Rear wheel steering fault processing system and method and vehicle

Abstract

The invention discloses a rear wheel steering fault processing system and method and a vehicle, and is applied to the technical field of vehicle control, the system comprises a rear wheel steering system, a redundant steering system and a connecting assembly, and the connecting assembly is configured to electrically connect the rear wheel steering system and the redundant steering system in an open state; the rear wheel steering system is used for driving rear wheels of the vehicle to steer; the redundant steering system is used for controlling the connecting assembly to be in an open state when it is detected that the rear wheel steering system breaks down, and controlling the rear wheel steering system according to the steering angle and the lateral acceleration of a steering wheel of the vehicle so that the rear wheel steering system can drive the rear wheels to return to the preset neutral position. The hardware cost of the vehicle can be reduced, the lateral movement risk of the whole vehicle can be effectively reduced, the abrasion degree of rear wheels of the vehicle is reduced, and the driving safety of the vehicle is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a rear wheel steering fault processing system, method and vehicle. Background Art

[0002] The rear-wheel steering system is designed to control the rear wheels of the vehicle to steer according to specific conditions during the driving process of the vehicle, so as to improve the maneuverability, stability and flexibility of the vehicle. In the related art, when the rear-wheel steering system of the vehicle fails, the rear wheels of the vehicle are usually controlled to maintain the turning angle position when the function fails. However, the related art causes the vehicle to move sideways when driving, and aggravates the wear of the rear wheels of the vehicle, and its driving safety needs to be improved. Summary of the invention

[0003] Embodiments of the present application provide a rear-wheel steering fault handling system, method and vehicle, which are used to control the rear wheels of the vehicle to return to a preset neutral position when the rear-wheel steering system of the vehicle fails, thereby improving the driving safety of the vehicle.

[0004] On the one hand, an embodiment of the present application provides a rear wheel steering fault processing system, the system comprising: Rear wheel steering system, used to drive the rear wheels of the vehicle for steering; a redundant steering system, for controlling the connection assembly to be in an open state when a failure of the rear-wheel steering system is detected, and controlling the rear-wheel steering system according to the steering wheel angle and lateral acceleration of the vehicle, so that the rear-wheel steering system drives the rear wheels to return to a preset neutral position; A connection component is configured to electrically connect the rear wheel steering system and the redundant steering system in the open state.

[0005] On the other hand, an embodiment of the present application provides a rear wheel steering fault processing method, which is applied to the above rear wheel steering fault processing system, and the method comprises the following steps: In the case where a failure of the rear-wheel steering system is detected, controlling the connection component to be in the open state through the redundant steering system so that the redundant steering system is electrically connected to the rear-wheel steering system; The redundant steering system controls the rear-wheel steering system according to the steering wheel angle and lateral acceleration of the vehicle, so that the rear-wheel steering system drives the rear wheels to return to a preset neutral position.

[0006] In another aspect, an embodiment of the present application provides a vehicle, the vehicle comprising: at least one processor; at least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements the above-mentioned rear-wheel steering fault processing method.

[0007] The beneficial effects of the present application are: providing a rear-wheel steering fault handling system, method and vehicle, in the case of detecting a rear-wheel steering system fault, controlling the connection component to be in an open state through the redundant steering system, so that the redundant steering system is electrically connected to the rear-wheel steering system, and controlling the rear-wheel steering system according to the steering wheel angle and lateral acceleration of the vehicle through the redundant steering system, so that the rear-wheel steering system drives the rear wheels to return to a preset neutral position. It can be seen that when the rear-wheel steering system of the vehicle fails, the rear-wheel steering system is controlled by the redundant steering system to return the rear wheels of the vehicle to the preset neutral position, which can not only reduce the hardware cost of the vehicle, but also effectively reduce the risk of lateral movement of the entire vehicle, reduce the degree of wear on the rear wheels of the vehicle, and improve the driving safety of the vehicle.

[0008] Other features and advantages of the present application will be described in the following description, and partly become apparent from the description, or understood by practicing the present application. The purpose and other advantages of the present application can be realized and obtained by the structures specifically pointed out in the description, claims and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 is a structural diagram of the rear wheel steering fault handling system provided by the present application; Figure 2 is a structural diagram of the rear wheel steering system provided by the present application; Figure 3 is a structural diagram of a redundant steering system provided by the present application; Figure 4 is another structural diagram of the redundant steering system provided by the present application; Figure 5 is a flow chart of a rear wheel steering fault processing method provided by the present application; Figure 6 is an example diagram of a vehicle provided by the present application; Figure 7 This is another structural diagram of the redundant steering system provided by this application. DETAILED DESCRIPTION

[0010] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0011] The present application is further described below in conjunction with the accompanying drawings and specific embodiments. The described embodiments should not be regarded as limiting the present application, and all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present application.

[0012] In the following description, reference is made to “some embodiments”, which describe a subset of all possible embodiments, but it will be understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0013] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0014] The rear-wheel steering system is an advanced vehicle steering system that is designed to control the rear wheels of the vehicle to steer under specific conditions during the driving process of the vehicle, so as to improve the vehicle's maneuverability, stability and flexibility, and enhance the vehicle's driving experience and driving safety. This rear-wheel steering can be in the same direction or opposite direction as the front wheel steering, or it can be independent of the front wheel steering, but is not limited to this.

[0015] When the rear-wheel steering system is normal, the rear-wheel steering system can respond to the rear-wheel steering command of the upper controller and control the steering of the rear wheels; when the rear-wheel steering system fails, the rear-wheel steering system often fails to respond or responds to the rear-wheel steering command of the upper controller in time out of time, thereby failing to achieve steering control of the rear wheels. In the related art, out of consideration for the driving safety of the vehicle, when the rear-wheel steering system of the vehicle fails, the rear wheels of the vehicle are usually controlled to maintain the steering angle position when the function fails.

[0016] However, if the rear wheels remain at the corner position when the function fails, a certain lateral driving force will be applied to the vehicle, which will cause the vehicle to move sideways when driving. The risk of the vehicle moving sideways is high, and in this case, the driver is often required to actively control the steering wheel to keep the vehicle driving in a straight line, which increases the difficulty of driving the vehicle. In addition, if the rear wheels remain at the corner position when the function fails, it is easy to cause abnormal four-wheel alignment of the vehicle, thereby increasing the degree of wear on the rear wheels of the vehicle. It can be seen that the driving safety of the relevant technology needs to be improved.

[0017] In view of this, embodiments of the present application provide a rear-wheel steering fault handling system, method and vehicle, which are intended to control the rear wheels of the vehicle to return to a preset neutral position in the event of a rear-wheel steering system failure of the vehicle, thereby improving the driving safety of the vehicle.

[0018] The rear-wheel steering fault handling system, method and vehicle provided in the embodiments of the present application mainly involve various driving control scenarios of the vehicle, such as Highly Automatic Driving (HAD), Highly Automatic Parking (HAP), and Vehicle Dynamics Controll (VDC). It can be understood by those skilled in the art that the rear-wheel steering fault handling system, method and vehicle provided in the embodiments of the present application can be executed in various driving control scenarios of the vehicle: For example, in some embodiments, the rear-wheel steering fault handling system, method, and vehicle provided in the embodiments of the present application can be applied in an automatic driving control scenario. In the automatic driving control scenario, the vehicle realizes automatic driving, at which time the steering angle of the rear wheels is calculated according to the automatic driving trajectory by a controller related to the automatic driving control function, and a corresponding rear-wheel steering instruction is generated according to the steering angle of the rear wheels and sent to a steering system for executing the rear-wheel steering function, and the steering system for executing the rear-wheel steering function responds to the rear-wheel steering instruction to realize rear-wheel steering control.

[0019] In this application scenario, when the steering system for executing the rear-wheel steering function fails, the steering system for executing the rear-wheel steering function cannot respond to the rear-wheel steering command initiated by the controller related to the automatic driving control function, and the rear wheels remain at the turning angle position when the function fails, which will interfere with the automatic driving control function, such as causing adverse effects on the calculation of the automatic driving trajectory line, and reducing the control accuracy of the automatic driving control function. In this case, the rear-wheel steering fault handling system, method and vehicle provided in the embodiments of the present application can be used to control the rear wheels of the vehicle to return to the preset neutral position, reduce the interference of the rear-wheel steering function fault phenomenon on the automatic driving control function, and thus improve the driving safety of the vehicle.

