Control method and device of rear wheel steering gear, vehicle terminal and vehicle

Abstract

The application is suitable for the field of automobile technology, and provides a control method and device of rear wheel steering gear, a vehicle terminal and a vehicle.The method comprises the following steps: 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 mode of the rear wheel steering gear of the vehicle based on the vehicle information and / or the maintenance information; and controlling the 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 relationship between the rear wheel steering gear and the steering wheel is disconnected, so that the rear wheel steering gear can be preliminarily and automatically maintained; 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 conforming to the actual situation, and subsequent offline maintenance is facilitated, thereby reducing the maintenance cost and improving the maintenance efficiency in the later period.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of automobiles, and particularly relates to a control method and device of a rear wheel steering gear, a vehicle-mounted terminal and a vehicle. BACKGROUND

[0002] At present, more and more vehicle models are equipped with rear wheel steering gears. Since the rear wheel steering gear is driven by the steering wheel, when maintenance involving the rear wheel steering gear is performed, such as four-wheel alignment detection maintenance or separate maintenance of the rear wheel steering gear, the maintenance difficulty is greatly increased.

[0003] The prior art usually directly implements maintenance involving the rear wheel steering gear through offline maintenance, which increases the maintenance cost and reduces the maintenance efficiency. SUMMARY

[0004] The application provides a control method and device of a rear wheel steering gear, a vehicle-mounted terminal and a vehicle.

[0005] In a first aspect, the application provides a control method of a rear wheel steering gear, comprising:

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

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

[0008] Based on the vehicle information and / or the maintenance information, a maintenance mode of the rear wheel steering gear of the vehicle is determined;

[0009] Based on the maintenance mode, the rack of the rear wheel steering gear is controlled to move until the rack moves to a target position corresponding to the maintenance mode.

[0010] Optionally, the vehicle information comprises rear suspension information of the vehicle and / or four-wheel alignment parameter information of the vehicle; based on the vehicle information, the maintenance mode of the rear wheel steering gear of the vehicle is determined, comprising:

[0011] If the rear suspension information is used to describe that the rear suspension of the vehicle does not meet a first set requirement and / or the four-wheel alignment parameter does not meet a second set requirement, it is determined that the maintenance mode 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 set requirement and the four-wheel alignment parameter meets the second set requirement, it is determined that the maintenance mode is to move the rack to an initial midpoint position; the initial midpoint position is different from the target midpoint position.

[0013] Optionally, the control of the rack of the rear wheel steering gear to move based on the repair mode until the rack moves to a target position corresponding to the repair mode comprises:

[0014] When the repair mode is to move the rack to a target midpoint position, determining a deviation direction and a deviation angle of the rear wheel of the vehicle;

[0015] According to the deviation direction, determining a moving direction of the rack;

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

[0017] Based on the moving direction and the moving stroke, determining the target midpoint position;

[0018] Controlling the rack to move to the target midpoint position.

[0019] Optionally, the control of the rack to move to the target midpoint position comprises:

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

[0021] Based on an 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 a setting operation is detected, controlling the rack to move to the target midpoint position.

[0024] Optionally, before the obtaining of the vehicle information and / or the repair information input by the user, further comprising:

[0025] Upon detecting a repair request, obtaining a vehicle speed, a vehicle state, and a current gear of the vehicle;

[0026] If the vehicle speed is zero, the vehicle state is a power-on state, and the current gear is a specified gear, determining that the vehicle enters the rear wheel steering gear repair mode.

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

[0028] If the vehicle speed is non-zero, performing a speed reduction operation on the vehicle until the vehicle speed is zero;

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

[0030] Optionally, the disconnecting the slave relationship between the rear wheel steering gear and the steering wheel of the vehicle comprises:

[0031] disconnecting the communication connection between the rear wheel steering gear and the steering wheel of the vehicle.

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

[0033] a first disconnecting unit, configured to disconnect a slave 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 obtaining unit, configured to obtain vehicle information of the vehicle and / or maintenance information input by a user;

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

[0036] a first control unit, configured to control movement of a rack of the rear wheel steering gear based on the maintenance mode until the rack moves to a target position corresponding to the maintenance mode.

