rear-wheel steering gear maintenance mode, the follow-up relationship between the rear-wheel steering gear and the steering wheel of the vehicle is disconnected.

[0067] In the embodiment of the present application, when a user finds that the rear wheel steering gear needs to be repaired, or a maintenance person needs to repair the rear wheel steering gear, in order to reduce the cost of offline maintenance and reduce the difficulty of offline maintenance, the user or maintenance person can send a maintenance request to the vehicle terminal. The maintenance request is used to instruct a preliminary automatic maintenance of the rear wheel steering gear of the vehicle.

[0068] In the embodiment of the present application, the vehicle terminal detecting the maintenance request may include: detecting a preset operation for the vehicle terminal. The preset operation can be set according to actual needs and is not limited here. Exemplarily, the preset operation can be clicking a preset control of the vehicle terminal. Based on this, when the vehicle terminal detects that its preset control is clicked, it can determine that the preset operation is detected, that is, the maintenance request is detected.

[0069] In one implementation of the embodiment of the present application, after detecting a maintenance request, the vehicle terminal may display a mode selection bar in the display interface of the vehicle's central control screen, wherein the drop-down options of the mode selection bar include a "rear wheel steering gear maintenance mode" option.

[0070] In this embodiment, the user or maintenance personnel can click the "rear wheel steering gear maintenance mode" option. Based on this, the vehicle-mounted terminal can determine that the vehicle enters the rear wheel steering gear maintenance mode.

[0071] In one embodiment of the present application, in order to improve the success rate of repairing the rear wheel steering gear, the vehicle-mounted terminal can specifically perform the following steps: Figure 2 Steps S201 to S202 shown determine whether the vehicle has entered the rear wheel steering gear maintenance mode, as described in detail below:

[0072] In S201, when a maintenance request is detected, the vehicle speed, vehicle status, and current gear position of the vehicle are acquired.

[0073] In this embodiment, after detecting the maintenance request, the vehicle terminal can obtain the vehicle speed, vehicle status and current gear position in order to clarify whether the vehicle can perform rear wheel steering maintenance at this time. The vehicle status includes but is not limited to the power-on state and the power-off state.

[0074] When repairing the rear wheel steering gear, the vehicle needs to remain in the started state, stop driving, and not drive suddenly. Therefore, the vehicle terminal can detect whether the vehicle speed is zero, whether the vehicle state is not powered on, and whether the current gear is a designated gear. The designated gear may include: neutral (N) gear and parking (P) gear.

[0075] In one embodiment of the present application, when the vehicle terminal detects that the vehicle speed is zero, the vehicle state is powered on, and the current gear is the designated gear, step S202 may be executed.

[0076] In another embodiment of the present application, when the vehicle terminal detects that the vehicle speed is not zero, or the vehicle state is in a power-off state, or the current gear is a non-specified gear, it indicates that the vehicle is not suitable for rear-wheel steering gear maintenance at this time, that is, the vehicle cannot enter the rear-wheel steering gear maintenance mode at this time. Therefore, the vehicle terminal can output information for prompting to reduce the vehicle speed to zero, or control the vehicle to be in a power-on state, or change the current gear to a specified gear.

[0077] In some possible embodiments, in order to improve the maintenance rate of the rear-wheel steering gear, when the vehicle-mounted terminal detects that the vehicle speed is not zero, it can directly decelerate the vehicle until the vehicle speed is zero; when the vehicle-mounted terminal detects that the vehicle is in a power-off state, it can directly start the vehicle to power on the vehicle; when the vehicle-mounted terminal detects that the current gear is a non-designated gear, it can control the vehicle to shift to a designated gear through a shift controller.