[0020] For example, in some embodiments, the rear-wheel steering fault handling system, method, and vehicle provided in the embodiments of the present application can be applied in a dynamic control scenario. In a dynamic control scenario, the driver controls the rear-wheel steering of the vehicle by controlling the steering wheel. At this time, the dynamic controller calculates the steering angle of the rear wheel according to a preset ratio, generates a corresponding rear-wheel steering instruction according to the steering angle of the rear wheel, and sends it to the steering system for performing the rear-wheel steering function. The steering system for performing the rear-wheel steering function responds to the rear-wheel steering instruction to achieve rear-wheel steering control.

[0021] In this application scenario, when the steering system for executing the rear-wheel steering function fails, the steering system for executing the rear-wheel steering function cannot respond to the rear-wheel steering command initiated by the dynamic controller, and the rear wheels remain at the turning angle position when the function fails, which will affect the vehicle's response to dynamic steering requirements such as turning around on the spot, medium and low speed steering, lane change overtaking, high-speed emergency avoidance, manual parking, etc. In this case, the rear-wheel steering fault handling system, method and vehicle provided in the embodiments of the present application can be used to control the rear wheels of the vehicle to return to the preset middle position, improve the vehicle's response to dynamic steering requirements, and thus improve the driving safety of the vehicle.

[0022] For example, in some embodiments, the rear-wheel steering fault handling system, method, and vehicle provided in the embodiments of the present application can be applied in an automatic parking control scenario. In the automatic parking control scenario, the vehicle realizes automatic parking. At this time, the steering angle of the rear wheels is calculated according to the automatic parking trajectory by a controller related to the automatic parking control function, and a corresponding rear-wheel steering instruction is generated according to the steering angle of the rear wheels and sent to a steering system for executing the rear-wheel steering function. The steering system for executing the rear-wheel steering function responds to the rear-wheel steering instruction to realize rear-wheel steering control.

[0023] In this application scenario, when the steering system for executing the rear-wheel steering function fails, the steering system for executing the rear-wheel steering function cannot respond to the rear-wheel steering command initiated by the controller related to the automatic parking control function, and the rear wheels remain at the turning angle position when the function fails, which will affect the automatic parking effect of the vehicle. In this case, the rear-wheel steering fault handling system, method and vehicle provided in the embodiments of the present application can be used to control the rear wheels of the vehicle to return to the preset middle position, improve the automatic parking effect of the vehicle, and thus enhance the driving safety of the vehicle.

[0024] It is understood that the above application scenarios are only exemplary and do not limit the actual application of the rear wheel steering fault processing system, method and vehicle in the embodiments of the present application. Those skilled in the art can understand that the rear wheel steering fault processing system, method and vehicle in the embodiments of the present application can be used to perform specified tasks in different application scenarios.

[0025] The specific implementation of the embodiment of the present application is described in detail below in conjunction with the accompanying drawings. First, the rear wheel steering fault processing system provided in the embodiment of the present application is described below in conjunction with the accompanying drawings.

[0026] Reference Figure 1 , the rear wheel steering fault processing system provided by the embodiment of the present application may include: A rear wheel steering system 100 is used to drive the rear wheels of the vehicle to steer; The redundant steering system 200 is used to control the connection assembly 300 to be in an open state when a failure of the rear-wheel steering system 100 is detected, and to control the rear-wheel steering system 100 according to the steering wheel angle and lateral acceleration of the vehicle, so that the rear-wheel steering system 100 drives the rear wheels to return to a preset neutral position; The connection assembly 300 is configured to electrically connect the rear wheel steering system 100 and the redundant steering system 200 in an open state.

[0027] In the embodiment of the present application, the rear-wheel steering fault processing system may include but is not limited to the rear-wheel steering system 100, the redundant steering system 200 and the connection component 300, wherein the connection component 300 is configured to electrically connect the rear-wheel steering system 100 and the redundant steering system 200 in the open state. In the case of detecting a fault in the rear-wheel steering system 100, the connection component 300 is controlled to be in the open state through the redundant steering system 200, so that the redundant steering system 200 is electrically connected to the rear-wheel steering system 100, and the rear-wheel steering system 100 is controlled by the redundant steering system 200 according to the steering wheel angle and lateral acceleration of the vehicle, so that the rear-wheel steering system 100 drives the rear wheels to return to the preset neutral position.

[0028] When the rear-wheel steering system 100 is normal, the rear-wheel steering system 100 can respond to the rear-wheel steering command of the upper-level controller and control the steering of the rear wheels of the vehicle; when the rear-wheel steering system 100 fails, the rear-wheel steering system 100 often cannot respond to the rear-wheel steering command of the upper-level controller, causing the rear wheels of the vehicle to be unable to steer. In this regard, the relevant technology usually locks the rear wheels at the turning angle position when the function fails. This fault handling method is more likely to increase the risk of lateral movement of the vehicle and aggravate the tire wear of the rear wheels. Usually, in the case of a failure of the rear-wheel steering system 100, although the rear-wheel steering system 100 cannot respond to the rear-wheel steering command of the upper-level controller, the steering drive function of the rear wheels of the rear-wheel steering system 100 is normal.

[0029] Therefore, in the case where the rear wheel steering system 100 of the vehicle is detected to be faulty, the embodiment of the present application controls the rear wheel steering system 100 through the redundant steering system 200, so as to drive the rear wheels of the vehicle to return to the preset middle position quickly and accurately through the rear wheel steering system 100. In this way, on the one hand, the embodiment of the present application does not need to arrange an additional device for controlling the rear wheels to return to the middle position, and only needs an additional wiring harness connection to control the rear wheels to return to the middle position, which can effectively reduce the number of hardware for the rear wheel steering function and reduce the hardware cost of the vehicle; on the other hand, by controlling the rear wheels to return to the preset middle position, the embodiment of the present application can not only effectively reduce the risk of lateral movement of the whole vehicle, reduce the phenomenon of lateral movement of the whole vehicle when driving, reduce the difficulty of driving operation of the vehicle, but also reduce the possibility of abnormal four-wheel alignment of the vehicle, reduce the degree of wear of the rear wheels of the vehicle, and thus improve the driving safety of the vehicle.

[0030] It should be noted that the connection component 300 is configured to electrically connect the rear-wheel steering system 100 and the redundant steering system 200 in an open state, and disconnect the rear-wheel steering system 100 and the redundant steering system 200 in a closed state. When a fault in the rear-wheel steering system 100 is detected, the connection component 300 is in an open state; when the rear-wheel steering system 100 is detected to be normal, the connection component 300 is in a closed state.

[0031] It is understandable that the position of the above-mentioned connecting component 300 can be set according to actual conditions, and the embodiment of the present application does not make any specific limitation on this.

[0032] For example, in some embodiments, the connection component 300 may be an independent component, that is, the connection component 300 is disposed between the rear-wheel steering system 100 and the redundant steering system 200 .

[0033] Exemplarily, in some embodiments, the connection assembly 300 may be a part of the redundant steering system 200 , that is, the connection assembly is disposed in the redundant steering system 200 .

[0034] It is understandable that the type of the above-mentioned connection component 300 can be set according to actual conditions, and the embodiment of the present application does not limit this.

[0035] Exemplarily, in some embodiments, the connection component 300 may be a relay, and the type of the relay may be flexibly set, for example, the relay may be an electromagnetic relay or a thermal relay, but is not limited thereto.

[0036] Taking the electromagnetic relay as an example, when a fault in the rear-wheel steering system 100 is detected, the connecting component 300 is in an open state. In this open state, the coil of the connecting component 300 is energized, and a corresponding electromagnetic field is generated at this time. The electromagnetic field attracts the iron core of the connecting component 300, so that the contacts of the connecting component 300 are closed, and the rear-wheel steering system 100 is electrically connected to the redundant steering system 200 through the connecting component 300; when the rear-wheel steering system 100 is detected to be normal, the connecting component 300 is in a closed state. In this closed state, the coil of the connecting component 300 is not energized and does not generate a corresponding electromagnetic field, so that the contacts of the connecting component 300 are disconnected, and the redundant steering system 200 and the rear-wheel steering system 100 are disconnected.

[0037] For example, in some embodiments, the connection component 300 may be a bipolar junction transistor (BJT), and the type of the BJT may be flexibly set, for example, the BJT may be an NPN BJT or a PNP BJT, but is not limited thereto. It should be understood that an NPN BJT is composed of two layers of electron conductive semiconductor sandwiching a layer of hole conductive semiconductor, and a PNP BJT is composed of two layers of hole conductive semiconductor sandwiching a layer of electron conductive semiconductor.