[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, and the processor implements the control method of the rear wheel steering gear according to any one of the first aspect.

[0038] In a fourth aspect, an embodiment of the present application provides a computer readable storage medium, which stores a computer program, and the computer program is executable on a processor to implement the control method of the rear wheel steering gear according to any one of the first aspect.

[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 perform the control method of the rear wheel steering gear according to any one of the first aspect.

[0040] In a sixth aspect, an embodiment of the present application provides a vehicle, comprising a vehicle-mounted terminal, and the vehicle-mounted terminal is configured to perform the control method of the rear wheel steering gear according to any one of the first aspect.

[0041] Compared with the prior art, the embodiment of the present application has the beneficial effects that:

[0042] The control method of the rear wheel steering gear provided by the embodiment of the present application comprises the following steps: 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 of the vehicle and the steering wheel; obtaining vehicle information of the vehicle and / or maintenance information input by a user; determining a maintenance mode of the rear wheel steering gear of the vehicle based on the vehicle information and / or the maintenance information; and controlling the rack of the rear wheel steering gear to move until the rack moves to a target position corresponding to the maintenance mode based on the maintenance mode. Compared with the prior art, the rear wheel steering gear maintenance mode is provided in the vehicle in the present application, so that the rear wheel steering gear can be preliminarily automatically maintained; when it is detected that the vehicle is in the rear wheel steering gear maintenance mode, the follow-up relationship between the rear wheel steering gear and the steering wheel is disconnected first, so that the maintenance difficulty is reduced; then, the maintenance mode of the rear wheel steering gear can be flexibly determined in combination with the vehicle information and / or the maintenance information, so that the rack can be moved to the target position conforming to the actual situation, the subsequent offline maintenance is facilitated, the maintenance cost is reduced, and the maintenance efficiency in the later period is improved. BRIEF DESCRIPTION OF DRAWINGS

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort.

[0044] Figure 1 is an implementation flowchart of the control method of the rear wheel steering gear provided by an embodiment of the present application;

[0045] Figure 2 is an implementation flowchart of the control method of the rear wheel steering gear provided by another embodiment of the present application;

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

[0047] Figure 4 is an implementation flowchart of the control method of the rear wheel steering gear provided by still another embodiment of the present application;

[0048] Figure 5 is an implementation flowchart of the control method of the rear wheel steering gear provided by yet another embodiment of the present application;

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

[0050] Figure 7 is a structural schematic diagram of the control device of the rear wheel steering gear provided by an embodiment of the present application;

[0051] Figure 8 is a structural schematic diagram of a vehicle terminal provided by an embodiment of the present application. DETAILED DESCRIPTION

[0052] In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular architectures, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application can be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

[0053] It is to be understood that the terminology "includes", "has", "holds", "contains" and / or "comprising", "including", "having" and their conjugates, as used herein, means "including but not limited to", and is not intended to (and not to) to be construed as indicating a limitation of the number of possible features, integers, steps, operations, elements, components, and / or groups thereof that the described feature, integer, step, operation, element, component, and / or group thereof can comprise.

[0054] It should also be understood that the term "and / or" as used herein, is intended to cover all possible combinations of the associated items, including one or more of the associated items, and all possible combinations thereof.

[0055] As used in the description of the application and the appended claims, the term "if" can be interpreted to mean "when" or "upon" or "in response to determining" or "in response to detecting" depending on the context. Similarly, the phrase "if it is determined" or "if [a described condition or event] is detected" can be interpreted to mean "upon determining" or "in response to determining" or "upon [the described condition or event] being detected" or "in response to [the described condition or event] being detected", depending on the context.

[0056] In addition, the terms "first", "second", "third", etc. as used in the description of the application and the appended claims are not intended to denote or imply relative importance but are used only to distinguish a different element.

[0057] The description in the specification of the application using terms such as "one embodiment", "some embodiments", "an embodiment", "embodiments", "various embodiments", etc. has the meaning of "one or more embodiments". The terms "the" and "said" are not necessarily used as the definite article, but include the meaning of "one or more". The terms "including", "containing" and "having" are not necessarily used as synonyms for "including but not limited to". In general, the nomenclature used is only intended to illustrate the application and should not be used to limit or define the application. It is to be understood that the use of certain terms, for example "above" and "below", "up" and "down", and "top" and "bottom", are used only for convenience and are not intended to denote absolute, relative positions.