[0078] In some other possible embodiments, in order to improve the working efficiency of the vehicle-mounted terminal, after the vehicle-mounted terminal detects that the vehicle speed is non-zero, or the vehicle state is in a power-off state, or the current gear is a non-designated gear for a set time, the vehicle-mounted terminal still detects that the vehicle speed is non-zero, or the vehicle state is in a power-off state, or the current gear is a non-designated gear, indicating that there is no need to repair the rear wheel steering gear at this time. Therefore, the vehicle-mounted terminal can send a maintenance mode shutdown signal to the rear wheel steering gear system (Automotive Rear Wheel Steering System, RWS). The rear wheel steering gear system can turn off the rear wheel steering gear maintenance mode after receiving the maintenance mode shutdown signal, and feedback the maintenance mode shutdown signal to the vehicle-mounted terminal. At this time, the vehicle-mounted terminal can determine that the rear wheel steering gear maintenance mode has been turned off. Among them, the set time length can be determined according to actual needs and is not limited here.

[0079] In S202, if the vehicle speed is zero, the vehicle state is a powered-on state and the current gear is a designated gear, it is determined that the vehicle enters the rear-wheel steering gear maintenance mode.

[0080] In this embodiment, when the vehicle terminal detects that the vehicle speed is zero, the vehicle state is powered on, and the current gear is the specified gear, it means that the vehicle can perform rear-wheel steering gear maintenance at this time, that is, the vehicle can enter the rear-wheel steering gear maintenance mode at this time. Therefore, the vehicle terminal can send a maintenance mode start signal to the rear-wheel steering gear system. The rear-wheel steering gear system can start the rear-wheel steering gear maintenance mode after receiving the maintenance mode start signal, and feedback the maintenance mode start signal to the vehicle terminal. At this time, the vehicle terminal can determine that the vehicle enters the rear-wheel steering gear maintenance mode.

[0081] In one embodiment of the present application, when an internal fault occurs in the rear-wheel steering system, such as a fault in a sensor in the rear-wheel steering system, the rear-wheel steering system cannot start the rear-wheel steering gear maintenance mode. Therefore, in this embodiment, when the rear-wheel steering system detects that an internal fault occurs in itself, it can send an invalid signal to the vehicle terminal; after receiving the invalid signal, the vehicle terminal can determine that an internal fault occurs in the rear-wheel steering system, and therefore, the vehicle terminal can output a prompt message for prompting that an internal fault occurs in the rear-wheel steering system and that the rear-wheel steering gear maintenance mode cannot be entered.

[0082] In the embodiment of the present application, after the vehicle terminal detects that the vehicle is in the rear wheel steering gear maintenance mode, since the rear wheel steering gear moves with the steering wheel, it is easy to cause difficulty in the maintenance of the rear wheel steering gear. Therefore, in order to improve the maintenance efficiency and reduce the maintenance difficulty, the vehicle terminal can disconnect the follow-up relationship between the rear wheel steering gear and the steering wheel. Among them, the follow-up relationship between the rear wheel steering gear and the steering wheel specifically refers to the rear wheel steering gear following the steering wheel.

[0083] In some possible embodiments, disconnecting the follow-up relationship between the rear-wheel steering gear and the steering wheel may specifically include: disconnecting the communication connection between the rear-wheel steering gear and the steering wheel of the vehicle.

[0084] In this embodiment, the vehicle-mounted terminal can disconnect the communication connection between the rear-wheel steering system and the system where the steering wheel is located, that is, the rear-wheel steering system cannot send any signal to the system where the steering wheel is located, nor can it receive any signal sent by the system where the steering wheel is located, thereby disconnecting the communication connection between the rear-wheel steering device and the steering wheel of the vehicle.

[0085] In S102, vehicle information of the vehicle and / or maintenance information input by a user is obtained.

[0086] In an embodiment of the present application, after detecting that the vehicle is in a rear-wheel steering gear maintenance mode, the vehicle-mounted terminal can obtain vehicle information of the vehicle and / or maintenance information input by the user.

[0087] It should be noted that the vehicle information includes but is not limited to the vehicle's rear suspension information and / or the vehicle's four-wheel alignment parameter information. The rear suspension information includes the rear suspension bushing information, ball pin information, and rear suspension tolerance, etc., and the four-wheel alignment parameters include toe-in.