[0038] Taking an NPN bipolar junction transistor as an example, the collector of the connecting component 300 is connected to the redundant steering system 200, the emitter of the connecting component 300 is grounded, and the collector of the connecting component 300 is connected to the rear-wheel steering system 100. When a fault of the rear-wheel steering system 100 is detected, the redundant steering system 200 outputs a high-level signal to the collector of the connecting component 300, the connecting component 300 is in an open state, i.e., it is turned on, and the rear-wheel steering system 100 is electrically connected to the redundant steering system 200 through the connecting component 300; when it is detected that the rear-wheel steering system 100 is normal, the redundant steering system 200 outputs a low-level signal to the collector of the connecting component 300, the connecting component 300 is in a closed state, i.e., it is cut off, and the redundant steering system 200 and the rear-wheel steering system 100 are disconnected.

[0039] It is understandable that, in addition to bipolar junction transistors and relays, the above-mentioned connecting component 300 can also be other devices such as thyristors, metal-oxide-semiconductor field-effect transistors (Metal-Oxide-Semiconductor Field-Effect Transistors, MOSFETs), etc., and the embodiments of the present application are not limited to this.

[0040] It should be noted that the above-mentioned rear-wheel steering system 100 can be configured to autonomously drive the rear wheels of the vehicle to steer when it is detected that the rear-wheel steering system 100 is normal, and to drive the rear wheels of the vehicle to steer under the control of the redundant steering system 200 when a failure of the rear-wheel steering system 100 is detected, so that the rear wheels return to a preset neutral position.

[0041] It is understandable that the rear-wheel steering system 100 may be any electronic device, mechanical device or a combination of the two for controlling the steering of the rear wheels of the vehicle.

[0042] For example, in some embodiments, referring to Figure 2 The rear wheel steering system 100 may include a rear wheel drive motor 110, a rear wheel motor controller 120 and a rear wheel motor drive module 130, but is not limited thereto. In the rear wheel steering system 100, the rear wheel motor controller 120 is electrically connected to the rear wheel motor drive module 130, and the rear wheel motor drive module 130 is electrically connected to the rear wheel drive motor 110. When the rear wheel steering system 100 is normal, the rear wheel motor controller 120 receives the rear wheel steering instruction from the upper controller, processes the rear wheel steering instruction, obtains the steering angle of the rear wheel and sends it to the rear wheel motor drive module 130, and the rear wheel motor drive module 130 controls the rear wheel drive motor 110 based on the steering angle, and the rear wheel drive motor 110 drives the rear wheel to steer when rotating, so as to adjust the steering angle of the rear wheel to the steering angle.

[0043] The cause of the failure of the rear-wheel steering system 100 is mostly due to at least one failure of the rear-wheel motor controller 120 or the rear-wheel motor drive module 130, that is, the rear-wheel motor controller 120 fails, or the rear-wheel motor drive module 130 fails, or both the rear-wheel motor controller 120 and the rear-wheel motor drive module 130 fail. Therefore, when the rear-wheel steering system 100 fails, the rear-wheel drive motor 110 is often in a normal and usable state, that is, the steering drive function of the rear wheel of the rear wheel of the rear-wheel steering system 100 is normally usable. Based on this, in the embodiment of the present application, when a failure of the rear-wheel steering system 100 of the vehicle is detected, the rear-wheel steering system 100 is controlled by the redundant steering system 200, so as to drive the rear wheels of the vehicle to return to the neutral position quickly and accurately through the rear-wheel steering system 100, thereby improving the driving safety of the vehicle.

[0044] In the above example, the upper controller is any controller for sending rear wheel steering instructions to the rear wheel steering system 100. In addition, the type of the upper controller can be set according to actual conditions, and the embodiment of the present application does not limit this. For example, the upper controller can be a dynamic controller; or the upper controller can be a controller related to the automatic driving control function or the automatic parking control function, but is not limited thereto.

[0045] In the above example, the rear wheel motor controller 120 may be any electronic device for receiving the rear wheel steering instruction from the upper controller and executing the rear wheel steering instruction. The execution of the rear wheel steering instruction may be processing the rear wheel steering instruction to obtain the steering angle of the rear wheel, but is not limited thereto.

[0046] In addition, the type of the rear wheel motor controller 120 can be set according to actual conditions, and the embodiment of the present application does not limit this. For example, the rear wheel motor controller 120 can be an electronic control unit (Electronic Control Unit, ECU) for receiving the rear wheel steering instruction of the upper controller and executing the rear wheel steering instruction; or the rear wheel motor controller 120 can be a micro-controller unit (Micro-Controller Unit, MCU) for receiving the rear wheel steering instruction of the upper controller and executing the rear wheel steering instruction, but it is not limited to this.

[0047] In addition, the communication method between the rear wheel motor controller 120 and the upper controller can be set according to actual conditions, and the embodiment of the present application does not limit this. For example, the upper controller communicates with the rear wheel motor controller 120 through a serial communication interface, and the communication interface can be a serial peripheral interface (Serial Peripheral Interface, SPI), a controller area network (Controller Area Network, CAN) bus interface, etc., but not limited to this; or, the upper controller communicates with the rear wheel motor controller 120 through a wireless communication method, and the wireless communication method can be a wireless local area network (Wireless Local Area Network, WLAN), Ethernet, etc., but not limited to this.

[0048] In the above example, the rear wheel motor driving module 130 may be any electronic device for controlling the rotation of the rear wheel driving motor 110 according to the steering angle of the rear wheels.

[0049] In addition, the type of the rear wheel motor drive module 130 can be set according to actual conditions, and the embodiment of the present application does not limit this. For example, the rear wheel motor drive module 130 can be an electronic control unit for controlling the rotation of the rear wheel drive motor 110 through the steering angle of the rear wheel; or the rear wheel motor drive module 130 can be a micro control unit for controlling the rotation of the rear wheel drive motor 110 through the steering angle of the rear wheel, but is not limited thereto.

[0050] In addition, the communication method between the rear wheel motor drive module 130 and the rear wheel motor controller 120 can be set according to actual conditions, and the embodiment of the present application does not limit this. For example, the rear wheel motor drive module 130 communicates with the rear wheel motor controller 120 through a serial communication interface, and the communication interface can be a serial peripheral interface, a controller area network bus interface, etc., but is not limited to this; or, the rear wheel motor drive module 130 communicates with the rear wheel motor controller 120 through a wireless communication method, and the wireless communication method can be a wireless local area network, Ethernet, etc., but is not limited to this.

[0051] In the above example, the rear wheel drive motor 110 refers to a motor disposed on the rear wheel and used to drive the rear wheel to turn. It is understandable that the rear wheel drive motor 110 will drive the rear wheel to turn when rotating.

[0052] In addition, the type of the rear wheel drive motor 110 can be set according to actual conditions, and the embodiment of the present application does not limit this. For example, the rear wheel drive motor 110 can be a six-phase dual-winding drive motor; or, the rear wheel drive motor 110 can be a six-phase three-winding drive motor, but is not limited thereto.

[0053] Of course, the rotation direction of the rear wheel drive motor 110 can also be set according to actual conditions, and the embodiment of the present application does not limit this. For example, under the control of the rear wheel motor drive module 130, the rear wheel motor drive module 130 controls the rear wheel drive motor 110 to rotate in the clockwise direction so that the rear wheel rotates to the steering angle; or, under the control of the rear wheel motor drive module 130, the rear wheel motor drive module 130 controls the rear wheel drive motor 110 to rotate in the counterclockwise direction so that the rear wheel rotates to the steering angle, but it is not limited thereto.

[0054] In addition, the connection method between the rear wheel drive motor 110 and the rear wheel motor drive module 130 can be set according to actual conditions, and the embodiment of the present application does not limit this. For example, the rear wheel drive motor 110 is connected to the rear wheel motor drive module 130 through a serial communication interface, and the serial communication method can be a serial peripheral interface, a controller area network bus interface, etc., but is not limited thereto.

[0055] It is understandable that the fault detection method of the rear-wheel steering system 100 can be set according to actual conditions, and the embodiment of the present application does not limit this.

[0056] Exemplarily, in some embodiments, during the driving process of the vehicle, the rear-wheel steering system 100 performs a self-check process. If the rear-wheel steering system 100 detects that it has a preset rear-wheel steering fault, the rear-wheel steering system 100 sends a fault signal, and the redundant steering system 200 receives the fault signal and regards that a fault of the rear-wheel steering system 100 of the vehicle is detected, but it is not limited to this. Among them, the above-mentioned rear-wheel steering fault can be set according to actual conditions, and the embodiments of the present application are not limited to this. For example, the rear-wheel steering fault may include one or more of the faults of the rear-wheel steering system 100, such as abnormal system parameters, abnormal mechanical structure operation, and abnormal hardware controller operation, but it is not limited to this. However, it should be noted that in the embodiments of the present application, no matter what kind of fault exists in the rear-wheel steering system 100, the steering drive function of the rear wheel of the rear-wheel steering system 100 is in a normal and available state.