[0058] In practical applications, since the rear wheel steering gear is followed by the steering wheel, when the rear wheel steering gear is involved in maintenance, such as four-wheel alignment detection maintenance or separate maintenance of the rear wheel steering gear, the maintenance difficulty is greatly increased.

[0059] The prior art usually directly realizes the maintenance involving the rear wheel steering gear through offline maintenance, which increases the maintenance cost and reduces the maintenance efficiency.

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

[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 the function can be triggered through a rear wheel steering gear maintenance mode provided by the vehicle.

[0062] Please refer to Figure 1 , Figure 1 is an implementation flowchart of a control method of a rear wheel steering gear provided by an embodiment of the present application. In the embodiment of the present application, the execution subject of the control method of the rear wheel steering gear is a vehicle-mounted terminal.

[0063] It should be noted that the vehicle-mounted terminal can be a head unit system (HUT).

[0064] In practical applications, the HUT is an intelligent multimedia device integrated in the center console of the automobile, also known as automobile navigation or automobile central control.

[0065] As shown in Figure 1 , the control method of the rear wheel steering gear provided by an embodiment of the present application can include S101-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 of the vehicle and the steering wheel is disconnected.

[0067] In the embodiment of the present application, when the user finds that the rear wheel steering gear needs to be maintained, or the maintenance personnel needs to maintain the rear wheel steering gear, in order to reduce the cost of offline maintenance and reduce the difficulty of offline maintenance, the user or the maintenance personnel can send a maintenance request to the vehicle-mounted terminal. The maintenance request is used to indicate 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 can include: detecting a preset operation for the vehicle terminal. The preset operation can be set according to actual needs, which is not limited here. For example, the preset operation can be clicking a preset control of the vehicle terminal. Based on this, the vehicle terminal can determine that the preset operation is detected, that is, the maintenance request is detected, when detecting that the preset control of the vehicle terminal is clicked.

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

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

[0071] In an embodiment of the present application, in order to improve the maintenance success rate of the rear wheel steering gear, the vehicle terminal can specifically determine whether the vehicle has entered the rear wheel steering gear maintenance mode through steps S201-S202 as shown in the following table: Figure 2

[0072] In S201, when detecting the maintenance request, the vehicle speed, the vehicle state and the current gear of the vehicle are obtained.

[0073] In the embodiment, after detecting the maintenance request, in order to determine whether the vehicle can be maintained at this time, the vehicle terminal can obtain the vehicle speed, the vehicle state and the current gear of the vehicle. The vehicle state includes but is not limited to the power-on state and the power-off state.

[0074] Since the vehicle needs to be kept in the starting state and needs to stop driving when the rear wheel steering gear is maintained, and will not drive suddenly, the vehicle terminal can detect whether the vehicle speed is zero, whether the vehicle state is the power-on state, and whether the current gear is the specified gear. The specified gear can include the neutral (N) gear and the parking (P) gear.

[0075] In an embodiment of the present application, the vehicle terminal can perform step S202 when detecting that the vehicle speed is zero, the vehicle state is the power-on state and the current gear is the specified gear.

[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 the power-off state, or the current gear is the non-designated gear, it means that the vehicle is not suitable for maintenance of the rear wheel steering device at this time, i.e., the vehicle cannot enter the rear wheel steering device maintenance mode at this time. Therefore, the vehicle terminal can output information for prompting the vehicle speed to be reduced to zero, or the vehicle to be in the power-on state, or the current gear to be replaced by the designated gear.

