Rear wheel turning angle control method, device and vehicle

Abstract

The present application provides a rear wheel angle control method, device and vehicle, which are applied in the field of vehicle technology. The method includes: in the process of controlling rear wheel steering, first determining the original rear wheel steering angle currently requested by the vehicle, if the original rear wheel steering angle does not match the front wheel steering angle of the vehicle, then replacing the original rear wheel steering angle with a target rear wheel steering angle that matches the front wheel steering angle, and controlling the rotation of the rear wheels of the vehicle by the target rear wheel steering angle so that the steering angle of the rear wheels matches the steering angle of the front wheels. In this way, when the vehicle requests rear wheel steering, when the original rear wheel steering angle is abnormal and does not match the current front wheel steering angle, the abnormal rear wheel steering angle can be corrected by the target rear wheel steering angle to reduce the probability of unexpected rear wheel steering of the vehicle, thereby reducing the probability of vehicle instability, and further improving the safety of the vehicle.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and more specifically, to a rear wheel steering angle control method, device and vehicle in the field of vehicle technology. Background Art

[0002] With the continuous development of vehicle technology, more and more vehicles are equipped with rear-wheel steering function, which can not only improve the flexibility of the vehicle, but also improve the stability of the vehicle.

[0003] Although the rear-wheel steering function can improve the vehicle's flexibility and stability, when a vehicle is equipped with the rear-wheel steering function, unexpected rear-wheel steering may occur during driving, and unexpected rear-wheel steering may cause the vehicle to become unstable, thereby reducing the safety of the vehicle. Summary of the invention

[0004] The present application provides a rear wheel steering angle control method, device and vehicle, which can improve the stability of the vehicle.

[0005] In a first aspect, a rear wheel steering angle control method is provided, the method comprising:

[0006] determining the raw rear wheel steering angle currently requested by the vehicle;

[0007] If the original rear wheel turning angle does not match the front wheel turning angle of the vehicle, the original rear wheel turning angle is replaced by a target rear wheel turning angle; wherein the target rear wheel turning angle is a rear wheel turning angle that matches the front wheel turning angle;

[0008] The rear wheel rotation of the vehicle is controlled by the target rear wheel turning angle so that the turning angle of the rear wheel matches the turning angle of the front wheel.

[0009] In the embodiment of the present application, in the process of controlling the rear wheel steering, the original rear wheel steering angle currently requested by the vehicle is first determined. If the original rear wheel steering angle does not match the front wheel steering angle of the vehicle, the original rear wheel steering angle is replaced with the target rear wheel steering angle that matches the front wheel steering angle, and the rear wheel rotation of the vehicle is controlled by the target rear wheel steering angle so that the rear wheel steering angle matches the front wheel steering angle. In this way, when the vehicle requests rear wheel steering, when the original rear wheel steering angle is abnormal and does not match the current front wheel steering angle, the abnormal rear wheel steering angle can be corrected by the target rear wheel steering angle to reduce the probability of unexpected rear wheel steering of the vehicle, thereby reducing the probability of vehicle instability, and further improving the safety of the vehicle.

[0010] In combination with the first aspect, in some possible implementations, if the original rear wheel turning angle does not match the front wheel turning angle of the vehicle, replacing the original rear wheel turning angle with a target rear wheel turning angle includes:

[0011] determining a current driving state of the vehicle;

[0012] In the case where the current driving state is a high-speed driving state, if the original rear wheel steering angle is in a different direction from the front wheel steering angle and / or the original rear wheel steering angle is greater than a steering angle threshold, the original rear wheel steering angle is replaced with the target rear wheel steering angle;

[0013] Alternatively, when the current driving state is a low-speed driving state, if the original rear wheel turning angle is in the same direction as the front wheel turning angle and / or the original rear wheel turning angle is greater than the turning angle threshold, the original rear wheel turning angle is replaced by the target rear wheel turning angle.

[0014] In conjunction with the first aspect, in some possible implementations, determining the current driving state of the vehicle includes:

[0015] If the current speed of the vehicle is greater than a first speed threshold, determining that the current driving state is a high-speed driving state;

[0016] Alternatively, if the current vehicle speed is less than or equal to the first vehicle speed threshold, it is determined that the current driving state is a low-speed driving state.

[0017] In the embodiment of the present application, the current driving state of the vehicle is determined by comparing the current vehicle speed with a preset vehicle speed threshold, which can quickly and easily determine the current driving state of the vehicle.

[0018] In combination with the first aspect, in some possible implementations, if the current vehicle speed of the vehicle is greater than a first vehicle speed threshold, determining that the current driving state is a high-speed driving state includes:

[0019] When the vehicle requests rear wheel steering for the first time, if the current vehicle speed is greater than a first vehicle speed threshold, determining that the current driving state is a high-speed driving state;

[0020] Alternatively, when the vehicle requests rear-wheel steering for the Nth time, if the historical vehicle speed is less than or equal to the first vehicle speed threshold, then when the current vehicle speed is greater than the second vehicle speed threshold, the current driving state is determined to be a high-speed driving state; wherein N is greater than 1, the second vehicle speed threshold is greater than the first vehicle speed threshold, and the historical vehicle speed is the vehicle speed before the current moment.

[0021] In an embodiment of the present application, when the vehicle requests rear-wheel steering for the first time, it is determined that the vehicle is in a high-speed driving state when the current vehicle speed is greater than a first vehicle speed threshold. When the vehicle requests rear-wheel steering for the Nth time, it is determined that the vehicle is in a high-speed driving state when the historical vehicle speed is less than or equal to the first vehicle speed threshold and the current vehicle speed is greater than a second vehicle speed threshold. This can avoid misjudging a low-speed driving state as a high-speed driving state due to a speed jump.

[0022] In combination with the first aspect, in some possible implementations, if the current vehicle speed is less than or equal to the first vehicle speed threshold, determining that the current driving state is a low-speed driving state includes:

[0023] When the vehicle requests rear wheel steering for the first time, if the current vehicle speed is less than or equal to the first vehicle speed threshold, determining that the current driving state is a low-speed driving state;

[0024] Alternatively, when the vehicle requests rear-wheel steering for the Nth time, if the historical vehicle speed is greater than the first vehicle speed threshold, then when the current vehicle speed is less than or equal to the third vehicle speed threshold, the current driving state is determined to be a low-speed driving state; wherein N is greater than 1, the third vehicle speed threshold is less than the first vehicle speed threshold, and the historical vehicle speed is the vehicle speed before the current moment.

[0025] In the embodiment of the present application, when the vehicle requests rear-wheel steering for the first time, the vehicle is determined to be in a low-speed driving state when the current vehicle speed is less than or equal to the first vehicle speed threshold. When the vehicle requests rear-wheel steering for the Nth time, the vehicle is determined to be in a low-speed driving state when the historical vehicle speed is greater than the first vehicle speed threshold and the current vehicle speed is less than or equal to the third vehicle speed threshold. This can avoid misjudging the high-speed driving state as a low-speed driving state due to speed jumps.

[0026] In conjunction with the first aspect, in some possible implementations, determining the current driving state of the vehicle includes:

[0027] Acquire multiple vehicle speeds of the vehicle at multiple consecutive moments; wherein the multiple moments include the current moment and multiple historical moments before the current moment;

[0028] If the multiple vehicle speeds are all greater than a first vehicle speed threshold, determining that the current driving state is a high-speed driving state;

[0029] Alternatively, if the multiple vehicle speeds are all less than or equal to the first vehicle speed threshold, it is determined that the current driving state is a low-speed driving state.

[0030] In an embodiment of the present application, when multiple vehicle speeds are greater than a first vehicle speed threshold, the current driving state is determined to be a high-speed driving state, and when multiple vehicle speeds are less than or equal to the first vehicle speed threshold, the current driving state is determined to be a low-speed driving state, which can avoid misjudgment when the vehicle speed jumps.