[0057] For example, in some embodiments, when the rear-wheel steering system 100 is normal, when the vehicle turns, the rear wheels will turn to a certain angle to reduce the turning radius of the vehicle. In the case of a malfunction of the rear-wheel steering system 100, the rear wheels will be stuck at the corner position when the function fails. If the driver wants to control the vehicle to drive in a straight line, the driver needs to actively control the steering wheel, which will generate a certain steering wheel angle. At this steering wheel angle, the lateral acceleration of the vehicle is often different from the lateral acceleration in the normal state.

[0058] Therefore, the steering wheel angle and lateral acceleration of the vehicle during driving can be obtained through the rear-wheel steering system 100 or the redundant steering system 200, and then the expected lateral acceleration corresponding to the steering wheel angle of the vehicle during driving is determined, and the expected lateral acceleration refers to the lateral acceleration of the vehicle when turning when the rear-wheel steering system 100 is normal, and then the rear-wheel steering system 100 fault is determined based on the lateral acceleration and the expected lateral acceleration. In this way, whether the rear-wheel steering system 100 is faulty can be determined by the steering wheel angle and lateral acceleration of the vehicle during driving, which can effectively improve the fault detection efficiency of the rear-wheel steering system 100, thereby ensuring the response speed of the rear-wheel steering system 100 fault processing. It should be understood that when the rear-wheel steering system 100 determines that it has a fault, the rear-wheel steering system 100 will send out a fault signal, and the redundant steering system 200 receives the fault signal and regards that a fault in the rear-wheel steering system 100 of the vehicle has been detected; and when the redundant steering system 200 determines that the rear-wheel steering system 100 has a fault, the redundant steering system 200 directly regards that a fault in the rear-wheel steering system 100 of the vehicle has been detected.

[0059] Among them, the specific operations performed by the above-mentioned rear-wheel steering system 100 or the above-mentioned redundant steering system 200 when determining the expected value of lateral acceleration corresponding to the steering wheel angle of the vehicle during driving can be set according to actual conditions, and this embodiment does not limit this.

[0060] For example, the rear-wheel steering system 100 or the redundant steering system 200 selects an expected value corresponding to the steering wheel angle of the vehicle during driving from the preset mapping data as the expected value of lateral acceleration, wherein the preset mapping data includes multiple preset steering wheel angles and the lateral acceleration corresponding to each preset steering wheel angle, and the preset mapping data may be chart data or table data, but is not limited thereto.

[0061] For another example, the rear wheel steering system 100 or the redundant steering system 200 obtains the expected value of lateral acceleration according to the steering wheel angle of the vehicle during driving, combined with a machine learning method. The machine learning method can be set according to actual conditions. For example, the machine learning method can be a random forest algorithm; or, the machine learning method can be a logistic regression algorithm, but is not limited thereto.

[0062] In addition, the above-mentioned rear-wheel steering system 100 or the above-mentioned redundant steering system 200 can also be set according to actual conditions when it is used to determine the specific operation to be performed when the rear-wheel steering system 100 fails based on the lateral acceleration of the vehicle during driving and the expected value of the lateral acceleration. This embodiment does not limit this.

[0063] For example, the rear-wheel steering system 100 or the redundant steering system 200 obtains the rear-wheel steering fault risk coefficient of the vehicle according to the lateral acceleration and the expected value of the lateral acceleration of the vehicle during driving, combined with the machine learning method. The rear-wheel steering fault risk coefficient is used to indicate the degree of fault of the rear-wheel steering system 100. The rear-wheel steering fault risk coefficient is positively correlated with the degree of fault of the rear-wheel steering system 100, that is, the higher the rear-wheel steering fault risk coefficient, the more serious the degree of fault of the rear-wheel steering system 100. If the rear-wheel steering fault risk coefficient is greater than the preset fault threshold, the rear-wheel steering system 100 is determined to be faulty, otherwise the rear-wheel steering system 100 is determined to be normal. Among them, the above-mentioned fault threshold and the above-mentioned machine learning method can be set according to actual conditions.

[0064] For another example, if the rear-wheel steering system 100 or the redundant steering system 200 detects that the absolute value of the difference between the lateral acceleration of the vehicle during driving and the expected lateral acceleration is greater than a preset acceleration threshold, the rear-wheel steering system 100 is determined to be faulty, otherwise the rear-wheel steering system 100 is determined to be normal. The acceleration threshold can be set according to actual conditions.

[0065] For another example, if the rear-wheel steering system 100 or the redundant steering system 200 detects that the lateral acceleration of the vehicle during driving is not equal to the expected value of the lateral acceleration, the rear-wheel steering system 100 or the redundant steering system 200 determines that the rear-wheel steering system 100 is faulty, otherwise it is determined that the rear-wheel steering system 100 is normal.

[0066] It should be noted that the redundant steering system 200 can be configured to not intervene in the rear-wheel steering system 100 and control the connection component 300 to be in a closed state when it is detected that the rear-wheel steering system 100 is normal, and to control the connection component 300 to be in an open state when a fault in the rear-wheel steering system 100 is detected, so that the redundant steering system 200 is electrically connected to the rear-wheel steering system 100 through the connection component 300, and the rear-wheel steering system 100 is controlled according to the steering wheel angle and lateral acceleration of the vehicle, so that the rear-wheel steering system 100 drives the rear wheels to return to a preset neutral position.

[0067] It is understandable that the redundant steering system 200 may be any electronic device for intervening and controlling the rear-wheel steering system 100 when a failure of the rear-wheel steering system 100 is detected. For example, the redundant steering system 200 may be a vehicle body domain controller 220; or, the redundant steering system 200 may be a vehicle computer system, but is not limited thereto.

[0068] It is understandable that the control method of the redundant steering system 200 on the connection component 300 can be set according to actual conditions, and the embodiment of the present application does not limit this.

[0069] Exemplarily, in some embodiments, the connection component 300 is an electromagnetic relay, and the connection component 300 is electrically connected to the redundant steering system 200. When it is detected that the rear-wheel steering system 100 is normal, the redundant steering system 200 does not output current to the connection component 300, so that the connection component 300 remains in a closed state, and the redundant steering system 200 is disconnected from the rear-wheel steering system 100; and when a fault in the rear-wheel steering system 100 is detected, the redundant steering system 200 outputs current to the connection component 300, so that the connection component 300 is in an open state, and the redundant steering system 200 is electrically connected to the rear-wheel steering system 100 through the connection component 300.

[0070] Exemplarily, in some embodiments, the connection component 300 is an NPN bipolar junction transistor, the collector of the connection component 300 is connected to the redundant steering system 200, the emitter of the connection component 300 is grounded, and the collector of the connection component 300 is connected to the rear-wheel steering system 100. When a fault in the rear-wheel steering system 100 is detected, the redundant steering system 200 outputs a high-level signal to the collector of the connection component 300, the connection component 300 is in an on state, i.e., it is turned on, and the redundant steering system 200 is electrically connected to the rear-wheel steering system 100 through the connection component 300; when the rear-wheel steering system 100 is detected to be normal, the redundant steering system 200 outputs a low-level signal to the collector of the connection component 300, the connection component 300 is in a off state, i.e., it is cut off, and the redundant steering system 200 and the rear-wheel steering system 100 are disconnected.

[0071] It should be noted that the above-mentioned steering wheel angle refers to the steering wheel angle of the vehicle when driving in the case of a failure of the rear-wheel steering system 100 , which is used to indicate the degree and direction of steering required by the vehicle.

[0072] It is understandable that the above-mentioned method for acquiring the steering wheel angle can be set according to actual conditions, and the embodiments of the present application are not limited thereto. For example, when the vehicle is driving, the steering wheel angle of the vehicle is detected by a preset steering wheel angle sensor to obtain the steering wheel angle. It should be understood that the steering wheel angle sensor is a sensor for measuring the steering wheel angle and the number of turns. The steering wheel angle sensor can be a digital coding sensor or a mechanical mechanism sensor, and it can be flexibly set according to actual conditions.

[0073] It should be noted that the above lateral acceleration refers to the acceleration generated by the vehicle when driving when the rear wheel steering system 100 fails, and the acceleration is perpendicular to the driving direction of the vehicle.