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

[0078] In another possible embodiment, in order to improve the working efficiency of the vehicle terminal, when the vehicle terminal detects that the vehicle speed is not zero, or the vehicle state is the power-off state, or the current gear is the non-designated gear for a set time period, and the vehicle terminal still detects that the vehicle speed is not zero, or the vehicle state is the power-off state, or the current gear is the non-designated gear, it means that maintenance of the rear wheel steering device is not needed at this time. Therefore, the vehicle terminal can send a maintenance mode closing signal to the rear wheel steering system. The rear wheel steering system can close the rear wheel steering device maintenance mode upon receiving the maintenance mode closing signal, and feed back a maintenance mode closed signal to the vehicle terminal. At this time, the vehicle terminal can determine that the rear wheel steering device maintenance mode is closed. The set time period can be determined according to actual needs, which is not limited herein.

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

[0080] In the present embodiment, when the vehicle terminal detects that the vehicle speed is zero, the vehicle state is the power-on state, and the current gear is the designated gear, it means that the vehicle can be maintained at this time, i.e., the vehicle can enter the rear wheel steering device maintenance mode at this time. Therefore, the vehicle terminal can send a maintenance mode opening signal to the rear wheel steering system. The rear wheel steering system can open the rear wheel steering device maintenance mode upon receiving the maintenance mode opening signal, and feed back a maintenance mode opened signal to the vehicle terminal. At this time, the vehicle terminal can determine that the vehicle enters the rear wheel steering device maintenance mode.

[0081] In an embodiment of the present application, when the rear wheel steering system has an internal fault, such as a sensor in the rear wheel steering system fails, 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 it has an internal fault, the rear wheel steering system can send an invalid signal to the vehicle terminal; after receiving the invalid signal, the vehicle terminal can determine that the rear wheel steering system has an internal fault, and therefore the vehicle terminal can output prompt information prompting that the rear wheel steering system has an internal fault and cannot enter the rear wheel steering gear maintenance mode.

[0082] In an 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 follows the steering wheel, it is difficult to maintain 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. Wherein, the follow-up relationship between the rear wheel steering gear and the steering wheel specifically refers to the follow-up of the rear wheel steering gear to the steering wheel.

[0083] In some possible embodiments, disconnecting the follow-up relationship between the rear wheel steering gear and the steering wheel can 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 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, so as to disconnect the communication connection between the rear wheel steering gear and the steering wheel of the vehicle.

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

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

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

[0088] In actual application, the rear suspension tolerance refers to the allowable variation range of the size and position of each component in the rear suspension system, which ensures the normal function of the suspension system and the stability of the vehicle driving.

[0089] The toe-in is also called front wheel toe-in. The toe-in refers to the distance difference between the front end face and the rear end face of the front wheel in the lateral direction of the vehicle, or refers to the included angle between the forward direction of the vehicle body and the plane of the front wheel, which is also called toe-in angle.

[0090] The repair information entered by the user describes the repair method selected by the user.

[0091] The repair methods include, but are 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 this embodiment of the application, the initial midpoint position can 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 this application, after detecting that the vehicle is in rear-wheel steering maintenance mode, the vehicle terminal can provide multiple maintenance method options on the display interface of the vehicle's central control screen for the user or maintenance personnel to choose from. The user or maintenance personnel can then click on any of the multiple maintenance method options. After detecting that any of the multiple maintenance method options has been clicked, the vehicle terminal can determine that it has detected maintenance information input by the user.

[0095] For example, after a user or maintenance personnel enters the application interface of the rear wheel steering system maintenance mode through the central control screen, they can, as shown in the example... Figure 3 Clicking any one of the controls in the central control screen's display interface—the drive rack movement control 11, the target midpoint position setting control 12, and the restore initial midpoint position control 13—completes the selection of the maintenance method.

[0096] It should be noted that, since both the rear wheel steering rack movement and the initial midpoint movement require control of the rack movement for the two maintenance methods, the user or maintenance personnel need to click either the target midpoint position control 12 or the initial midpoint position restoration control 13, and then click the drive rack movement control 11.

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

[0098] In one embodiment of this application, in conjunction with S101, when the vehicle terminal only obtains the maintenance information input by the user, the maintenance method of the rear wheel steering gear can be directly determined based on the maintenance information.