[0088] In practical applications, rear suspension tolerance refers to the allowable variation range of the size and position of each component in the rear suspension system. These variation ranges ensure the normal function of the suspension system and the stability of vehicle driving.

[0089] Toe-in is also called front wheel toe-in. Toe-in refers to the difference in distance between the front and rear ends of the front wheel in the lateral direction of the car. It can also refer to the angle between the forward direction of the car body and the plane of the front wheel, which is also called the toe angle.

[0090] The maintenance information input by the user is used to describe the maintenance method selected by the user.

[0091] The maintenance method includes but is not limited to: moving the rack of the rear wheel steering gear to the target midpoint position and moving the rack of the rear wheel steering gear to the initial midpoint position. It should be noted that the initial midpoint position is different from the target midpoint position.

[0092] In the embodiment of the present application, the initial midpoint position may be the default midpoint position of the rack when it leaves the factory.

[0093] In practical applications, the midpoint of the rack is used to describe the zero position of the rack.

[0094] In one embodiment of the present application, after the vehicle terminal detects that the vehicle is in the rear wheel steering maintenance mode, the vehicle terminal can provide multiple maintenance mode options on the display interface of the vehicle's central control screen for the user or maintenance personnel to choose. Afterwards, the user or maintenance personnel can click on any of the above multiple maintenance mode options. After detecting that any of the above multiple maintenance mode options is clicked, the vehicle terminal can determine that the maintenance information input by the user is detected.

[0095] For example, after a user or maintenance personnel enters the application interface of the rear wheel steering gear maintenance mode through the central control screen, they can Figure 3 By clicking any one of the drive rack movement control 11, the target midpoint position setting control 12 and the initial midpoint position restoration control 13 in the display interface of the central control screen shown, the selection of the maintenance method is completed.

[0096] It should be noted that, since both maintenance methods, moving the rack of the rear-wheel steering gear to the target midpoint position and moving the rack of the rear-wheel steering gear to the initial midpoint position, require controlling the movement of the rack, the user or maintenance personnel needs to click on the drive rack movement control 11 after clicking on any one of the control in the set target midpoint position control 12 and the restore initial midpoint position control 13.

[0097] In S102, a maintenance method of a rear wheel steering gear of the vehicle is determined based on the vehicle information and / or the maintenance information.

[0098] In one embodiment of the present application, in combination with S101, when the vehicle-mounted terminal only obtains the maintenance information input by the user, the maintenance method of the rear wheel steering gear can be directly determined according to the maintenance information.

[0099] In another embodiment of the present application, when the vehicle terminal only obtains vehicle information, the vehicle terminal can specifically obtain the vehicle information by: Figure 4Steps S301 to S302 shown determine the maintenance mode, which are described in detail as follows:

[0100] In S301, if the rear suspension information used to describe that the rear suspension of the vehicle does not meet the first setting requirement, and / or the four-wheel alignment parameters do not meet the second setting requirement, it is determined that the maintenance method is to move the rack to the target midpoint position.

[0101] In this embodiment, when the vehicle-mounted terminal detects that the rear suspension information used to describe that the rear suspension of the vehicle does not meet the first setting requirements, and / or the four-wheel alignment parameters do not meet the second setting requirements, it indicates that the rear wheel steering gear is deviated due to the wear and tear of the rear suspension after durability, thereby causing the rear wheel to deviate. In other words, the initial midpoint position of the rack no longer meets the requirements. Therefore, the vehicle-mounted terminal can determine that the maintenance method is to move the rack to the target midpoint position.

[0102] In some possible embodiments, since the rear suspension information includes the bushing information, ball pin information and rear suspension tolerance of the rear suspension, the first setting requirement corresponding to the bushing information may be that the bushing wear is less than the first setting degree; the first setting requirement corresponding to the ball pin information may be that the ball pin wear is less than the second setting degree; and the first setting requirement corresponding to the rear suspension tolerance may be that the tolerance is within tolerance. The first setting degree is used to describe that the bushing wear is slightly worn; and the second setting degree is used to describe that the ball pin wear is slightly worn.