[0074] It is understood that the above-mentioned method for obtaining the lateral acceleration can be set according to actual conditions, and the embodiments of the present application are not limited thereto. For example, when the vehicle is driving, the lateral acceleration of the vehicle is detected by a preset acceleration sensor to obtain the lateral acceleration of the vehicle. It should be understood that an acceleration sensor is a sensor for measuring the acceleration of an object.

[0075] It can be understood that when the above-mentioned redundant steering system 200 is used to control the rear-wheel steering system 100 according to the steering wheel angle and lateral acceleration of the vehicle, the specific operation performed can be to determine the steering angle of the rear-wheel steering system 100 according to the steering wheel angle and lateral acceleration of the vehicle, and then control the rear-wheel steering system 100 based on the steering angle, but it is not limited to this.

[0076] The functions and structures of the above modules will be further explained below.

[0077] In some embodiments, reference Figure 1 and Figure 3 The redundant steering system 200 may include a front wheel steering system 210, and the front wheel steering system 210 may include a slave front wheel steering subsystem 211, and the slave front wheel steering subsystem 211 is connected to the connection component 300, wherein: The slave front wheel steering subsystem 211 is used to control the connection component 300 to be in an open state when a fault of the rear wheel steering system 100 is detected and the slave front wheel steering subsystem 211 is effective, so that the slave front wheel steering subsystem 211 is electrically connected to the rear wheel steering system 100; The slave front-wheel steering subsystem 211 is also used to control the rear-wheel steering system 100 according to the steering wheel angle and lateral acceleration when a rear-wheel steering system 100 failure is detected and the slave front-wheel steering subsystem 211 is valid, so that the rear-wheel steering system 100 drives the rear wheels to return to the neutral position.

[0078] In the present embodiment, at present, the front wheel steering system 210 of the vehicle generally includes a front wheel drive motor 212, which is arranged at the front wheel of the vehicle and is used to drive the front wheel to steer. It is understandable that the front wheel drive motor 212 will drive the front wheel to steer when rotating. The type of the front wheel drive motor 212 can be flexibly set according to actual conditions, for example, the front wheel drive motor 212 can be a six-phase dual-winding drive motor, but is not limited to this. In addition, most of the current front wheel steering systems 210 are redundant architectures, that is, the front wheel steering system 210 can also include two subsystems: a main front wheel steering subsystem 213 and a slave front wheel steering subsystem 211. Under this redundant architecture, when the main front wheel steering subsystem 213 is normal, the main front wheel steering subsystem 213 is used to control the front wheel drive motor 212 to achieve the front wheel steering control of the vehicle, and the slave front wheel steering subsystem 211 is idle; when the main front wheel steering subsystem 213 fails, the main front wheel steering subsystem 213 is disabled due to the failure, and the slave front wheel steering subsystem 211 takes over to perform the front wheel steering function, that is, the slave front wheel steering subsystem 211 is used to control the front wheel drive motor 212 to achieve the front wheel steering control of the vehicle.

[0079] Based on this, the present embodiment provides a redundant takeover control method for the rear wheel steering of the vehicle, that is, when a failure of the rear wheel steering system 100 is detected, the rear wheel steering system 100 is controlled by the idle and available slave front wheel steering subsystem 211, so as to drive the rear wheels of the vehicle to return to the neutral position quickly and accurately. Specifically, in the present embodiment, the redundant steering system 200 may include a front wheel steering system 210, and the front wheel steering system 210 may include a slave front wheel steering subsystem 211, and the slave front wheel steering subsystem 211 is connected to the connection component 300, that is, when the connection component 300 is in the open state, the slave front wheel steering subsystem 211 is electrically connected to the rear wheel steering system 100 through the connection component 300, and when the connection component 300 is in the closed state, the slave front wheel steering subsystem 211 and the rear wheel steering system 100 are disconnected. In the front-wheel steering subsystem 211, when a fault of the rear-wheel steering system 100 is detected and the front-wheel steering subsystem 211 is valid, the front-wheel steering subsystem 211 controls the connection component 300 to be in an open state, so that the front-wheel steering subsystem 211 is electrically connected to the rear-wheel steering system 100 through the connection component 300, and the front-wheel steering subsystem 211 controls the rear-wheel steering system 100 according to the steering wheel angle and the lateral acceleration, so that the rear-wheel steering system 100 drives the rear wheels to return to the neutral position.

[0080] It can be seen that when the rear-wheel steering system 100 fails, the present embodiment takes over the rear-wheel steering control of the vehicle from the existing front-wheel steering subsystem 211, thereby realizing redundant takeover control of the rear-wheel steering of the vehicle without adding new vehicle hardware. In this way, the amount of hardware for the rear-wheel steering function can be effectively reduced, and the hardware cost of the vehicle can be reduced. In addition, the rear-wheel steering system 100 is controlled from the front-wheel steering subsystem 211 to return the rear wheels to the neutral position. In this way, not only can the risk of lateral movement of the vehicle as a whole be effectively reduced, the phenomenon of lateral movement of the vehicle as a whole during driving can be reduced, and the difficulty of driving the vehicle can be reduced, but also the possibility of abnormal four-wheel alignment of the vehicle can be reduced, and the degree of wear on the rear wheels of the vehicle can be reduced, thereby improving the driving safety of the vehicle.

[0081] It should be noted that the above-mentioned slave front-wheel steering subsystem 211 being effective means that the front-wheel steering system 210 is equipped with the slave front-wheel steering subsystem 211, and the slave front-wheel steering subsystem 211 has not taken over the front-wheel steering function, and the slave front-wheel steering subsystem 211 has no faults.

[0082] It is understandable that the fault detection method of the above-mentioned rear-wheel steering system 100 can be set according to actual conditions, and this embodiment does not limit this. For example, during the driving process of the vehicle, the rear-wheel steering system 100 performs self-checking processing. If the rear-wheel steering system 100 detects that it has a preset rear-wheel steering fault, the rear-wheel steering system 100 sends a fault signal, and the front-wheel steering subsystem 211 receives the fault signal and regards that the rear-wheel steering system 100 of the vehicle has been detected. For another example, during the driving process of the vehicle, the front-wheel steering subsystem 211 or the rear-wheel steering system 100 detects whether the rear-wheel steering system 100 has a fault based on the steering wheel angle and lateral acceleration of the vehicle during driving. The implementation of the above example is the same as that recorded in the above embodiment, and it will not be repeated here.

[0083] It is understandable that the above-mentioned control method of the connection component 300 from the front wheel steering subsystem 211 can be set according to actual conditions, and this embodiment does not limit this.

[0084] Exemplarily, in some embodiments, the connection component 300 is an electromagnetic relay, and the connection component 300 is electrically connected to the front-wheel steering subsystem 211. When the rear-wheel steering system 100 is detected to be normal, the front-wheel steering subsystem 211 does not output current to the connection component 300, so that the connection component 300 remains in a closed state, and the front-wheel steering subsystem 211 is disconnected from the rear-wheel steering system 100; when a fault in the rear-wheel steering system 100 is detected, the front-wheel steering subsystem 211 outputs current to the connection component 300, so that the connection component 300 is in an open state, and the front-wheel steering subsystem 211 is electrically connected to the rear-wheel steering system 100 through the connection component 300.

[0085] Exemplarily, in some embodiments, the connection component 300 is an NPN bipolar junction transistor, the collector of the connection component 300 is connected to the front-wheel steering subsystem 211, the emitter of the connection component 300 is grounded, and the collector of the connection component 300 is connected to the rear-wheel steering system 100. When a fault in the rear-wheel steering system 100 is detected, the front-wheel steering subsystem 211 outputs a high-level signal to the collector of the connection component 300, the connection component 300 is in an on state, i.e., it is turned on, and the front-wheel steering subsystem 211 is electrically connected to the rear-wheel steering system 100 through the connection component 300; when the rear-wheel steering system 100 is detected to be normal, the front-wheel steering subsystem 211 outputs a low-level signal to the collector of the connection component 300, the connection component 300 is in a off state, i.e., it is turned off, and the front-wheel steering subsystem 211 and the rear-wheel steering system 100 are disconnected.

[0086] It can be understood that when the front-wheel steering subsystem 211 is used to control the rear-wheel steering system 100 according to the steering wheel angle and lateral acceleration of the vehicle, the specific operation performed may be to determine the steering angle of the rear-wheel steering system 100 according to the steering wheel angle and lateral acceleration of the vehicle, and then control the rear-wheel steering system 100 based on the steering angle, but is not limited to this.