[0099] In another embodiment of this application, when the vehicle terminal only obtains vehicle information, the vehicle terminal can specifically do so through methods such as... Figure 4The steps S301-S302 shown determine the maintenance mode, which is described as follows:

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

[0101] In this embodiment, when the vehicle terminal detects that the rear suspension information is used to describe that the rear suspension of the vehicle does not meet the first set requirement, and / or the four-wheel positioning parameter does not meet the second set requirement, it indicates that the rear wheel steering gear deviates due to the problem of rear suspension durability and post-wear at this time, thereby causing the rear wheel to deviate. That is, the initial midpoint position of the rack does not meet the requirement at this time, and therefore the vehicle terminal can determine the maintenance mode as moving the rack to the target midpoint position.

[0102] In some possible embodiments, since the rear suspension information includes bushing information, ball pin information, and rear suspension tolerance of the rear suspension, for the bushing information, the corresponding first set requirement can be that the wear degree of the bushing is less than a first set degree; for the ball pin information, the corresponding first set requirement can be that the wear degree of the ball pin is less than a second set degree; and for the rear suspension tolerance, the corresponding first set requirement can be that the tolerance is not out of tolerance. The first set degree is used to describe that the wear degree of the bushing is slight wear, and the second set degree is used to describe that the wear degree of the ball pin is slight wear.

[0103] Since the four-wheel positioning parameter includes toe, the corresponding second set requirement of the toe can be that the toe can reach a set standard after adjustment. The set standard can be determined according to actual needs, which is not limited here.

[0104] In S302, if the rear suspension information is used to describe that the rear suspension of the vehicle meets the first set requirement, and the four-wheel positioning parameter meets the second set requirement, it is determined that the maintenance mode is to move the rack to the initial midpoint position; the initial midpoint position is different from the target midpoint position.

[0105] In this embodiment, when the vehicle terminal detects that the rear suspension information is used to describe that the rear suspension of the vehicle meets the first set requirement, and the four-wheel positioning parameter meets the second set requirement, it indicates that the rear wheel steering gear does not deviate due to the problem of rear suspension durability and post-wear at this time, thereby causing the rear wheel to deviate. That is, the initial midpoint position of the rack still meets the requirement at this time, and therefore the vehicle terminal can determine the maintenance mode as moving the rack to the initial midpoint position.

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

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

[0108] When the vehicle terminal detects that the repair mode determined by the vehicle information is different from the repair mode determined by the user input repair information, the vehicle terminal can input information prompting the user to input repair information that is different from the repair mode determined by the vehicle terminal, and the user to confirm again. Then, the vehicle terminal can directly determine the final repair mode according to the repair information confirmed by the user again.

[0109] In S103, the rack of the rear wheel steering gear is moved based on the repair mode until the rack moves to a target position corresponding to the repair mode.

[0110] In the present embodiment of the present application, after the vehicle terminal determines the repair mode for the rear wheel steering gear, the vehicle terminal can drive the rack of the rear wheel steering gear to move based on the repair mode until the rack moves to a target position corresponding to the repair mode.

[0111] In one implementation of the present embodiment of the present application, after the vehicle terminal determines the repair mode for the rear wheel steering gear, the vehicle terminal can receive user input movement information and control the rack to move according to the movement information.

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

[0113] In another implementation of the present embodiment of the present application, in combination 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, and the rear wheel steering system can directly drive the rack to move to the initial midpoint position after receiving the restore initial midpoint position signal.

[0114] In one embodiment of the present application, when the repair mode is to move the rack to the target midpoint position, in order to improve the movement success rate, the vehicle terminal can specifically implement step S103 through steps S401-S405 as shown in Figure 5 .

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

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

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

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

[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 mode is to move the rack to a target midpoint position, in order to obtain an accurate target midpoint position, the vehicle terminal can determine a deviation direction and a deviation angle of a rear wheel of the vehicle. The deviation direction includes left and right.

[0121] Then, the vehicle terminal can determine a 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 left, the moving direction is also left; if the deviation direction is right, the moving direction is also right.

[0123] In this embodiment, after obtaining the deviation angle, the vehicle terminal can calculate a moving stroke of the rack based on a corresponding relationship between a reference deviation angle and a 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 that needs to be moved under the reference deviation angle.