[0103] Since the four-wheel alignment parameters include toe-in, the second setting requirement corresponding to the toe-in can be that the toe-in can reach a setting standard after adjustment. The setting standard can be determined according to actual needs and is not limited here.

[0104] In S302, if the rear suspension information used to describe that the rear suspension of the vehicle meets the first setting requirement, and the four-wheel alignment parameters meet the second setting requirement, it is determined that the maintenance method is to move the rack to an initial midpoint position; the initial midpoint position is different from the target midpoint position.

[0105] In this embodiment, when the vehicle-mounted terminal detects that the rear suspension information used to describe that the rear suspension of the vehicle meets the first setting requirements, and the four-wheel alignment parameters meet the second setting requirements, it means that the rear wheel steering gear is not deviating due to the problem of wear and tear after the rear suspension is durable, thereby causing the rear wheel to deviate. In other words, the initial midpoint position of the rack still meets the requirements at this time. Therefore, the vehicle-mounted terminal can determine that the maintenance method is to move the rack to the initial midpoint position.

[0106] In another embodiment of the present application, when the vehicle terminal obtains vehicle information and maintenance information, in order to improve the maintenance success rate, the vehicle terminal can detect whether the maintenance method determined by the vehicle information is the same as the maintenance method determined by the maintenance information input by the user.

[0107] In this embodiment, when the vehicle terminal detects that the maintenance method determined by the vehicle information is the same as the maintenance method determined by the maintenance information input by the user, the vehicle terminal can directly determine the final maintenance method according to the maintenance information input by the user.

[0108] When the vehicle terminal detects that the maintenance method determined by the vehicle information is different from the maintenance method determined by the maintenance information input by the user, it can input information to prompt the user that the maintenance information input by the user is different from the maintenance method determined by the vehicle terminal and ask the user to confirm again. After that, the vehicle terminal can directly determine the final maintenance method according to the maintenance information reconfirmed by the user.

[0109] In S103, the rack of the rear wheel steering gear is controlled to move based on the maintenance method until the rack moves to a target position corresponding to the maintenance method.

[0110] In an embodiment of the present application, after determining the maintenance method for the rear-wheel steering gear, the vehicle-mounted terminal can drive the rack of the rear-wheel steering gear to move based on the maintenance method until the rack moves to the target position corresponding to the maintenance method.

[0111] In one implementation of the embodiment of the present application, after determining the maintenance method for the rear wheel steering gear, the vehicle-mounted terminal can receive movement information input by the user and control the movement of the rack according to the movement information.

[0112] For example, Figure 3 As shown, the user can long press the left movement control 111 or the right movement control 112 next to the driving rack movement control 11 to input movement information to the vehicle terminal.

[0113] In another implementation of the embodiment of the present application, combined with Figure 3 After the vehicle terminal detects that the restore initial midpoint position control 13 is clicked, the vehicle terminal can send a restore initial midpoint position signal to the rear-wheel steering system. After receiving the restore initial midpoint position signal, the rear-wheel steering system can directly drive the rack to move to the initial midpoint position.

[0114] In one embodiment of the present application, when the maintenance method is to move the rack to the target midpoint position, in order to improve the success rate of the movement, the vehicle terminal can specifically perform the following steps: Figure 5 Steps S401 to S405 shown implement step S103, which are described in detail as follows:

[0115] In S401, when the maintenance method is to move the rack to a target midpoint position, the deviation direction and deviation angle of the rear wheels of the vehicle are determined.

[0116] In S402, the moving direction of the rack is determined according to the deviation direction.

[0117] In S403, based on the deviation angle, the movement stroke of the rack is calculated.

[0118] In S404, the target midpoint position is determined based on the moving direction and the moving distance.

[0119] In S405, the rack is controlled to move to the target midpoint position.

[0120] In this embodiment, when the vehicle terminal detects that the maintenance method is to move the rack to the target midpoint position, in order to obtain the accurate target midpoint position, the vehicle terminal can determine the deviation direction and deviation angle of the rear wheel of the vehicle. The deviation direction includes left and right.