[0087] It can be understood that the front wheel steering subsystem 211 is disconnected from the front wheel driving motor 212 when controlling the rear wheel steering system 100 .

[0088] In some embodiments, reference Figure 3 The above-mentioned slave front wheel steering subsystem 211 may include a slave motor controller and a slave motor driving module, and the slave motor driving module is connected to the slave motor controller and the connecting component 300 respectively, wherein: The slave motor controller is used to obtain a first rear wheel steering signal of the vehicle according to the steering wheel angle and the lateral acceleration and output it to the slave motor driving module when a rear wheel steering system 100 fault is detected and the slave front wheel steering subsystem 211 is valid; The slave motor drive module is used to control the connection component 300 to be in an open state when receiving the first rear wheel steering signal, and control the rear wheel steering system 100 according to the first rear wheel steering signal so that the rear wheel steering system 100 drives the rear wheel to return to the neutral position.

[0089] In this embodiment, the slave front-wheel steering subsystem 211 may include a slave motor controller and a slave motor drive module, and the slave motor drive module is respectively connected to the slave motor controller and the connecting component 300, that is, when the connecting component 300 is in an open state, the slave motor drive module is electrically connected to the rear-wheel steering system 100 through the connecting component 300, and when the connecting component 300 is in a closed state, the slave motor drive module is disconnected from the rear-wheel steering system 100.

[0090] In the slave front-wheel steering subsystem 211, when a fault in the rear-wheel steering system 100 is detected and the slave front-wheel steering subsystem 211 is valid, the slave motor controller obtains a first rear-wheel steering signal of the vehicle according to the steering wheel angle and the lateral acceleration and outputs it to the slave motor drive module, and then the slave motor drive module receives the first rear-wheel steering signal, controls the connection component 300 to be in an open state, and controls the rear-wheel steering system 100 according to the first rear-wheel steering signal, so that the rear-wheel steering system 100 drives the rear wheels to return to the neutral position.

[0091] It can be seen that, in this embodiment, when a fault in the rear-wheel steering system 100 is detected, the rear-wheel steering control of the vehicle is taken over by the existing slave motor controller and the slave motor drive module, that is, the slave motor controller outputs a first rear-wheel steering signal to the slave motor drive module, the slave motor drive module controls the connection component 300 to open and performs steering control on the rear-wheel steering system 100 based on the first rear-wheel steering signal, and the rear-wheel steering system 100 drives the rear wheels to return to the neutral position, thereby realizing redundant takeover control of the rear-wheel steering of the vehicle without adding new vehicle hardware, thus effectively reducing the hardware quantity of the rear-wheel steering function and reducing the hardware cost of the vehicle; in addition, by controlling the rear-wheel steering system 100 from the front-wheel steering subsystem 211 so that the rear wheels return to the neutral position, thus effectively reducing the risk of lateral movement of the entire vehicle, reducing the phenomenon of lateral movement of the entire vehicle when driving, reducing the difficulty of driving operation of the vehicle, and reducing the possibility of abnormal four-wheel alignment of the vehicle, reducing the degree of wear on the rear wheels of the vehicle, thereby improving the driving safety of the vehicle.

[0092] It is understandable that the fault detection method of the above-mentioned rear-wheel steering system 100 can be set according to actual conditions, and this embodiment does not limit this. For example, during the driving process of the vehicle, the rear-wheel steering system 100 performs a self-check process. If the rear-wheel steering system 100 detects that it has a preset rear-wheel steering fault, the rear-wheel steering system 100 sends a fault signal, and the motor controller receives the fault signal and regards that a fault of the rear-wheel steering system 100 of the vehicle is detected. For another example, during the driving process of the vehicle, the motor controller or the rear-wheel steering system 100 detects whether the rear-wheel steering system 100 is faulty based on the steering wheel angle and lateral acceleration of the vehicle during driving. The implementation of the above example is the same as that recorded in the above embodiment, and it will not be repeated here.

[0093] It should be noted that the first rear-wheel steering signal is used to control the motor drive module to drive the rear-wheel steering system 100 so that the rear-wheel steering system 100 drives the rear wheels to return to the neutral position.

[0094] It should be noted that the slave motor controller can be any electronic device for performing signal control on the slave motor drive module. The signal control on the slave motor drive module can be understood as generating a first rear wheel steering signal through the steering wheel angle and lateral acceleration and outputting it to the slave motor drive module when the rear wheel steering system 100 fails and the slave front wheel steering subsystem 211 is effective.

[0095] It is understandable that the type of the slave motor controller can be set according to actual conditions, and this embodiment does not limit this. For example, the slave motor controller can be an electronic control unit for signal control of the slave motor drive module; or, the slave motor controller can be a micro control unit for signal control of the slave motor drive module, but is not limited thereto.

[0096] It should be noted that the slave motor driving module may be any electronic device for controlling the connection assembly 300 to open and controlling the rear-wheel steering system 100 according to a signal sent by the slave motor controller.

[0097] It is understandable that the type of the slave motor drive module can be set according to actual conditions, and this embodiment does not limit this. For example, the slave motor drive module can be an electronic control unit for controlling the connection component 300 to be turned on and controlling the rear wheel steering system 100 according to the signal sent by the slave motor controller; or, the slave motor drive module can be a micro control unit for controlling the connection component 300 to be turned on and controlling the rear wheel steering system 100 according to the signal sent by the slave motor controller, but it is not limited thereto.

[0098] It is understandable that the control method of the above-mentioned slave motor driving module to the connecting component 300 can be set according to actual conditions, and this embodiment does not limit this.

[0099] Exemplarily, in some embodiments, the connection component 300 is an electromagnetic relay, and the connection component 300 is electrically connected to the slave motor drive module. When the rear-wheel steering system 100 is detected to be normal, the slave motor controller does not send a first rear-wheel steering signal, and the slave motor drive module does not output current to the connection component 300 due to not receiving the first rear-wheel steering signal, so that the connection component 300 remains in a closed state, and the slave motor drive module is disconnected from the rear-wheel steering system 100; and when a fault in the rear-wheel steering system 100 is detected, the slave motor controller sends a first rear-wheel steering signal, and the slave motor drive module outputs current to the connection component 300 due to receiving the first rear-wheel steering signal, so that the connection component 300 is in an open state, and the slave motor drive module is electrically connected to the rear-wheel steering system 100 through the connection component 300.

[0100] Exemplarily, in some embodiments, the connecting component 300 is an NPN bipolar junction transistor, the collector of the connecting component 300 is connected to the slave motor drive module, the emitter of the connecting component 300 is grounded, and the collector of the connecting component 300 is connected to the rear-wheel steering system 100. When a fault in the rear-wheel steering system 100 is detected, the slave motor controller sends a first rear-wheel steering signal, and the slave motor drive module outputs a high-level signal to the collector of the connecting component 300 due to receiving the first rear-wheel steering signal. The connecting component 300 is in an on state, i.e., it is turned on, and the slave motor drive module is electrically connected to the rear-wheel steering system 100 through the connecting component 300. When it is detected that the rear-wheel steering system 100 is normal, the slave motor controller does not send the first rear-wheel steering signal, and the slave motor drive module outputs a low-level signal to the collector of the connecting component 300 due to not receiving the first rear-wheel steering signal. The connecting component 300 is in a closed state, i.e., it is cut off, and the slave motor drive module and the rear-wheel steering system 100 are disconnected.

[0101] It can be understood that when the above-mentioned slave motor drive module is used to control the rear-wheel steering system 100 according to the steering wheel angle and lateral acceleration of the vehicle, the specific operation performed can be to determine the steering angle of the rear-wheel steering system 100 according to the steering wheel angle and lateral acceleration of the vehicle, and then control the rear-wheel steering system 100 based on the steering angle, but it is not limited to this.

[0102] It is understandable that the communication mode between the slave motor controller and the slave motor drive module can be set according to actual conditions, and this embodiment does not limit this. For example, the slave motor drive module communicates with the slave motor controller through a serial communication interface, and the communication interface can be a serial peripheral interface, a controller area network bus interface, etc., but is not limited to this; or, the slave motor drive module communicates with the slave motor controller through a wireless communication mode, and the wireless communication mode can be a wireless local area network, Ethernet, etc., but is not limited to this.

[0103] It is understandable that the slave motor drive module is disconnected from the front wheel drive motor 212 when controlling the rear wheel steering system 100 .