[0031] In combination with the first aspect, in some possible implementations, before replacing the original rear wheel steering angle with the target rear wheel steering angle, the method further includes:

[0032] Determining the target rear wheel turning angle to be 0;

[0033] Alternatively, the target rear wheel turning angle is determined according to the current vehicle speed and the front wheel turning angle of the vehicle.

[0034] In combination with the first aspect, in some possible implementations, determining the target rear wheel turning angle according to the current vehicle speed and the front wheel turning angle of the vehicle includes:

[0035] If the current vehicle speed of the vehicle is within a preset vehicle speed interval and the front wheel turning angle is within a preset turning angle interval, a preset rear wheel turning angle is determined as the target rear wheel turning angle; wherein the preset rear wheel turning angle corresponds to the preset vehicle speed interval and the preset turning angle interval;

[0036] Alternatively, if the current vehicle speed is not within the preset vehicle speed range and the front wheel turning angle is not within the preset turning angle range, the target rear wheel turning angle is determined to be zero.

[0037] In the embodiment of the present application, the corresponding target rear wheel steering angle is determined according to the speed range of the current vehicle speed and the angle range of the front wheel steering angle, so that the target rear wheel steering angle that can make the vehicle run stably can be obtained, thereby improving the stability and reliability of the vehicle.

[0038] In a second aspect, a rear wheel steering angle control device is provided, the device comprising:

[0039] A determination module, used for determining an original rear wheel steering angle currently requested by the vehicle;

[0040] a replacement module, configured to replace the original rear wheel turning angle with a target rear wheel turning angle if the original rear wheel turning angle does not match the front wheel turning angle of the vehicle; wherein the target rear wheel turning angle is a rear wheel turning angle that matches the front wheel turning angle;

[0041] A control module is used to control the rotation of the rear wheels of the vehicle through the target rear wheel turning angle so that the turning angle of the rear wheels matches the turning angle of the front wheels.

[0042] In a third aspect, a vehicle is provided, the vehicle comprising:

[0043] A memory for storing executable program codes;

[0044] A processor is used to call and run the executable program code from the memory, so that the vehicle executes the method in any possible implementation of the first aspect above.

[0045] In a fourth aspect, a computer program product is provided, the computer program product comprising: a computer program code, when the computer program code is run on a computer, the computer executes the method in any possible implementation manner of the above-mentioned first aspect.

[0046] In a fifth aspect, a readable storage medium is provided, which stores a computer program code. When the computer program code runs on a computer, the computer executes the method in any possible implementation of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 is a schematic diagram of the principle of a rear wheel steering angle control method provided in an embodiment of the present application;

[0048] Figure 2 is a flowchart of the steps of a rear wheel steering angle control method provided by an embodiment of the present application;

[0049] Figure 3 is a structural schematic diagram of a rear wheel steering angle control device provided in an embodiment of the present application;

[0050] Figure 4 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0051] The technical solution in the present application will be described clearly and in detail below in conjunction with the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0052] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0053] With the continuous development of vehicle technology, more and more vehicles are equipped with rear wheel steering (Rear Wheel Steering, RWS). When a vehicle is equipped with rear wheel steering, when turning at low speed, the rear wheels can be controlled to turn a certain angle in the opposite direction of the front wheel steering, which can reduce the turning radius of the vehicle and improve the flexibility of the vehicle; when driving at high speed, when the front wheels turn a certain angle, the rear wheels can be controlled to turn a certain angle in the same direction as the front wheels, so that the rear wheels can generate a certain yaw force. The yaw force generated by the rear wheels can partially or completely offset the centripetal force generated by the front wheels, thereby suppressing the self-rotation of the vehicle body and improving the stability of the vehicle.

[0054] Although the rear-wheel steering function can improve the flexibility and stability of the vehicle, when the vehicle is equipped with the rear-wheel steering function, software errors or hardware failures may cause the vehicle to have unexpected rear-wheel steering during driving. Unexpected rear-wheel steering may cause the vehicle to become unstable, thereby reducing the safety of the vehicle. Unexpected rear-wheel steering means that the direction of rotation of the rear wheel is opposite to the expected direction, and / or the rotation angle of the rear wheel is different from the expected angle.

[0055] In order to solve the above technical problems, an embodiment of the present application provides a rear wheel angle control method, in which, when a vehicle requests rear wheel steering, the rear wheel steering angle currently requested by the vehicle (hereinafter referred to as the original rear wheel steering angle) is first determined, and then when the original rear wheel steering angle does not match the current front wheel steering angle of the vehicle, the target rear wheel steering angle that matches the front wheel steering angle is used to control the rotation of the rear wheels of the vehicle so that the steering angle of the rear wheels matches the current front wheel steering angle. In this way, when the vehicle requests rear wheel steering, when the original rear wheel steering angle is abnormal and does not match the current front wheel steering angle, the abnormal rear wheel steering angle can be corrected by the target rear wheel steering angle to reduce the probability of unexpected rear wheel steering of the vehicle, thereby reducing the probability of vehicle instability, and further improving the safety of the vehicle.

[0056] The rear wheel angle is also called the rear wheel steering angle, and the front wheel angle is also called the front wheel steering angle. The front wheel angle corresponds to the steering angle of the steering wheel in the vehicle. The matching of the rear wheel angle and the front wheel angle means that the direction of the rear wheel angle matches the direction of the front wheel angle, and the magnitude (i.e., absolute value) of the rear wheel angle matches the magnitude of the front wheel angle. The direction of the rear wheel angle and the front wheel angle can be left or right.

[0057] See also Figure 1 , Figure 1 This is a schematic diagram of the principle of a rear wheel steering angle control method provided by an embodiment of the present application. The method can be executed by an electronic control unit (ECU) in a vehicle for executing a rear wheel steering function. The ECU is integrated with a functional module for executing a rear wheel steering function. After the RWS of the vehicle is activated, the functional module can generate a rear wheel steering request according to the needs of the vehicle. The rear wheel steering request is also called a rear wheel steering instruction. The rear wheel steering request includes a rear wheel steering angle, which is used to instruct an actuator (such as a motor) to control the rear wheel to rotate to a corresponding angle.

[0058] The ECU also integrates an interface module, a monitoring module, and an arbitration module. The monitoring module is used to obtain the rear wheel steering request generated by the functional module and obtain the original rear wheel angle from the rear wheel steering request. At the same time, the monitoring module can also obtain the current front wheel steering angle of the vehicle from other components in the vehicle through the controller area network (CAN) connected to the interface module to determine whether the original rear wheel steering angle matches the front wheel steering angle. In the case where it is determined that the original rear wheel steering angle does not match the front wheel steering angle, the monitoring module can set the fault flag bit to 1. The fault flag bit of 1 indicates that the rear wheel steering angle is abnormal and does not match the front wheel steering angle. And, in the case where it is determined that the original rear wheel steering angle matches the front wheel steering angle, the monitoring module can set the fault flag bit to 0. The fault flag bit indicates that the rear wheel steering angle is normal and matches the front wheel steering angle.

[0059] Correspondingly, the arbitration module can also obtain the rear wheel steering request from the functional module, and when the fault flag is 1, use the target rear wheel steering angle to replace the original rear wheel steering angle in the rear wheel steering request to obtain a new rear wheel steering request. Afterwards, the arbitration module can send the new rear wheel steering request to the actuator, and the actuator controls the rotation of the rear wheels according to the target rear wheel steering angle in the new rear wheel steering request, so that the rear wheel steering angle reaches the target rear wheel steering angle. On the contrary, when the fault flag is 0, the arbitration module directly obtains the rear wheel steering request from the functional module and sends it to the actuator, and the actuator controls the rotation of the rear wheels according to the original rear wheel steering angle in the rear wheel steering request, so that the rear wheel steering angle reaches the original rear wheel steering angle.

[0060] The above-mentioned interface module, monitoring module, arbitration module and functional module may be software modules in the ECU.