[0121] Afterwards, the vehicle-mounted terminal can determine the moving direction of the rack according to the deviation direction.

[0122] It should be noted that the moving direction is the same as the deviation direction, that is, if the deviation direction is to the left, the moving direction is also to the left; if the deviation direction is to the right, the moving direction is also to the right.

[0123] In this embodiment, after obtaining the deviation angle, the vehicle terminal can calculate the moving stroke of the rack based on the corresponding relationship between the reference deviation angle and the reference stroke and the deviation angle. The reference deviation angle can be a unit angle, such as 1°, and the reference stroke specifically refers to the distance required to move at the reference deviation angle.

[0124] Specifically, movement stroke=(deviation angle / reference deviation angle)*reference stroke.

[0125] In this embodiment, after obtaining the moving direction and the moving stroke, the vehicle-mounted terminal can determine the specific target midpoint position in the rack.

[0126] Afterwards, the vehicle-mounted terminal can control the rack to move to the above-mentioned target midpoint position.

[0127] In another embodiment of the present application, in order to further improve the success rate of moving the rack to the target midpoint position, the vehicle-mounted terminal can specifically implement step S405 according to the following steps, which are described in detail as follows:

[0128] Controlling the rear wheel steering system to replace the initial midpoint position of the rack with the target midpoint position;

[0129] Based on the initial length of the rack and the target midpoint position, obtaining a rack stroke;

[0130] If the rack stroke is in a visual display state, outputting information for prompting that the target midpoint position is set successfully;

[0131] If the setting operation is detected, the rack is controlled to move to the target midpoint position.

[0132] In this embodiment, in order to clarify whether the target midpoint position is set successfully, thereby improving the success rate of moving the rack to the target midpoint position, after determining the target midpoint position, the vehicle-mounted terminal can control the rear wheel steering system to replace the initial midpoint position of the rack with the target midpoint position, and obtain the rack stroke based on the initial length of the rack and the target midpoint position. The initial length specifically refers to the actual length of the rack.

[0133] In actual applications, based on the movement of the rack, the rack stroke is not centrally symmetrical, which will cause one side to have a smaller stroke and the other side to have a larger stroke. If the design is still based on the factory stroke, it is easy to cause left-right asymmetry; at the same time, it will cause the soft stop point and the hard stop point to coincide or the soft stroke ≥ hard stroke. Therefore, the rack stroke at the target midpoint position is minimized according to the principle of symmetry. Exemplarily, the rack stroke can be ±30mm. Among them, "+" and "-" are used to indicate different movement directions of the rack.

[0134] For example, see Figure 6 , Figure 6 Schematic diagram of rack travel provided by an embodiment of the present application. Figure 6 As shown, L1 represents the rack stroke corresponding to the initial midpoint position, O1 represents the initial midpoint position, L2 represents the rack stroke corresponding to the target midpoint position, and O2 represents the target midpoint position.

[0135] In this embodiment, when the vehicle terminal detects that the rack travel is in a visual display state (such as Figure 3 As shown), it can be determined that the target midpoint position has been set successfully at this time, so the vehicle-mounted terminal can output information to prompt that the target midpoint position has been set successfully.

[0136] In one implementation of this embodiment, the vehicle terminal can send a target midpoint position setting request to the rear-wheel steering system. After receiving the target midpoint position setting request, the rear-wheel steering system can replace the initial midpoint position of the rack with the target midpoint position and send a target midpoint position setting success signal to the vehicle terminal. Afterwards, when the vehicle terminal receives the target midpoint position setting success signal and the rack travel is in a visual display state, it can be determined that the target midpoint position has been set successfully. Based on this, the user can click on Figure 3The determination control 121 is shown to determine that the target midpoint position has been set successfully.

[0137] In this embodiment, after detecting the setting operation, the vehicle-mounted terminal can control the rack to move to the target position.