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

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

[0126] Then, the vehicle terminal can control the rack to move to the 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 terminal can specifically implement step S405 according to the following steps, which are described as follows:

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

[0129] obtain a rack stroke based on the initial length of the rack and the target midpoint position;

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

[0131] if a setting operation is detected, control the rack to move to the target midpoint position.

[0132] In this embodiment, in order to determine whether the target midpoint position is set successfully, thereby improving the success rate of moving the rack to the target midpoint position, the vehicle terminal can control the rear wheel steering system to replace the initial midpoint position of the rack with the target midpoint position after determining the target midpoint position, and obtain a 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 application, the rack stroke is not centrally symmetric based on the movement of the rack, which can cause one side stroke to be small and the other side stroke to be large. If the stroke at the factory is still designed, it is easy to cause left-right asymmetry; at the same time, the soft stop point and the hard stop point are overlapped or the soft stroke is greater than the hard stroke, therefore, the rack stroke at the target midpoint position is taken as the minimum according to the symmetry principle. Exemplarily, the rack stroke can be ±30mm. The "+" and "-" are used to represent different moving directions of the rack.

[0134] Exemplarily, please refer to Figure 6 , Figure 6 which is a rack stroke schematic diagram provided by an embodiment of the present application. As shown in Figure 6 , 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, the vehicle terminal can determine that the target midpoint position has been set successfully when detecting that the rack stroke is in a visual display state (as shown in Figure 3 , therefore, the vehicle terminal can output information for prompting that the target midpoint position is set successfully.

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

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

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

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

[0140] As can be seen from the above, the control method of the rear wheel steering gear provided in the embodiments of the present application comprises the following steps: when it is detected that the vehicle is in a rear wheel steering gear maintenance mode, the rear wheel steering gear of the vehicle is disconnected from the follow-up relationship with the steering wheel; vehicle information of the vehicle and / or maintenance information input by a user is acquired; a maintenance mode of the rear wheel steering gear of the vehicle is determined based on the vehicle information and / or the maintenance information; and the rack of the rear wheel steering gear is controlled to move based on the maintenance mode until the rack moves to a target position corresponding to the maintenance mode. Compared with the prior art, the rear wheel steering gear maintenance mode is provided in the vehicle in the embodiments of the present application, so that the rear wheel steering gear can be preliminarily automatically maintained; when it is detected that the vehicle is in the rear wheel steering gear maintenance mode, the follow-up relationship between the rear wheel steering gear and the steering wheel is disconnected first, so that the maintenance difficulty is reduced; then, the maintenance mode of the rear wheel steering gear can be flexibly determined in combination with the vehicle information and / or the maintenance information, so that the rack can be moved to the target position conforming to the actual situation, and the subsequent offline maintenance is facilitated, thereby reducing the maintenance cost and improving the maintenance efficiency in the later period.

[0141] It should be understood that the size of the serial number of each step in the above embodiments does not mean the order of execution, and the execution order of each process should be determined according to its function and inherent 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 the rear wheel steering gear described in the above embodiments, Figure 7 A structure diagram of a control device of a rear wheel steering gear provided in the embodiments of the present application is shown, and only parts related to the embodiments of the present application are shown for ease of description. For details, refer to Figure 7 The control device 500 of the rear wheel steering gear comprises 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 configured to disconnect the follow-up relationship between the rear wheel steering gear of the vehicle and the steering wheel when it is detected that the vehicle is in a rear wheel steering gear maintenance mode.

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

[0145] The first mode determination unit 52 is 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.

[0146] The first control unit 53 is configured to control movement of a rack of the rear wheel steering gear based on the maintenance mode until the rack moves to a target position corresponding to the maintenance mode.

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

[0148] The second mode determination unit is configured to determine the maintenance mode as moving the rack to a target midpoint position if the rear suspension information describes that the rear suspension of the vehicle does not meet a first set requirement and / or the four-wheel alignment parameter does not meet a second set requirement.

[0149] The third mode determination unit is configured to determine the maintenance mode as moving the rack to an initial midpoint position if the rear suspension information describes that the rear suspension of the vehicle meets the first set requirement and the four-wheel alignment parameter meets the second set requirement; and the initial midpoint position is different from the target midpoint position.