[0061] See also Figure 2 , Figure 2 is a flowchart of the steps of a rear wheel steering angle control method provided by an embodiment of the present application. The execution subject of the method may be an ECU, such as Figure 2 As shown, the method may include the following steps:

[0062] Step 201: Determine the original rear wheel steering angle currently requested by the vehicle.

[0063] The original rear wheel steering angle currently requested by the vehicle refers to the original rear wheel steering angle determined by the ECU according to the current demand of the vehicle.

[0064] Exemplarily, the vehicle control unit (VCU) in the vehicle is connected to the ECU through a CAN network communication. When the VCU determines that the rear wheel steering needs to be controlled, it can send a control instruction to the ECU, and the control instruction includes the original rear wheel steering angle currently requested by the vehicle. Among them, the size of the original rear wheel steering angle can indicate the size of the rear wheel steering angle, and the positive and negative values ​​of the original rear wheel steering angle can indicate the rotation and steering of the rear wheel. For example, when the original rear wheel steering angle is +5 degrees, it indicates that the rotation and steering of the rear wheel is to the right, and the angle size is 5 degrees. When the original rear wheel steering angle is -6, it indicates that the rotation and steering of the rear wheel is to the left, and the angle size is 6 degrees.

[0065] Correspondingly, when the ECU receives the control command sent by the VCU, it can parse and obtain the original rear wheel steering angle from the control command to determine the original rear wheel steering angle currently requested by the vehicle. Figure 1 As shown, after determining the original rear wheel steering angle currently requested by the vehicle, the functional module in the ECU can generate a rear wheel steering request including the original rear wheel steering angle, and send the rear wheel steering request to the monitoring module and the arbitration module.

[0066] It should be understood that the above are merely illustrative examples, and the method by which the ECU determines the original rear wheel steering angle may include but is not limited to the above examples.

[0067] Step 202: If the original rear wheel steering angle does not match the front wheel steering angle of the vehicle, the original rear wheel steering angle is replaced with the target rear wheel steering angle.

[0068] Step 203: Control the rotation of the rear wheels of the vehicle by using the target rear wheel turning angle so that the turning angle of the rear wheels matches the turning angle of the front wheels.

[0069] The designated front wheel turning angle is the front wheel turning angle of the vehicle at the current moment, and the target rear wheel turning angle is the rear wheel turning angle that matches the current front wheel turning angle.

[0070] Exemplarily, after determining the original rear wheel steering angle, the ECU can obtain the current front wheel steering angle of the vehicle. For example, the ECU can send a data request to the VCU via the CAN network, and after receiving the data request, the VCU can send the current front wheel steering angle of the vehicle to the ECU. Alternatively, the VCU can send the steering angle of the steering wheel at the current moment to the ECU, and the ECU can determine the current front wheel steering angle of the vehicle through the steering angle of the steering wheel and the steering ratio calculation.

[0071] Generally speaking, when the vehicle speed is low, the rotation direction corresponding to the rear wheel angle is opposite to the rotation direction corresponding to the front wheel angle. When the vehicle speed is high, the rotation direction corresponding to the rear wheel angle is the same as the rotation direction corresponding to the front wheel angle, and the rear wheel angle is usually less than or equal to the front wheel angle.

[0072] Based on this, after determining the original rear wheel steering angle and the current front wheel steering angle, the ECU can obtain the current speed of the vehicle. When the speed is greater than the preset speed threshold, it can be determined that the speed of the vehicle is high and the current driving state of the vehicle is a high-speed driving state. At this time, it can be determined whether the rear wheel steering (i.e., the turning direction of the rear wheel) corresponding to the original rear wheel steering angle is the same as the front wheel steering (i.e., the turning direction of the front wheel) corresponding to the current front wheel steering angle, and whether the original rear wheel steering angle is greater than the front wheel steering angle. When the front wheel steering and the rear wheel steering are the same, and the original rear wheel steering angle is less than or equal to the front wheel steering angle, it is determined that the original rear wheel steering angle matches the current front wheel steering angle; when the front wheel steering and the rear wheel steering are different and / or the original rear wheel steering angle is greater than the front wheel steering angle, it is determined that the original rear wheel steering angle does not match the current front wheel steering angle.

[0073] Similarly, when the vehicle speed is less than or equal to the preset vehicle speed threshold, it can be determined that the vehicle speed is low and the current driving state of the vehicle is a low-speed driving state. At this time, when the rear wheel steering corresponding to the original rear wheel steering angle is opposite to the front wheel steering corresponding to the current front wheel steering angle, and the original rear wheel steering angle is less than or equal to the front wheel steering angle, it is determined that the original rear wheel steering angle matches the current front wheel steering angle; when the front wheel steering angle is the same as the rear wheel steering angle and / or the original rear wheel steering angle is greater than the front wheel steering angle, it is determined that the original rear wheel steering angle does not match the current front wheel steering angle.

[0074] For example, the positive and negative of the original rear wheel angle and the front wheel angle can be used to determine whether the corresponding front wheel steering and rear wheel steering are the same, and the size relationship between the two can be determined by the size of the absolute values ​​of the original rear wheel angle and the front wheel angle. Specifically, when the original rear wheel angle is +5 degrees, it means that the rear wheel steering corresponding to the original rear wheel angle is to the right, and the angle size is 5 degrees. At this time, if the front wheel angle is +6 degrees, the original rear wheel angle and the front wheel angle are both positive, and the absolute value of the front wheel angle is greater than the absolute value of the original rear wheel angle. It can be determined that the rear wheel steering corresponding to the original rear wheel angle is the same as the front wheel steering corresponding to the front wheel angle, and it can be determined that the front wheel angle is greater than the original rear wheel angle.

[0075] When the vehicle is in a high-speed driving state, if the original rear wheel steering angle and the front wheel steering angle are both positive or negative, and the absolute value of the original rear wheel steering angle is less than or equal to the absolute value of the front wheel steering angle, it can be determined that the original rear wheel steering angle matches the front wheel steering angle. On the contrary, if the original rear wheel steering angle and the front wheel steering angle are one positive and one negative and / or the absolute value of the original rear wheel steering angle is greater than the absolute value of the front wheel steering angle, it can be determined that the original rear wheel steering angle does not match the front wheel steering angle.

[0076] When the vehicle is in a low-speed driving state, if the original rear wheel steering angle and the front wheel steering angle are one positive and one negative, and the absolute value of the original rear wheel steering angle is less than or equal to the absolute value of the front wheel steering angle, it can be determined that the original rear wheel steering angle matches the front wheel steering angle. If the original rear wheel steering angle and the front wheel steering angle are both positive or both negative, and / or the absolute value of the original rear wheel steering angle is greater than the absolute value of the front wheel steering angle, it can be determined that the original rear wheel steering angle does not match the front wheel steering angle.

[0077] It should be understood that the above are merely illustrative examples, and specific methods for determining whether the original rear wheel steering angle matches the front wheel steering angle may include but are not limited to the above examples.

[0078] In one embodiment, the target rear wheel steering angle may be 0. When it is determined that the original rear wheel steering angle does not match the current front wheel steering angle, the ECU may use the target rear wheel steering angle to replace the original rear wheel steering angle, that is, reset the rear wheel steering angle requested by the vehicle to 0. For example, the ECU may replace the original rear wheel steering angle in the rear wheel steering request with 0 to obtain a new rear wheel steering request. After obtaining the new rear wheel steering request, the ECU may send the new rear wheel steering request to the actuator, and the actuator may respond to the new rear wheel steering request and control the rear wheel to rotate so that the rear wheel steering angle reaches 0. Controlling the rear wheel steering angle to 0 is equivalent to turning off the rear wheel steering function of the vehicle and will not cause adverse effects on the vehicle.