[0138] The setting operation may be that the user clicks on the rack movement control on the display interface of the central control screen.

[0139] In some possible embodiments, combined with Figure 3 The rack movement control includes left movement 111 and right movement 112. The user can click the corresponding rack movement control according to their own needs to move the rack to the target position.

[0140] As can be seen from the above, the control method of a rear-wheel steering gear provided by the embodiment of the present application disconnects the follow-up relationship between the rear-wheel steering gear of the vehicle and the steering wheel when the vehicle is detected to be in the rear-wheel steering gear maintenance mode; obtains the vehicle information and / or the maintenance information input by the user; determines the maintenance mode of the rear-wheel steering gear of the vehicle based on the vehicle information and / or the maintenance information; controls the movement of the rack of the rear-wheel steering gear based on the maintenance mode until the rack moves to the target position corresponding to the maintenance mode. Compared with the prior art, the present application is provided with a rear-wheel steering gear maintenance mode in the vehicle to perform preliminary automatic maintenance on the rear-wheel steering gear; and when it is detected that the rear-wheel steering gear is in the maintenance mode, the follow-up relationship between the rear-wheel steering gear and the steering wheel is disconnected first to reduce the difficulty of maintenance; afterwards, the present application can also flexibly determine the maintenance mode of the rear-wheel steering gear in combination with the vehicle information and / or the maintenance information, so that the rack can be moved to the target position that meets the actual situation, which is convenient for subsequent offline maintenance, thereby reducing the maintenance cost and improving the maintenance efficiency in the later stage.

[0141] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0142] Corresponding to the control method of a rear wheel steering device described in the above embodiment, Figure 7 The structure diagram of a control device for a rear wheel steering device provided by an embodiment of the present application is shown. For the convenience of explanation, only the part related to the embodiment of the present application is shown. Figure 7 The control device 500 of the rear wheel steering gear includes: a first disconnection unit 51, a first acquisition unit 52, a first mode determination unit 53 and a first control unit 54. Wherein:

[0143] The first disconnection unit 51 is used to disconnect the follow-up relationship between the rear wheel steering gear and the steering wheel of the vehicle when it is detected that the vehicle is in the rear wheel steering gear maintenance mode.

[0144] The first acquisition unit 52 is used to acquire vehicle information of the vehicle and / or maintenance information input by a user.

[0145] The first mode determination unit 52 is used to determine a maintenance mode of the rear wheel steering gear of the vehicle based on the vehicle information and / or the maintenance information.

[0146] The first control unit 53 is used for controlling the rack of the rear wheel steering gear to move based on the maintenance method until the rack moves to a target position corresponding to the maintenance method.

[0147] In one embodiment of the present application, the vehicle information includes the rear suspension information of the vehicle and / or the four-wheel alignment parameter information of the vehicle; the first mode determination unit 51 specifically includes: a second mode determination unit and a third mode determination unit. Among them:

[0148] The second mode determination unit is used to determine that the maintenance mode is to move the rack to a target midpoint position if the rear suspension information used to describe that the rear suspension of the vehicle does not meet the first setting requirement and / or the four-wheel alignment parameters do not meet the second setting requirement.

[0149] The third mode determination unit is used to determine that the maintenance mode is to move the rack to an initial midpoint position if the rear suspension information used to describe that the rear suspension of the vehicle meets the first setting requirement and the four-wheel alignment parameters meet the second setting requirement; the initial midpoint position is different from the target midpoint position.

[0150] In one embodiment of the present application, the first control unit 53 specifically includes: an angle determination unit, a direction determination unit, a calculation unit, a position determination unit and a third control unit. Among them:

[0151] The angle determination unit is used to determine the deviation direction and deviation angle of the rear wheels of the vehicle when the maintenance method is to move the rack to a target midpoint position.

[0152] The direction determining unit is used to determine the moving direction of the rack according to the deviation direction.

[0153] The calculation unit is used to calculate the movement stroke of the rack based on the deviation angle.