[0150] In an 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. Wherein:

[0151] The angle determination unit is configured to determine a deviation direction and a deviation angle of the rear wheel of the vehicle when the maintenance mode is moving the rack to the target midpoint position.

[0152] The direction determination unit is configured to determine a movement direction of the rack according to the deviation direction.

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

[0154] The position determination unit is configured to determine the target midpoint position based on the movement direction and the movement stroke.

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

[0156] In an embodiment of the present application, the third control unit specifically comprises a fourth control unit, a stroke determination unit, an output unit and a fifth control unit, wherein:

[0157] The fourth control unit is configured 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 configured to obtain a rack stroke based on the initial length of the rack and the target midpoint position.

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

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

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

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

[0163] The mode determination unit is configured to determine 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 specified gear.

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

[0165] The execution unit is configured to perform a deceleration operation on the vehicle until the vehicle speed is zero if the vehicle speed is not zero.

[0166] The sixth control unit is configured to control the vehicle to shift to the specified gear if the current gear is a non-specified gear.

[0167] In an embodiment of the present application, the first disconnecting unit 51 specifically comprises a second disconnecting unit.

[0168] The second disconnecting unit is configured 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 and the like between the above-mentioned devices / units are based on the same concept as the method embodiments of the present application, and the specific functions and the technical effects brought by the same can be referred to the method embodiments part, which will not be described here.

[0170] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to 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 embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and 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 this application. Figure 8 As shown, the vehicle-mounted terminal 6 in this embodiment includes: at least one processor 60 ( Figure 8 (Only one is shown) a processor, a memory 61, and a computer program 62 stored in the memory 61 and executable on the at least one processor 60, which, when executing the computer program 62, implements the steps in any of the above-described rear wheel steering control method embodiments.

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

[0173] The processor 60 may be a Central Processing Unit (CPU), or it may be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), 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.

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

[0175] The embodiments of the present application further provide a computer readable storage medium, which stores a computer program. The computer program is executed by a processor to implement the steps in the above-mentioned various method embodiments.

[0176] The embodiments of the present application provide a computer program product. When the computer program product is run on a vehicle terminal, the vehicle terminal is caused to implement the steps in the above-mentioned various method embodiments.

[0177] The integrated unit, if implemented in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, the embodiments of the present application can implement all or part of the processes in the above-mentioned method embodiments by a computer program to instruct related hardware to complete, and the computer program can be stored in a computer readable storage medium. The computer program is executed by a processor to implement the steps in the above-mentioned various method embodiments. The computer program includes computer program codes, which can be in the form of source codes, object codes, executable files or some intermediate forms. The computer readable medium at least includes any entity or device capable of carrying the computer program codes to the vehicle terminal, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal and a software distribution medium. For example, a U disk, a mobile hard disk, a magnetic disk or an optical disk, etc. In some jurisdictions, according to legislation and patent practice, the computer readable medium can not be an electrical carrier signal and a telecommunication signal.

[0178] In the above embodiments, the description of each embodiment has its own focus, and the parts not described or recorded in a certain embodiment can be referred to the relevant description of other embodiments.

[0179] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A control method of a rear wheel steering device, characterized by, The method comprises: disconnecting a rear wheel steering gear of the vehicle from a follow-up relationship with a steering wheel when it is detected that the vehicle is in a rear wheel steering gear maintenance mode; obtaining vehicle information of the vehicle and / or maintenance information input by a user; determining a maintenance mode of the rear wheel steering gear of the vehicle based on the vehicle information and / or the maintenance information; controlling rack movement of the rear wheel steering gear based on the maintenance mode until the rack moves to a target position corresponding to the maintenance mode; the vehicle information comprises rear suspension information of the vehicle and / or four-wheel alignment parameter information of the vehicle; the determination of the maintenance mode of the rear wheel steering gear of the vehicle based on the vehicle information comprises: if the rear suspension information describes that the rear suspension of the vehicle does not meet a first set requirement and / or the four-wheel alignment parameter does not meet a second set requirement, determining that the maintenance mode is to move the rack to a target midpoint position; if the rear suspension information describes that the rear suspension of the vehicle meets the first set requirement and the four-wheel alignment parameter meets the second set requirement, determining that the maintenance mode is to move the rack to an initial midpoint position; the initial midpoint position is different from the target midpoint position; the control of the rack movement of the rear wheel steering gear based on the maintenance mode until the rack moves to the target position corresponding to the maintenance mode comprises: when the maintenance mode is to move the rack to the target midpoint position, determining a deviation direction and a deviation angle of the rear wheel of the vehicle; determining a movement direction of the rack according to the deviation direction; calculating a movement stroke of the rack based on the deviation angle; determining the target midpoint position based on the movement direction and the movement stroke; controlling the rack to move to the target midpoint position.