[0079] In another embodiment, for the high-speed driving state of the vehicle, two rear wheel steering angles that can make the vehicle drive stably can be determined in advance through experiments, one rear wheel steering angle is a positive value, and the corresponding rear wheel steering is to the right, which can be called the first preset rear wheel steering angle, and the other rear wheel steering angle is a negative value, and the corresponding rear wheel steering is to the left, which can be called the second preset rear wheel steering angle, and both rear wheel steering angles are smaller values ​​greater than 0. In the case where it is determined that the original rear wheel steering angle does not match the current front wheel steering angle, when the vehicle is in a high-speed driving state, if the front wheel steering angle corresponding to the front wheel steering angle is to the right, and the front wheel steering angle is less than or equal to the first preset rear wheel steering angle, the first preset rear wheel steering angle can be used as the target rear wheel steering angle, and the original rear wheel steering angle is replaced by the first rear wheel steering angle; if the front wheel steering angle corresponding to the front wheel steering angle is to the left, and the front wheel steering angle is less than the second preset rear wheel steering angle, the second preset rear wheel steering angle can be used as the target rear wheel steering angle, and the original rear wheel steering angle is replaced by the second rear wheel steering angle.

[0080] Similarly, for the low-speed driving state of the vehicle, two rear wheel turning angles that can make the vehicle drive stably can be determined in advance through experiments, one rear wheel turning angle is a positive value, and the corresponding rear wheel steering is to the right, which can be called the third preset rear wheel turning angle, and the other rear wheel turning angle is a negative value, and the corresponding rear wheel steering is to the left, which can be called the fourth preset rear wheel turning angle, and both rear wheel turning angles are smaller values ​​greater than 0. In the case where it is determined that the original rear wheel turning angle does not match the current front wheel turning angle, when the vehicle is in a low-speed driving state, if the front wheel turning angle corresponds to the right wheel steering, and the front wheel turning angle is less than the third preset rear wheel turning angle, the third preset rear wheel turning angle can be used as the target rear wheel turning angle, and the original rear wheel turning angle is replaced by the third rear wheel turning angle; if the front wheel turning angle corresponds to the left wheel steering, and the front wheel turning angle is less than the fourth preset rear wheel turning angle, the fourth preset rear wheel turning angle can be used as the target rear wheel turning angle, and the original rear wheel turning angle is replaced by the fourth rear wheel turning angle.

[0081] Similarly, after replacing the original rear wheel steering angle with the target rear wheel steering angle, the ECU can use the target rear wheel steering angle to control the rear wheel steering so that the steering angle of the rear wheel reaches the target rear wheel steering angle.

[0082] It should be understood that the above are merely illustrative examples, and the method for determining the target rear wheel turning angle may include but is not limited to the above examples.

[0083] In the embodiment of the present application, in the process of controlling the rear wheel steering, the original rear wheel steering angle currently requested by the vehicle is first determined. If the original rear wheel steering angle does not match the front wheel steering angle of the vehicle, the original rear wheel steering angle is replaced with the target rear wheel steering angle that matches the front wheel steering angle, and the rear wheel rotation of the vehicle is controlled by the target rear wheel steering angle so that the rear wheel steering angle matches the front wheel steering angle. In this way, when the vehicle requests rear wheel steering, when the original rear wheel steering angle is abnormal and does not match the current front wheel steering angle, the abnormal rear wheel steering angle can be corrected by the target rear wheel steering angle to reduce the probability of unexpected rear wheel steering of the vehicle, thereby reducing the probability of vehicle instability, and further improving the safety of the vehicle.

[0084] Optionally, if the original rear wheel steering angle does not match the front wheel steering angle of the vehicle, replacing the original rear wheel steering angle with the target rear wheel steering angle includes:

[0085] Determine the current driving state of the vehicle;

[0086] When the current driving state is a high-speed driving state, if the original rear wheel steering angle is in a different direction from the front wheel steering angle and / or the original rear wheel steering angle is greater than the steering angle threshold, the original rear wheel steering angle is replaced with the target rear wheel steering angle;

[0087] Alternatively, when the current driving state is a low-speed driving state, if the original rear wheel turning angle is in the same direction as the front wheel turning angle and / or the original rear wheel turning angle is greater than the turning angle threshold, the original rear wheel turning angle is replaced by the target rear wheel turning angle.

[0088] The turning angle threshold is a positive value, and the original rear wheel turning angle being greater than the turning angle threshold means that the absolute value of the original rear wheel turning angle is greater than the turning angle threshold. The original rear wheel turning angle and the front wheel turning angle being in the same direction means that the rear wheel steering corresponding to the original rear wheel turning angle is the same as the front wheel steering corresponding to the front wheel turning angle, and the original rear wheel turning angle and the front wheel turning angle being in different directions means that the rear wheel steering corresponding to the original rear wheel turning angle is opposite to the front wheel steering corresponding to the front wheel turning angle. For example, when the original rear wheel turning angle and the front wheel turning angle are both positive values, the original rear wheel turning angle and the front wheel turning angle are in the same direction, and when one of the original rear wheel turning angle and the front wheel turning angle is a positive value and the other is a negative value, the original rear wheel turning angle and the front wheel turning angle are in different directions.

[0089] Generally, the rear wheel steering angle is usually small, so a steering angle threshold can be pre-set, which is less than or equal to the maximum value of the rear wheel steering angle. When the original rear wheel steering angle is greater than the steering angle threshold, it can be determined that the original rear wheel steering angle is abnormal. In practical applications, the absolute value of the current front wheel steering angle can be directly used as the steering angle threshold.

[0090] Based on this, after determining the original rear wheel steering angle and the current front wheel steering angle, when the current driving state of the vehicle is a high-speed driving state, when the original rear wheel steering angle and the front wheel steering angle are in different directions and / or the original rear wheel steering angle is greater than the steering angle threshold, it is determined that the original rear wheel steering angle does not match the current front wheel steering angle, and the original rear wheel steering angle is replaced with the target rear wheel steering angle. On the contrary, when the original rear wheel steering angle and the front wheel steering angle are in the same direction and the original rear wheel steering angle is less than or equal to the steering angle threshold, it is determined that the original rear wheel steering angle matches the current front wheel steering angle.

[0091] Similarly, after determining the original rear wheel steering angle and the current front wheel steering angle, when the current driving state of the vehicle is a low-speed driving state, when the original rear wheel steering angle and the front wheel steering angle are in the same direction and / or the original rear wheel steering angle is greater than the steering angle threshold, it is determined that the original rear wheel steering angle does not match the current front wheel steering angle, and the original rear wheel steering angle is replaced with the target rear wheel steering angle. On the contrary, when the original rear wheel steering angle and the front wheel steering angle are not in the same direction and the original rear wheel steering angle is less than or equal to the steering angle threshold, it is determined that the original rear wheel steering angle matches the current front wheel steering angle.

[0092] Optionally, determining the current driving state of the vehicle includes:

[0093] If the current speed of the vehicle is greater than the first speed threshold, determining that the current driving state is a high-speed driving state;

[0094] Alternatively, if the current vehicle speed is less than or equal to the first vehicle speed threshold, it is determined that the current driving state is a low-speed driving state.

[0095] In one embodiment, a vehicle speed threshold (hereinafter referred to as the first vehicle speed threshold) can be set in advance. After the RWS is started, the ECU can periodically obtain the vehicle speed from the VCU. When the vehicle speed at the current moment (hereinafter referred to as the current vehicle speed) is greater than the first vehicle speed threshold, it can be determined that the vehicle is traveling in a high-speed driving state. When the current vehicle speed is less than or equal to the first vehicle speed threshold, it can be determined that the vehicle is traveling in a low-speed driving state.

[0096] For example, the first vehicle speed threshold may be set to 40 kilometers per hour. In the process of determining the current driving state of the vehicle, the ECU may obtain the current vehicle speed from the VCU, and when the current vehicle speed is greater than 40 kilometers per hour, determine that the current driving state of the vehicle is a high-speed driving state, and when the current vehicle speed is less than or equal to 40 kilometers per hour, determine that the current driving state of the vehicle is a low-speed driving state.