[0154] The position determination unit is used to determine the target midpoint position based on the moving direction and the moving distance.

[0155] The third control unit is used to control the rack to move to the target midpoint position.

[0156] In one embodiment of the present application, the third control unit specifically includes: a fourth control unit, a travel determination unit, an output unit and a fifth control unit.

[0157] The fourth control unit is used to control the rear-wheel steering system to replace the initial midpoint position of the rack with the target midpoint position.

[0158] The stroke determination unit is used to obtain the rack stroke based on the initial length of the rack and the target midpoint position.

[0159] The output unit is used to output information indicating that the target midpoint position is set successfully if the rack stroke is in a visual display state.

[0160] The fifth control unit is used for controlling the rack to move to the target midpoint position if a setting operation is detected.

[0161] In one embodiment of the present application, the control device 500 of the rear wheel steering gear further includes: a second acquisition unit and a mode determination unit.

[0162] The second acquisition unit is used to acquire the vehicle speed, vehicle status and current gear position of the vehicle when a maintenance request is detected.

[0163] The mode determination unit is used for determining that the vehicle enters the rear wheel steering gear maintenance mode if the vehicle speed is zero, the vehicle state is a power-on state and the current gear is a designated gear.

[0164] In one embodiment of the present application, the control device 500 of the rear wheel steering gear further includes: an execution unit and a sixth control unit.

[0165] The execution unit is used for executing a deceleration operation on the vehicle if the vehicle speed is not zero, until the vehicle speed becomes zero.

[0166] The sixth control unit is used for controlling the vehicle to shift gears to the designated gear if the current gear is a non-designated gear.

[0167] In one embodiment of the present application, the first disconnecting unit 51 specifically includes: a second disconnecting unit.

[0168] The second disconnecting unit is used to disconnect the communication connection between the rear wheel steering gear and the steering wheel.

[0169] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0170] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0171] Figure 8 This is a schematic diagram of the structure of a vehicle-mounted terminal provided in one embodiment of the present application. Figure 8 As shown, the vehicle terminal 6 of this embodiment includes: at least one processor 60 ( Figure 8 Only one is shown in the figure) a processor, a memory 61, and a computer program 62 stored in the memory 61 and executable on the at least one processor 60, and when the processor 60 executes the computer program 62, the steps in any of the above-mentioned embodiments of the control method for the rear-wheel steering gear are implemented.

[0172] The vehicle terminal may include, but is not limited to, a processor 60 and a memory 61. Those skilled in the art will appreciate that Figure 8 It is only an example of the vehicle-mounted terminal 6 and does not constitute a limitation on the vehicle-mounted terminal 6. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components, for example, it may also include input and output devices, network access devices, etc.

[0173] The processor 60 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0174] In some embodiments, the memory 61 may be an internal storage unit of the vehicle-mounted terminal 6, such as the memory of the vehicle-mounted terminal 6. In other embodiments, the memory 61 may also be an external storage device of the vehicle-mounted terminal 6, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the vehicle-mounted terminal 6. Further, the memory 61 may also include both the internal storage unit of the vehicle-mounted terminal 6 and an external storage device. The memory 61 is used to store an operating system, an application program, a boot loader (BootLoader), data, and other programs, such as the program code of the computer program, etc. The memory 61 may also be used to temporarily store data that has been output or is to be output.

[0175] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0176] An embodiment of the present application provides a computer program product. When the computer program product runs on a vehicle-mounted terminal, the vehicle-mounted terminal can implement the steps in the above-mentioned method embodiments when executing the computer program product.

[0177] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, the steps of the above-mentioned various method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device capable of carrying the computer program code to the vehicle-mounted terminal, a recording medium, a computer memory, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), an electric carrier signal, a telecommunication signal, and a software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals and telecommunication signals.