[0104] For example, in some embodiments, the slave motor drive module in the front wheel steering subsystem 211 is connected to the connection component 300. When the connection component 300 is in the open state, the slave motor drive module is electrically connected to the rear wheel drive motor in the rear wheel steering system 100. When the connection component 300 is in the closed state, the slave motor drive module is disconnected from the rear wheel drive motor. In this redundant takeover control mode, the slave motor controller determines the failure of the rear wheel steering system 100 through the steering wheel angle and lateral acceleration of the vehicle during driving, and determines that the slave front wheel steering subsystem 211 is valid. At this time, the slave motor controller generates a first rear wheel steering signal through the steering wheel angle and lateral acceleration of the vehicle and outputs it to the slave motor drive module. The slave motor drive module receives the first rear wheel steering signal, disconnects from the front wheel drive motor 212 and turns on the connection component 300, and then controls the rear wheel drive motor according to the first rear wheel steering signal. The rear wheel drive motor will control the rear wheel steering to return to the neutral position.

[0105] In some embodiments, when the slave motor controller is used to obtain the first rear wheel steering signal of the vehicle according to the steering wheel angle and the lateral acceleration, it is specifically used to perform the following operations: According to the steering wheel angle and lateral acceleration of the vehicle, the rear wheel stuck angle of the vehicle is obtained; A first rear wheel steering signal is obtained according to the rear wheel stuck angle.

[0106] In this embodiment, when the first rear wheel steering signal is received, the motor controller first obtains the rear wheel stuck angle of the vehicle according to the steering wheel angle and lateral acceleration of the vehicle, and then obtains the first rear wheel steering signal according to the rear wheel stuck angle. It can be seen that this embodiment fully considers the steering wheel angle and lateral acceleration of the vehicle when the rear wheel steering system 100 fails, determines the steering angle of the rear wheel when the function fails, that is, the rear wheel stuck angle, and outputs the first rear wheel steering signal for controlling the rear wheel to return to the neutral position based on the rear wheel stuck angle, so that the rear wheel can be driven to return to the neutral position accurately and efficiently, and the accuracy of rear wheel fault processing is improved.

[0107] It should be noted that the specific operation to be performed by the motor controller when obtaining the rear wheel stuck angle of the vehicle according to the steering wheel angle and lateral acceleration of the vehicle can be set according to actual conditions, and this embodiment does not limit this.

[0108] Exemplarily, in some embodiments, the rear wheel sticking angle of the vehicle is obtained from the motor controller according to the steering wheel angle and lateral acceleration of the vehicle in combination with a machine learning method, wherein the machine learning method can be flexibly set according to actual conditions.

[0109] Exemplarily, in some embodiments, an angle value corresponding to a steering wheel angle and a lateral acceleration of the vehicle is searched for in preset angle mapping data of a motor controller as a rear wheel jamming angle of the vehicle, wherein the angle mapping data includes a plurality of preset variables and angle values ​​corresponding to each preset variable, the preset variables include a preset steering wheel angle and a preset lateral acceleration, and the angle mapping data may be chart data or table data, but is not limited thereto.

[0110] It should be understood that, in the process of the rear wheel returning to the neutral position, the slave motor controller continuously calculates the rear wheel stuck angle and updates the first rear wheel steering signal until the rear wheel returns to the neutral position.

[0111] In some embodiments, reference Figure 4 The redundant steering system 200 may include a domain controller 220 and a front wheel steering system 210. The front wheel steering system 210 may include a main front wheel steering subsystem 213. The domain controller 220 is connected to the main front wheel steering subsystem 213 and the connection component 300, respectively, wherein: The main front wheel steering subsystem 213 is used to obtain a second rear wheel steering signal of the vehicle according to the steering wheel angle and the lateral acceleration and output it to the domain controller 220 when a rear wheel steering system 100 failure is detected and the secondary front wheel steering subsystem 211 is invalid; The domain controller 220 is used to control the connection component 300 to be in an open state when receiving the second rear-wheel steering signal, and control the rear-wheel steering system 100 according to the second rear-wheel steering signal so that the rear-wheel steering system 100 drives the rear wheels to return to the neutral position.

[0112] In this embodiment, for the front-wheel steering system 210 with a redundant architecture, during the driving of the vehicle, the front-wheel steering subsystem 211 may fail due to a fault. In this case, the rear-wheel steering of the vehicle cannot be taken over and controlled by the redundant takeover control method provided above. In addition, there are still some front-wheel steering systems 210 that do not have a redundant architecture. Such front-wheel steering systems 210 often use a single front-wheel steering subsystem to achieve front-wheel steering control. In this case, the rear-wheel steering of the vehicle cannot be taken over and controlled by the redundant takeover control method provided above.

[0113] In view of the above situation, this embodiment provides another redundant takeover control method for the rear wheel steering of the vehicle, that is, when a fault of the rear wheel steering system 100 is detected, the main front wheel steering subsystem 213 for implementing the front wheel steering control is combined with other domain controllers 220 of the vehicle to realize redundant takeover control of the rear wheel steering system 100, thereby driving the rear wheels of the vehicle to return to the neutral position quickly and accurately. Specifically, in this embodiment, the redundant steering system 200 may include a domain controller 220 and a front wheel steering system 210, and the front wheel steering system 210 may include a main front wheel steering subsystem 213, and the domain controller 220 is respectively connected to the main front wheel steering subsystem 213 and the connection component 300. When the connection component 300 is in an open state, the domain controller 220 is electrically connected to the rear wheel steering system 100 through the connection component 300, and when the connection component 300 is in a closed state, the domain controller 220 is disconnected from the rear wheel steering system 100. In the redundant steering system 200, when a fault in the rear-wheel steering system 100 is detected and the secondary front-wheel steering subsystem 211 is invalid, the primary front-wheel steering subsystem 213 obtains a second rear-wheel steering signal of the vehicle according to the steering wheel angle and the lateral acceleration and outputs it to the domain controller 220. The domain controller 220 receives the second rear-wheel steering signal, controls the connection component 300 to be in an open state, and controls the rear-wheel steering system 100 according to the second rear-wheel steering signal so that the rear-wheel steering system 100 drives the rear wheels to return to the neutral position.

[0114] It can be seen that when the rear-wheel steering system 100 fault is detected in this embodiment, the rear-wheel steering control of the vehicle is taken over by the existing main front-wheel steering subsystem 213 and the existing domain controller 220, thereby realizing redundant takeover control of the vehicle's rear-wheel steering without adding new vehicle hardware. In this way, the amount of hardware for the rear-wheel steering function can be effectively reduced, and the hardware cost of the vehicle can be reduced. In addition, the rear-wheel steering system 100 is controlled from the front-wheel steering subsystem 211 to return the rear wheels to the neutral position. In this way, not only can the risk of lateral movement of the vehicle as a whole be effectively reduced, the phenomenon of lateral movement of the vehicle as a whole during driving can be reduced, and the difficulty of driving operation of the vehicle can be reduced, but also the possibility of abnormal four-wheel alignment of the vehicle can be reduced, and the degree of wear on the rear wheels of the vehicle can be reduced, thereby improving the driving safety of the vehicle.

[0115] It should be noted that the second rear-wheel steering signal is used to control the domain controller 220 to drive the rear-wheel steering system 100, so that the rear-wheel steering system 100 drives the rear wheels to return to the neutral position.

[0116] It should be noted that the above-mentioned invalidation of the slave front-wheel steering subsystem 211 includes two situations. One situation is that the slave front-wheel steering subsystem 211 in the front-wheel steering system 210 with a redundant architecture fails. The other situation is that the front-wheel steering system 210 is only equipped with a main front-wheel steering subsystem 213 but not with a slave front-wheel steering subsystem 211, that is, the front-wheel steering system 210 does not have a redundant architecture.

[0117] It is understandable that the fault detection method of the above-mentioned rear-wheel steering system 100 can be set according to actual conditions, and this embodiment does not limit this. For example, during the driving process of the vehicle, the rear-wheel steering system 100 performs self-checking processing. If the rear-wheel steering system 100 detects that it has a preset rear-wheel steering fault, the rear-wheel steering system 100 sends a fault signal, and the main front-wheel steering subsystem 213 receives the fault signal and regards that the rear-wheel steering system 100 of the vehicle has been detected. For another example, during the driving process of the vehicle, the main front-wheel steering subsystem 213 or the rear-wheel steering system 100 detects whether the rear-wheel steering system 100 is faulty based on the steering wheel angle and lateral acceleration of the vehicle during driving. The implementation of the above example is the same as that recorded in the above embodiment, and it will not be repeated here.