[0097] The above are merely illustrative examples, and specific methods for determining the current driving state of the vehicle may include but are not limited to the above examples.

[0098] In the embodiment of the present application, the current driving state of the vehicle is determined by comparing the current vehicle speed with a preset vehicle speed threshold, which can quickly and easily determine the current driving state of the vehicle.

[0099] Optionally, if the current vehicle speed is greater than a first vehicle speed threshold, determining that the current driving state is a high-speed driving state includes:

[0100] When the vehicle requests rear wheel steering for the first time, if the current vehicle speed is greater than the first vehicle speed threshold, it is determined that the current driving state is a high-speed driving state;

[0101] Alternatively, when the vehicle requests rear-wheel steering for the Nth time, if the historical vehicle speed is less than or equal to the first vehicle speed threshold, then when the current vehicle speed is greater than the second vehicle speed threshold, the current driving state is determined to be a high-speed driving state; wherein N is greater than 1, the second vehicle speed threshold is greater than the first vehicle speed threshold, and the historical vehicle speed is the vehicle speed before the current moment.

[0102] The first time the vehicle requests rear-wheel steering refers to the first time the vehicle requests rear-wheel steering after the RWS of the vehicle is activated, and the Nth time refers to each time after the first time. It can also be understood that after the RWS is activated, the first time the ECU generates a rear-wheel steering request is the first time the vehicle requests rear-wheel steering, and the Nth time the ECU generates a rear-wheel steering request is the Nth time the vehicle requests rear-wheel steering.

[0103] In one embodiment, when the vehicle requests rear-wheel steering for the first time, in the process of determining whether the original rear-wheel steering angle matches the front-wheel steering angle, the current speed of the vehicle can be obtained, and the current speed is the speed of the vehicle when the vehicle requests rear-wheel steering for the first time. When the current speed is greater than the first speed threshold, it can be determined that the current driving state of the vehicle is a high-speed driving state. At this time, when the original rear-wheel steering angle and the front-wheel steering angle are in different directions and / or the original rear-wheel steering angle is greater than the steering angle threshold, it can be determined that the original rear-wheel steering angle does not match the current front-wheel steering angle, and the original rear-wheel steering angle is replaced with the target rear-wheel steering angle. On the contrary, when the original rear-wheel steering angle and the front-wheel steering angle are in the same direction and the original rear-wheel steering angle is less than or equal to the steering angle threshold, it is determined that the original rear-wheel steering angle matches the current front-wheel steering angle.

[0104] When the vehicle requests rear-wheel steering for the Nth time, in the process of determining whether the original rear-wheel steering angle matches the front-wheel steering angle, the current speed of the vehicle can be obtained, and the current speed is the speed of the vehicle when the vehicle requests rear-wheel steering for the Nth time. At the same time, the historical speed can be obtained, which is the speed before the current moment, and may include the speed of the vehicle when the vehicle requested rear-wheel steering the last time. For example, when the vehicle requests rear-wheel steering for the third time, the speed of the vehicle when the vehicle requested rear-wheel steering for the third time can be obtained to obtain the current speed, and the pre-recorded speed of the vehicle when the vehicle requested rear-wheel steering for the second time can be obtained to obtain the historical speed.

[0105] After obtaining the current vehicle speed and the historical vehicle speed, when the historical vehicle speed is less than or equal to the first vehicle speed threshold and the current vehicle speed is greater than the second vehicle speed threshold, the current driving state of the vehicle is determined to be a high-speed driving state. When the second vehicle speed threshold is greater than the first vehicle speed threshold and the current vehicle speed is greater than the second vehicle speed threshold, the current vehicle speed must be greater than the first vehicle speed threshold. For example, if the first vehicle speed threshold is 40 kilometers per hour and the second vehicle speed threshold is 45 kilometers per hour, the current driving state can be determined to be a high-speed driving state when the historical vehicle speed is less than or equal to 40 kilometers per hour and the current vehicle speed is greater than 45 kilometers per hour. Moreover, when the historical vehicle speed is less than or equal to 40 kilometers per hour and the current vehicle speed is less than or equal to 45 kilometers per hour, it is determined that the current driving state is still a low-speed driving state. And, when the historical vehicle speed is greater than 40 kilometers per hour and the current vehicle speed is also greater than 40 kilometers per hour, it is determined that the current driving state is a high-speed driving state.

[0106] Optionally, there may be multiple historical vehicle speeds, and the multiple historical vehicle speeds may be vehicle speeds when the vehicle requested rear-wheel steering for multiple consecutive times before the Nth request for rear-wheel steering. For example, when there are three historical vehicle speeds, in the process of determining the current driving state, the historical vehicle speed when the rear-wheel steering was requested for the N-1th time, the historical vehicle speed when the rear-wheel steering was requested for the N-2nd time, and the historical vehicle speed when the rear-wheel steering was requested for the N-3rd time may be obtained to obtain three historical vehicle speeds. Afterwards, when the three historical vehicle speeds are all less than the first vehicle speed threshold, and the current vehicle speed is greater than the second vehicle speed threshold, it may be determined that the current driving state of the vehicle is a high-speed driving state.

[0107] In an embodiment of the present application, when the vehicle requests rear-wheel steering for the first time, it is determined that the vehicle is in a high-speed driving state when the current vehicle speed is greater than a first vehicle speed threshold. When the vehicle requests rear-wheel steering for the Nth time, it is determined that the vehicle is in a high-speed driving state when the historical vehicle speed is less than or equal to the first vehicle speed threshold and the current vehicle speed is greater than a second vehicle speed threshold. This can avoid misjudging a low-speed driving state as a high-speed driving state due to a speed jump.

[0108] For example, if the vehicle's speed is less than 40 kilometers per hour for the N-1th time, it is determined that the vehicle is in a low-speed driving state. If the speed becomes 42 kilometers per hour for the Nth time, it may be that the speed has changed suddenly, and then the speed will drop below 40 kilometers per hour. The vehicle is still in a low-speed driving state. At this time, it is a misjudgment to determine that the vehicle is in a high-speed driving state.

[0109] When the historical vehicle speed is less than or equal to the first vehicle speed threshold and the current vehicle speed is greater than the second vehicle speed threshold, the current driving state is determined to be a high-speed driving state. In this way, when the vehicle speed is less than 40 kilometers per hour for the N-1th time, it is determined that the vehicle is in a low-speed driving state. If the vehicle speed becomes 42 kilometers per hour for the Nth time, it will not be determined that the vehicle is in a high-speed driving state. If the vehicle speed becomes 45 kilometers per hour for the Nth time, it is determined that the vehicle is in a high-speed driving state. This is equivalent to raising the judgment standard for the vehicle entering a high-speed driving state, which can avoid possible misjudgments.

[0110] Optionally, if the current vehicle speed is less than or equal to a first vehicle speed threshold, determining that the current driving state is a low-speed driving state includes:

[0111] When the vehicle requests rear wheel steering for the first time, if the current vehicle speed is less than or equal to the first vehicle speed threshold, determining that the current driving state is a low-speed driving state;

[0112] Alternatively, when the vehicle requests rear-wheel steering for the Nth time, if the historical vehicle speed is greater than the first vehicle speed threshold, then when the current vehicle speed is less than or equal to the third vehicle speed threshold, the current driving state is determined to be a low-speed driving state; wherein N is greater than 1, the third vehicle speed threshold is less than the first vehicle speed threshold, and the historical vehicle speed is the vehicle speed before the current moment.