[0178] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0179] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A control method for a rear wheel steering device, characterized in that: include: When it is detected that the vehicle is in a rear wheel steering gear maintenance mode, disconnecting the follow-up relationship between the rear wheel steering gear and the steering wheel of the vehicle; Acquiring vehicle information of the vehicle and / or maintenance information input by a user; Determining a maintenance method of a rear wheel steering gear of the vehicle based on the vehicle information and / or the maintenance information; The rack of the rear wheel steering gear is controlled to move based on the maintenance method until the rack moves to a target position corresponding to the maintenance method.

2. The control method of the rear wheel steering device according to claim 1, characterized in that: The vehicle information includes rear suspension information of the vehicle and / or four-wheel alignment parameter information of the vehicle; Determining a maintenance method of a rear wheel steering gear of the vehicle based on the vehicle information includes: If the rear suspension information is used to describe that the rear suspension of the vehicle does not meet the first setting requirement, and / or the four-wheel alignment parameters do not meet the second setting requirement, determining that the maintenance method is to move the rack to a target midpoint position; If the rear suspension information is used to describe that the rear suspension of the vehicle meets the first setting requirement, and the four-wheel alignment parameters meet the second setting requirement, then it is determined that the maintenance method is to move the rack to an initial midpoint position; the initial midpoint position is different from the target midpoint position.

3. The control method of the rear wheel steering device according to claim 1, characterized in that: The step of controlling the rack of the rear wheel steering gear to move based on the maintenance method until the rack moves to a target position corresponding to the maintenance method includes: When the maintenance method is to move the rack to a target midpoint position, determining a deviation direction and a deviation angle of the rear wheels of the vehicle; Determining the moving direction of the rack according to the deviation direction; Based on the deviation angle, a moving stroke of the rack is calculated; Determining the target midpoint position based on the moving direction and the moving distance; The rack is controlled to move to the target midpoint position.

4. The control method of the rear wheel steering device according to claim 3, characterized in that: The step of controlling the rack to move to the target midpoint position includes: Controlling the rear wheel steering system to replace the initial midpoint position of the rack with the target midpoint position; Based on the initial length of the rack and the target midpoint position, obtaining a rack stroke; If the rack stroke is in a visual display state, outputting information for prompting that the target midpoint position is set successfully; If the setting operation is detected, the rack is controlled to move to the target midpoint position.

5. The control method of the rear wheel steering device according to claim 1, characterized in that: Before obtaining the vehicle information and / or the maintenance information input by the user, the method further includes: When a maintenance request is detected, obtaining the vehicle speed, vehicle status, and current gear position of the vehicle; If the vehicle speed is zero, the vehicle state is a power-on state and the current gear is a designated gear, it is determined that the vehicle enters the rear wheel steering gear maintenance mode.

6. The control method of the rear wheel steering device according to claim 5, characterized in that: After obtaining the vehicle speed, vehicle state and current gear position of the vehicle, the method further includes: If the vehicle speed is not zero, decelerating the vehicle until the vehicle speed becomes zero; If the current gear is a non-designated gear, the vehicle is controlled to shift to the designated gear.

7. The control method of a rear wheel steering device according to any one of claims 1 to 6, characterized in that: The method of disconnecting the follow-up relationship between the rear wheel steering device and the steering wheel of the vehicle comprises: The communication connection between the rear wheel steering gear and the steering wheel is disconnected.

8. A control device for a rear wheel steering gear, characterized in that: include: A first disconnection unit is used to disconnect the follow-up relationship between the rear wheel steering gear and the steering wheel of the vehicle when it is detected that the vehicle is in a rear wheel steering gear maintenance mode; A first acquisition unit, used to acquire vehicle information of the vehicle and / or maintenance information input by a user; A first mode determination unit, configured to determine a maintenance mode of a rear wheel steering gear of the vehicle based on the vehicle information and / or the maintenance information; The first control unit is used to control the movement of the rack of the rear wheel steering gear based on the maintenance method until the rack moves to a target position corresponding to the maintenance method.

9. A vehicle-mounted terminal, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the control method of the rear wheel steering device according to any one of claims 1 to 7 is implemented.

10. A vehicle, characterized in that: Comprising the vehicle-mounted terminal as claimed in claim 9.

Images