2. The control method of the rear wheel steerer according to claim 1, characterized in that, the control of the rack to move to the target midpoint position comprises: controlling the rear wheel steering system to replace the initial midpoint position of the rack with the target midpoint position; obtaining a rack stroke based on an initial length of the rack and the target midpoint position; if the rack stroke is in a visual display state, outputting information for prompting that the target midpoint position is set successfully; if a setting operation is detected, controlling the rack to move to the target midpoint position.

3. The control method of the rear wheel steering device according to claim 1, characterized by, Before the obtaining of the vehicle information and / or the maintenance information input by the user, the method further comprises: when a maintenance request is detected, obtaining a vehicle speed, a vehicle state and a current gear of the vehicle; if the vehicle speed is zero, the vehicle state is a power-on state and the current gear is a specified gear, determining that the vehicle enters the rear wheel steering gear maintenance mode.

4. The control method of the rear wheel steering device according to claim 3, characterized by, After the obtaining of the vehicle speed, the vehicle state and the current gear of the vehicle, the method further comprises: if the vehicle speed is not zero, performing a speed reduction operation on the vehicle until the vehicle speed is zero; if the current gear is a non-specified gear, controlling the vehicle to shift to the specified gear.

5. The control method of the rear wheel steering device according to any one of claims 1 to 4, characterized in that, the disconnection of the rear wheel steering gear of the vehicle from the follow-up relationship with the steering wheel comprises: disconnecting a communication connection between the rear wheel steering gear and the steering wheel.

6. A control device for a rear wheel steering gear, characterized by The method comprises: a first disconnecting unit, configured to disconnect a rear wheel steering gear of the vehicle from a steering wheel when it is detected that the vehicle is in a rear wheel steering gear maintenance mode; a first obtaining unit, configured to obtain vehicle information of the vehicle and / or maintenance information input by a user; a first mode determining unit, configured to determine a maintenance mode of the rear wheel steering gear of the vehicle based on the vehicle information and / or the maintenance information; a first control unit, configured to control a rack of the rear wheel steering gear to move to a target position corresponding to the maintenance mode based on the maintenance mode; the vehicle information comprises rear suspension information of the vehicle and / or four-wheel alignment parameter information of the vehicle; the first mode determining unit specifically comprises: a second mode determining unit, configured to determine the maintenance mode as moving the rack to a target midpoint position if the rear suspension information describes that the rear suspension of the vehicle does not meet a first set requirement and / or the four-wheel alignment parameter does not meet a second set requirement; a third mode determining unit, configured to determine the maintenance mode as moving the rack to an initial midpoint position if the rear suspension information describes that the rear suspension of the vehicle meets the first set requirement and the four-wheel alignment parameter meets the second set requirement; the initial midpoint position is different from the target midpoint position; the first control unit specifically comprises: an angle determining unit, configured to determine a deviation direction and a deviation angle of a rear wheel of the vehicle when the maintenance mode is moving the rack to the target midpoint position; a direction determining unit, configured to determine a moving direction of the rack according to the deviation direction; a calculation unit, configured to calculate a moving stroke of the rack based on the deviation angle; a position determining unit, configured to determine the target midpoint position based on the moving direction and the moving stroke; a third control unit, configured to control the rack to move to the target midpoint position.

7. An in-vehicle terminal comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, The processor implements the control method of the rear wheel steering gear according to any one of claims 1 to 5 when executing the computer program.

8. A vehicle characterized by comprising: The vehicle-mounted terminal according to claim 7. The vehicle-mounted terminal according to claim 7.

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