[0113] In one embodiment, when the vehicle requests rear-wheel steering for the first time, in the process of determining whether the original rear-wheel steering angle matches the front-wheel steering angle, the current speed of the vehicle can be obtained, and the current speed is the speed of the vehicle when the vehicle requests rear-wheel steering for the first time. When the current speed is less than or equal to the first speed threshold, it can be determined that the current driving state of the vehicle is a low-speed driving state. At this time, when the original rear-wheel steering angle is in the same direction as the front-wheel steering angle and / or the original rear-wheel steering angle is greater than the steering angle threshold, it can be determined that the original rear-wheel steering angle does not match the current front-wheel steering angle, and the original rear-wheel steering angle is replaced with the target rear-wheel steering angle. On the contrary, when the original rear-wheel steering angle is not in the same direction as the front-wheel steering angle, and the original rear-wheel steering angle is less than or equal to the steering angle threshold, it is determined that the original rear-wheel steering angle matches the current front-wheel steering angle.

[0114] When the vehicle requests rear-wheel steering for the Nth time, in the process of determining whether the original rear-wheel steering angle matches the front-wheel steering angle, the current speed of the vehicle can be obtained, and the current speed is the speed of the vehicle when the vehicle requests rear-wheel steering for the Nth time. At the same time, the historical speed can be obtained, which is the speed before the current moment, and may include the speed of the vehicle when the vehicle requested rear-wheel steering the last time. For example, when the vehicle requests rear-wheel steering for the third time, the speed of the vehicle when the vehicle requested rear-wheel steering for the third time can be obtained to obtain the current speed, and the pre-recorded speed of the vehicle when the vehicle requested rear-wheel steering for the second time can be obtained to obtain the historical speed.

[0115] After obtaining the current vehicle speed and the historical vehicle speed, when the historical vehicle speed is greater than the first vehicle speed threshold and the current vehicle speed is less than or equal to the second vehicle speed threshold, the current driving state of the vehicle is determined to be a low-speed driving state. For example, if the first vehicle speed threshold is 40 kilometers per hour and the second vehicle speed threshold is 35 kilometers per hour, the current driving state can be determined to be a low-speed driving state when the historical vehicle speed is greater than 40 kilometers per hour and the current vehicle speed is less than or equal to 35 kilometers per hour. On the contrary, when the historical vehicle speed is greater than 40 kilometers per hour and the current vehicle speed is greater than 35 kilometers per hour, the current driving state is determined to be a high-speed driving state. And, when the historical vehicle speed is less than 40 or equal to kilometers per hour and the current vehicle speed is also less than or equal to 40 kilometers per hour, the current driving state is determined to be a low-speed driving state.

[0116] Optionally, there may be multiple historical vehicle speeds, and the multiple historical vehicle speeds may be vehicle speeds when the vehicle requested rear-wheel steering for multiple consecutive times before the Nth request for rear-wheel steering. For example, when there are three historical vehicle speeds, in the process of determining the current driving state, the historical vehicle speed when the rear-wheel steering was requested for the N-1th time, the historical vehicle speed when the rear-wheel steering was requested for the N-2nd time, and the historical vehicle speed when the rear-wheel steering was requested for the N-3rd time may be obtained to obtain three historical vehicle speeds. Afterwards, when the three historical vehicle speeds are all greater than the first vehicle speed threshold, and the current vehicle speed is less than or equal to the third vehicle speed threshold, it may be determined that the current driving state of the vehicle is a low-speed driving state.

[0117] In the embodiment of the present application, when the vehicle requests rear-wheel steering for the first time, the vehicle is determined to be in a low-speed driving state when the current vehicle speed is less than or equal to the first vehicle speed threshold. When the vehicle requests rear-wheel steering for the Nth time, the vehicle is determined to be in a low-speed driving state when the historical vehicle speed is greater than the first vehicle speed threshold and the current vehicle speed is less than or equal to the third vehicle speed threshold. This can avoid misjudging the high-speed driving state as a low-speed driving state due to speed jumps.

[0118] For example, if the vehicle's speed is greater than 40 kilometers per hour for the N-1th time, it is determined that the vehicle is in a high-speed driving state. If the speed drops to 38 kilometers per hour for the Nth time, it may be that the speed has changed suddenly, and then the speed will quickly rise to more than 40 kilometers per hour. The vehicle is still in a high-speed driving state. At this time, it is a misjudgment to determine that the vehicle is in a low-speed driving state.

[0119] When the historical vehicle speed is greater than the first vehicle speed threshold, and the current vehicle speed is less than or equal to the third vehicle speed threshold, the current driving state is determined to be a low-speed driving state. In this way, when the vehicle speed is greater than 40 kilometers per hour for the N-1th time, it is determined that the vehicle is in a high-speed driving state. If the vehicle speed becomes 42 kilometers per hour for the Nth time, it will not be determined that the vehicle is in a low-speed driving state. If the vehicle speed becomes 35 kilometers per hour for the Nth time, it is determined that the vehicle is in a low-speed driving state. This is equivalent to lowering the standard for the vehicle to enter a low-speed driving state, which can avoid possible misjudgments.

[0120] Optionally, determining the current driving state of the vehicle includes:

[0121] Obtain multiple vehicle speeds at multiple consecutive moments; wherein the multiple moments include the current moment and multiple historical moments before the current moment;

[0122] If the multiple vehicle speeds are all greater than the first vehicle speed threshold, determining that the current driving state is a high-speed driving state;

[0123] Alternatively, if the plurality of vehicle speeds are all less than or equal to the first vehicle speed threshold, it is determined that the current driving state is a low-speed driving state.

[0124] In one embodiment, in the process of determining the current driving state of the vehicle, the vehicle speed at the current moment (i.e., the current vehicle speed) and the vehicle speeds at multiple historical moments before the current moment (i.e., the historical vehicle speeds) can be obtained. When the current vehicle speed and multiple historical vehicle speeds are all greater than the first vehicle speed threshold, the current driving state is determined to be a high-speed driving state. For example, the ECU can periodically obtain the vehicle speed. In the process of determining the current driving state, the current moment of the current moment is obtained, and then the historical vehicle speeds of the first M historical moments recorded in advance are obtained to obtain M historical vehicle speeds. In this way, multiple continuous vehicle speeds from the Mth moment to the current moment can be obtained, including M historical vehicle speeds and the current vehicle speed. Afterwards, when multiple vehicle speeds are all greater than the first vehicle speed threshold, it can be determined that the vehicle is in a high-speed driving state. On the contrary, if the current vehicle speed is greater than the first preset vehicle speed threshold, but some historical vehicle speeds are less than or equal to the first vehicle speed threshold, it is determined that the vehicle is in a low-speed driving state.

[0125] On the contrary, when multiple vehicle speeds are less than or equal to the first vehicle speed threshold, it can be determined that the vehicle is in a low-speed driving state. On the contrary, if the current vehicle speed is less than or equal to the first preset vehicle speed threshold, but some historical vehicle speeds are greater than the first vehicle speed threshold, it is determined that the vehicle is in a high-speed driving state.

[0126] In actual applications, when the number of historical vehicle speeds is 0, it can be determined that the vehicle is in a high-speed driving state when the current vehicle speed is greater than the first vehicle speed threshold, and it can be determined that the vehicle is in a low-speed driving state when the current vehicle speed is less than or equal to the first vehicle speed threshold.

[0127] In an embodiment of the present application, when multiple vehicle speeds are greater than a first vehicle speed threshold, the current driving state is determined to be a high-speed driving state, and when multiple vehicle speeds are less than or equal to the first vehicle speed threshold, the current driving state is determined to be a low-speed driving state, which can avoid misjudgment when the vehicle speed jumps.

[0128] Optionally, before replacing the original rear wheel steering angle with the target rear wheel steering angle, the method may further include:

[0129] Determine the target rear wheel turning angle to be 0;

[0130] Alternatively, the target rear wheel steering angle is determined according to the current vehicle speed and the front wheel steering angle of the vehicle.

[0131] In this embodiment, the target rear wheel steering angle can be directly set to 0, or the target rear wheel steering angle can be determined according to the current vehicle speed and the front wheel steering angle of the vehicle. The specific method for determining the target rear wheel steering angle according to the current vehicle speed and the front wheel steering angle of the vehicle can be set according to specific needs, and this embodiment does not limit this.

[0132] Optionally, determining a target rear wheel steering angle according to a current vehicle speed and a front wheel steering angle of the vehicle includes:

[0133] If the current speed of the vehicle is within a preset speed range and the front wheel turning angle is within a preset turning angle range, the preset rear wheel turning angle is determined as the target rear wheel turning angle; wherein the preset rear wheel turning angle corresponds to the preset speed range and the preset turning angle range;

[0134] Alternatively, if the current vehicle speed is not within the preset vehicle speed range and the front wheel turning angle is not within the preset turning angle range, the target rear wheel turning angle is determined to be zero.

[0135] For example, for high-speed driving, one or more vehicle speed intervals (i.e., preset vehicle speed intervals) may be determined in advance by experiments, and the turning angle intervals (i.e., preset turning angle intervals) corresponding to each vehicle speed interval may be determined by experiments, and a preset rear wheel turning angle corresponding to each vehicle speed interval may be determined by experiments. For each vehicle speed interval, the preset rear wheel turning angle corresponding to the vehicle speed interval means that when the vehicle speed is within the vehicle speed interval and the front wheel turning angle is within the corresponding turning angle interval, the stability of the vehicle in high-speed driving may be improved by controlling the rear wheels to rotate to the corresponding preset rear wheel turning angle.

[0136] Based on this, in the process of determining the target rear wheel turning angle according to the vehicle's current speed and front wheel turning angle, the vehicle's current speed and the current front wheel turning angle can be obtained, and the target speed range in which the current speed is located can be determined from at least one speed range. At this time, if the current front wheel turning angle is within the turning angle range corresponding to the target speed range, the preset rear wheel turning angle corresponding to the target speed range can be used as the target rear wheel turning angle.

[0137] Similarly, for low-speed driving, one or more vehicle speed intervals (i.e., preset vehicle speed intervals) can be determined in advance by experiments, and the turning angle intervals (i.e., preset turning angle intervals) corresponding to each vehicle speed interval can be determined by experiments, and a preset rear wheel turning angle corresponding to each vehicle speed interval can be determined by experiments. For each vehicle speed interval, the preset rear wheel turning angle corresponding to the vehicle speed interval means that when the vehicle speed is within the vehicle speed interval and the front wheel turning angle is within the corresponding turning angle interval, the stability of the vehicle in the low-speed driving state can be improved by controlling the rear wheels to rotate to the corresponding preset rear wheel turning angle.

[0138] Based on this, in the process of determining the target rear wheel turning angle according to the vehicle's current speed and front wheel turning angle, the vehicle's current speed and the current front wheel turning angle can be obtained, and the target speed range in which the current speed is located can be determined from at least one speed range. At this time, if the current front wheel turning angle is within the turning angle range corresponding to the target speed range, the preset rear wheel turning angle corresponding to the target speed range can be used as the target rear wheel turning angle.

[0139] In the process of determining the target rear wheel steering angle according to the current vehicle speed and the front wheel steering angle of the vehicle, if it is determined that the current vehicle speed is not in any preset vehicle speed interval, or if the current vehicle speed is in a preset vehicle speed interval but the front wheel steering angle is not in the corresponding steering angle interval, the target rear wheel steering angle can be determined to be 0.

[0140] In the embodiment of the present application, the corresponding target rear wheel steering angle is determined according to the speed range of the current vehicle speed and the angle range of the front wheel steering angle, so that the target rear wheel steering angle that can make the vehicle run stably can be obtained, thereby improving the stability and reliability of the vehicle.

[0141] In one embodiment, the current vehicle speed and the front wheel turning angle of the vehicle may be detected before executing steps 201-203, and steps 201-203 are executed when the current vehicle speed is greater than the fourth vehicle speed threshold and the front wheel turning angle is greater than the preset turning angle threshold. Steps 201-203 are not executed when the current vehicle speed is less than or equal to the fourth vehicle speed threshold and / or the front wheel turning angle is less than or equal to the preset turning angle threshold, so that steps 201-203 do not need to be executed when the vehicle speed is low and the front wheel turning angle is small, which can simplify the operation of the ECU and reduce the power consumption of the ECU.

[0142] See also Figure 3 , Figure 3 Schematic diagram of the structure of a rear wheel steering angle control device provided in an embodiment of the present application. Figure 3 As shown, the rear wheel steering angle control device 300 is arranged in the VCU and may include:

[0143] A determination module 301 is used to determine an original rear wheel steering angle currently requested by the vehicle;

[0144] A replacement module 302 is used to replace the original rear wheel turning angle with a target rear wheel turning angle if the original rear wheel turning angle does not match the front wheel turning angle of the vehicle; wherein the target rear wheel turning angle is a rear wheel turning angle that matches the front wheel turning angle;

[0145] The control module 303 is used to control the rotation of the rear wheels of the vehicle according to the target rear wheel turning angle, so that the turning angle of the rear wheels matches the turning angle of the front wheels.

[0146] Optionally, the replacement module 302 is specifically used to determine the current driving state of the vehicle; when the current driving state is a high-speed driving state, if the original rear wheel steering angle is in a different direction from the front wheel steering angle and / or the original rear wheel steering angle is greater than a steering angle threshold, the original rear wheel steering angle is replaced with the target rear wheel steering angle; or, when the current driving state is a low-speed driving state, if the original rear wheel steering angle is in the same direction as the front wheel steering angle and / or the original rear wheel steering angle is greater than the steering angle threshold, the original rear wheel steering angle is replaced with the target rear wheel steering angle.

[0147] Optionally, the replacement module 302 is specifically used to determine that the current driving state is a high-speed driving state if the current vehicle speed is greater than a first speed threshold; or, if the current vehicle speed is less than or equal to the first speed threshold, determine that the current driving state is a low-speed driving state.

[0148] Optionally, the replacement module 302 is specifically used to determine that the current driving state is a high-speed driving state when the vehicle requests rear-wheel steering for the first time, if the current vehicle speed is greater than a first vehicle speed threshold; or, when the vehicle requests rear-wheel steering for the Nth time, if the historical vehicle speed is less than or equal to the first vehicle speed threshold, then when the current vehicle speed is greater than a second vehicle speed threshold, determine that the current driving state is a high-speed driving state; wherein N is greater than 1, the second vehicle speed threshold is greater than the first vehicle speed threshold, and the historical vehicle speed is the speed of the vehicle before the current moment.

[0149] Optionally, the replacement module 302 is specifically used to determine that the current driving state is a low-speed driving state when the vehicle requests rear-wheel steering for the first time, if the current vehicle speed is less than or equal to the first vehicle speed threshold; or, when the vehicle requests rear-wheel steering for the Nth time, if the historical vehicle speed is greater than the first vehicle speed threshold, then when the current vehicle speed is less than or equal to a third vehicle speed threshold, determine that the current driving state is a low-speed driving state; wherein N is greater than 1, the third vehicle speed threshold is less than the first vehicle speed threshold, and the historical vehicle speed is the speed of the vehicle before the current moment.

[0150] Optionally, the replacement module 302 is specifically used to obtain multiple vehicle speeds of the vehicle at multiple consecutive moments; wherein the multiple moments include the current moment, and multiple historical moments before the current moment; if the multiple vehicle speeds are all greater than a first vehicle speed threshold, it is determined that the current driving state is a high-speed driving state; or, if the multiple vehicle speeds are all less than or equal to the first vehicle speed threshold, it is determined that the current driving state is a low-speed driving state.

[0151] Optionally, the determination module 301 is further configured to determine that the target rear wheel angle is 0 before replacing the original rear wheel angle with the target rear wheel angle; or, determine the target rear wheel angle according to the current vehicle speed and the front wheel angle.

[0152] Optionally, the determination module 301 is specifically used to determine the preset rear wheel turning angle as the target rear wheel turning angle if the current vehicle speed is in a preset speed range and the front wheel turning angle is in a preset turning angle range; wherein the preset rear wheel turning angle corresponds to the preset vehicle speed range and the preset turning angle range; or, if the current vehicle speed is not in the preset vehicle speed range and the front wheel turning angle is not in the preset turning angle range, determine the target rear wheel turning angle to be 0.

[0153] See also Figure 4 , Figure 4 Schematic diagram of a vehicle structure provided by an embodiment of the present application. Figure 4 As shown, the vehicle 400 includes: a memory 401 and a processor 402, wherein the memory 401 stores an executable program code 4011, and the processor 402 is used to call and execute the executable program code 4011 to perform a seat adjustment method.

[0154] In addition, an embodiment of the present application also protects a rear wheel angle control device, which may include a memory and a processor, wherein the memory stores an executable program code, and the processor is used to call and execute the executable program code to execute a rear wheel angle control method provided by an embodiment of the present application.

[0155] In this embodiment, the functional modules of the device can be divided according to the above method example. For example, each functional module can be corresponded, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0156] In the case of dividing each functional module according to each function, the device may also include a determination module, a replacement module, a control module, etc. It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module, which will not be repeated here.

[0157] It should be understood that the device provided in this embodiment is used to execute the above-mentioned rear wheel angle control method, and thus can achieve the same effect as the above-mentioned implementation method.

[0158] In the case of an integrated unit, the device may include a determination module and an adjustment module. When the device is applied to a vehicle, the processing module may be used to control and manage the actions of the vehicle. The storage module may be used to support the vehicle in executing relevant program codes, etc.

[0159] The processing module may be a processor or a vehicle body setting module, which may implement or execute various exemplary logic blocks, modules and circuits shown in combination with the contents disclosed in this application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module may be a memory.

[0160] This embodiment also provides a readable storage medium, in which a computer program code is stored. When the computer program code is executed on a computer, the computer executes the above-mentioned related method steps to implement a rear wheel angle control method provided by the above embodiment.

[0161] This embodiment further provides a computer program product. When the computer program product is run on a computer, the computer is caused to execute the above-mentioned related steps to implement a rear wheel steering angle control method provided by the above-mentioned embodiment.

[0162] Among them, the device, readable storage medium, computer program product or chip provided in this embodiment is used to execute the corresponding method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method provided above, and will not be repeated here.

[0163] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0164] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0165] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A rear wheel steering angle control method, characterized in that: The method comprises: When the current vehicle speed of the vehicle is greater than a fourth vehicle speed threshold and the front wheel steering angle of the vehicle is greater than a preset steering angle threshold, determining an original rear wheel steering angle currently requested by the vehicle; If the original rear wheel turning angle does not match the front wheel turning angle, the original rear wheel turning angle is replaced by a target rear wheel turning angle; wherein the target rear wheel turning angle is a rear wheel turning angle that matches the front wheel turning angle; Controlling the rotation of the rear wheels of the vehicle by the target rear wheel turning angle so that the turning angle of the rear wheels matches the turning angle of the front wheels; Before replacing the original rear-wheel steering angle with the target rear-wheel steering angle, the method further includes: if the current vehicle speed is in a preset vehicle speed range and the front wheel steering angle is in a preset steering angle range, determining the preset rear wheel steering angle as the target rear wheel steering angle; wherein the preset rear wheel steering angle corresponds to the preset vehicle speed range and the preset steering angle range; or, if the current vehicle speed is not in the preset vehicle speed range and the front wheel steering angle is not in the preset steering angle range, determining the target rear wheel steering angle to be 0.

2. The method according to claim 1, characterized in that If the original rear wheel turning angle does not match the front wheel turning angle of the vehicle, replacing the original rear wheel turning angle with a target rear wheel turning angle comprises: determining a current driving state of the vehicle; In the case where the current driving state is a high-speed driving state, if the original rear wheel steering angle is in a different direction from the front wheel steering angle and / or the original rear wheel steering angle is greater than a steering angle threshold, the original rear wheel steering angle is replaced with the target rear wheel steering angle; Alternatively, when the current driving state is a low-speed driving state, if the original rear wheel turning angle is in the same direction as the front wheel turning angle and / or the original rear wheel turning angle is greater than the turning angle threshold, the original rear wheel turning angle is replaced by the target rear wheel turning angle.

3. The method according to claim 2, characterized in that The determining the current driving state of the vehicle comprises: If the current vehicle speed is greater than a first vehicle speed threshold, determining that the current driving state is a high-speed driving state; Alternatively, if the current vehicle speed is less than or equal to the first vehicle speed threshold, it is determined that the current driving state is a low-speed driving state.

4. The method according to claim 3, characterized in that If the current vehicle speed is greater than a first vehicle speed threshold, determining that the current driving state is a high-speed driving state includes: When the vehicle requests rear wheel steering for the first time, if the current vehicle speed is greater than a first vehicle speed threshold, determining that the current driving state is a high-speed driving state; Alternatively, when the vehicle requests rear-wheel steering for the Nth time, if the historical vehicle speed is less than or equal to the first vehicle speed threshold, then when the current vehicle speed is greater than the second vehicle speed threshold, the current driving state is determined to be a high-speed driving state; wherein N is greater than 1, the second vehicle speed threshold is greater than the first vehicle speed threshold, and the historical vehicle speed is the vehicle speed before the current moment.

5. The method according to claim 3, characterized in that If the current vehicle speed is less than or equal to the first vehicle speed threshold, determining that the current driving state is a low-speed driving state includes: When the vehicle requests rear wheel steering for the first time, if the current vehicle speed is less than or equal to the first vehicle speed threshold, determining that the current driving state is a low-speed driving state; Alternatively, when the vehicle requests rear-wheel steering for the Nth time, if the historical vehicle speed is greater than the first vehicle speed threshold, then when the current vehicle speed is less than or equal to the third vehicle speed threshold, the current driving state is determined to be a low-speed driving state; wherein N is greater than 1, the third vehicle speed threshold is less than the first vehicle speed threshold, and the historical vehicle speed is the vehicle speed before the current moment.

6. The method according to claim 2, characterized in that The determining the current driving state of the vehicle comprises: Acquire multiple vehicle speeds of the vehicle at multiple consecutive moments; wherein the multiple moments include the current moment and multiple historical moments before the current moment; If the multiple vehicle speeds are all greater than a first vehicle speed threshold, determining that the current driving state is a high-speed driving state; Alternatively, if the multiple vehicle speeds are all less than or equal to the first vehicle speed threshold, it is determined that the current driving state is a low-speed driving state.

7. A rear wheel steering angle control device, characterized in that: The device comprises: a determination module, configured to determine an original rear wheel steering angle currently requested by the vehicle when a current vehicle speed of the vehicle is greater than a fourth vehicle speed threshold and a front wheel steering angle of the vehicle is greater than a preset steering angle threshold; a replacement module, configured to replace the original rear wheel turning angle with a target rear wheel turning angle if the original rear wheel turning angle does not match the front wheel turning angle; wherein the target rear wheel turning angle is a rear wheel turning angle that matches the front wheel turning angle; a control module, configured to control the rotation of the rear wheels of the vehicle by using the target rear wheel turning angle so that the turning angle of the rear wheels matches the turning angle of the front wheels; The determination module is also used for, before replacing the original rear-wheel steering angle with the target rear-wheel steering angle, if the current vehicle speed is in a preset vehicle speed range and the front wheel steering angle is in a preset steering angle range, determining the preset rear wheel steering angle as the target rear-wheel steering angle; wherein the preset rear wheel steering angle corresponds to the preset vehicle speed range and the preset steering angle range; or, if the current vehicle speed is not in the preset vehicle speed range and the front wheel steering angle is not in the preset steering angle range, determining the target rear wheel steering angle to be 0.

8. A vehicle, characterized in that: The vehicle comprises: A memory for storing executable program codes; A processor, configured to call and run the executable program code from the memory, so that the vehicle executes the method according to any one of claims 1 to 6.

Images