[0118] It should be noted that the main front wheel steering subsystem 213 may be any electronic device, mechanical device or a combination of the two for controlling the steering of the front wheels of the vehicle and obtaining the second rear wheel steering signal of the vehicle according to the steering wheel angle and the lateral acceleration and outputting it to the domain controller 220.

[0119] For example, in some embodiments, the structure of the main front wheel steering subsystem 213 can be similar to the structure of the slave front wheel steering subsystem 211 in the aforementioned embodiment, that is, the main front wheel steering subsystem 213 can include a main motor controller and a main motor drive module, the main motor controller is connected to the main motor drive module and the domain controller 220 respectively, and the main motor drive module is connected to the front wheel drive motor 212 in the front wheel steering system 210. It should be understood that the main motor controller and the main motor drive module can be an electronic control unit or a micro control unit, which can be flexibly set according to actual conditions. In the main front-wheel steering subsystem 213, the main motor controller is used to control the front-wheel drive motor 212 through the main motor drive module to achieve front-wheel steering; in addition, the main motor controller is also used to obtain a second rear-wheel steering signal based on the steering wheel angle and lateral acceleration and output it to the domain controller 220 when a fault in the rear-wheel steering system 100 is detected and the front-wheel steering subsystem 211 is invalid. The domain controller 220 receives the second rear-wheel steering signal, controls the connection component 300 to open, and controls the rear-wheel steering system 100 according to the second rear-wheel steering signal to return the rear wheels to the neutral position.

[0120] It is understood that the operation specifically used to be performed by the main front wheel steering subsystem 213 when it is used to obtain the second rear wheel steering signal of the vehicle according to the steering wheel angle and the lateral acceleration is the same as the operation specifically used to be performed by the motor controller when it is used to obtain the first rear wheel steering signal of the vehicle according to the steering wheel angle and the lateral acceleration in the aforementioned embodiment, and no further description is given for this. It should be understood that in the process of the rear wheel returning to the neutral position, the main front wheel steering subsystem 213 continues to calculate the rear wheel stuck angle and update the second rear wheel steering signal until the rear wheel returns to the neutral position.

[0121] It should be noted that the domain controller 220 may be any electronic device for controlling the connection component 300 to be turned on and controlling the rear-wheel steering system 100 according to a signal sent by the main front-wheel steering system 210 .

[0122] It is understandable that the type of the domain controller 220 can be set according to actual conditions, and this embodiment does not specifically limit this. For example, the domain controller 220 can be a body domain controller 220; or, the domain controller 220 can be a cockpit domain controller 220, but is not limited thereto.

[0123] It is understandable that the control method of the above-mentioned domain controller 220 on the connection component 300 can be set according to actual conditions, and this embodiment does not limit this.

[0124] Exemplarily, in some embodiments, the connection component 300 is an electromagnetic relay, and the connection component 300 is electrically connected to the domain controller 220. When the rear-wheel steering system 100 is detected to be normal, the main front-wheel steering subsystem 213 does not send a second rear-wheel steering signal, and the domain controller 220 does not output current to the connection component 300 due to not receiving the second rear-wheel steering signal, so that the connection component 300 remains in a closed state, and the domain controller 220 is disconnected from the rear-wheel steering system 100; and when a fault in the rear-wheel steering system 100 is detected, the main front-wheel steering subsystem 213 sends a second rear-wheel steering signal, and the domain controller 220 outputs current to the connection component 300 due to receiving the second rear-wheel steering signal, so that the connection component 300 is in an open state, and the domain controller 220 is electrically connected to the rear-wheel steering system 100 through the connection component 300.

[0125] Exemplarily, in some embodiments, the connection component 300 is an NPN bipolar junction transistor, the collector of the connection component 300 is connected to the domain controller 220, the emitter of the connection component 300 is grounded, and the collector of the connection component 300 is connected to the rear-wheel steering system 100. When a fault in the rear-wheel steering system 100 is detected, the main front-wheel steering subsystem 213 sends a second rear-wheel steering signal, and the domain controller 220 outputs a high-level signal to the collector of the connection component 300 due to receiving the second rear-wheel steering signal. The connection component 300 is in an on state, i.e., it is turned on, and the domain controller 220 is electrically connected to the rear-wheel steering system 100 through the connection component 300; when it is detected that the rear-wheel steering system 100 is normal, the main front-wheel steering subsystem 213 does not send the second rear-wheel steering signal, and the domain controller 220 outputs a low-level signal to the collector of the connection component 300 due to not receiving the second rear-wheel steering signal. The connection component 300 is in a closed state, i.e., it is cut off, and the domain controller 220 and the rear-wheel steering system 100 are disconnected.

[0126] Secondly, the rear wheel steering fault handling method provided in the embodiment of the present application is described below in conjunction with the accompanying drawings.

[0127] The rear-wheel steering fault handling method provided in the embodiment of the present application can be applied to a terminal, a server, or software running in a terminal or a server. The terminal can be a tablet computer, a laptop computer, a desktop computer, etc., but is not limited to this. The server can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content delivery networks (Content Delivery Network, CDN), and big data and artificial intelligence platforms. In addition, the server can also be a node server in a blockchain network, but is not limited to this. Among them, blockchain is a new application model of computer technologies such as distributed data storage, point-to-point transmission, consensus mechanism, and encryption algorithm.

[0128] Reference Figure 1 and Figure 5 The above rear wheel steering fault processing method is applied to the above rear wheel steering fault processing device, and the method may include the following steps S101-S102: S101, when a rear wheel steering system failure is detected, the redundant steering system control connection component is in an open state, so that the redundant steering system is electrically connected to the rear wheel steering system; S102, controlling the rear-wheel steering system according to the steering wheel angle and lateral acceleration of the vehicle through the redundant steering system, so that the rear-wheel steering system drives the rear wheels to return to a preset neutral position.

[0129] In the embodiment of the present application, when the rear-wheel steering system 100 is normal, the rear-wheel steering system 100 can respond to the rear-wheel steering command of the upper controller and control the steering of the rear wheels of the vehicle; and when the rear-wheel steering system 100 fails, the rear-wheel steering system 100 often cannot respond to the rear-wheel steering command of the upper controller, causing the rear wheels of the vehicle to be unable to steer. In this regard, the relevant technology usually locks the rear wheels at the corner position when the function fails. This fault handling method is more likely to increase the risk of lateral movement of the vehicle and aggravate the tire wear of the rear wheels. Generally, in the case of a rear-wheel steering system 100 failure, although the rear-wheel steering system 100 cannot respond to the rear-wheel steering command of the upper controller, the steering drive function of the rear wheel of the rear wheel of the rear wheel steering system 100 is normal. Therefore, in the embodiment of the present application, when a rear-wheel steering system 100 failure of the vehicle is detected, the rear-wheel steering system 100 is controlled by the redundant steering system 200, so as to drive the rear wheels of the vehicle to return to the preset neutral position quickly and accurately through the rear-wheel steering system 100. In this way, on the one hand, the embodiment of the present application does not require additional arrangements for controlling the rear wheels to return to the neutral position, which can effectively reduce the amount of hardware for the rear-wheel steering function and reduce the hardware cost of the vehicle; on the other hand, the embodiment of the present application can control the rear wheels to return to the preset neutral position, which can not only effectively reduce the risk of lateral movement of the vehicle, reduce the phenomenon of lateral movement of the vehicle while driving, and reduce the difficulty of driving the vehicle, but also reduce the possibility of abnormal four-wheel alignment of the vehicle, reduce the degree of wear on the rear wheels of the vehicle, thereby improving the driving safety of the vehicle.

[0130] In some embodiments, reference Figure 3 The redundant steering system 200 may include a front wheel steering system 210, and the front wheel steering system 210 may include a front wheel steering subsystem 211, and the front wheel steering subsystem 211 is connected to the connection component 300; in the above step S102, the rear wheel steering system is controlled according to the steering wheel angle and lateral acceleration of the vehicle by the redundant steering system, which may include: When a rear-wheel steering system failure is detected and the front-wheel steering subsystem is effective, the front-wheel steering subsystem controls the connection component to be in an open state so that the front-wheel steering subsystem is electrically connected to the rear-wheel steering system; The rear-wheel steering system is controlled by the front-wheel steering subsystem based on the steering wheel angle and lateral acceleration.

[0131] In some embodiments, reference Figure 3The front-wheel steering subsystem 211 may include a motor controller and a motor drive module, and the motor drive module is connected to the motor controller and the connection component 300 respectively; the rear-wheel steering system is controlled by the front-wheel steering subsystem according to the steering wheel angle and the lateral acceleration, which may include: The slave motor controller obtains a first rear wheel steering signal of the vehicle according to the steering wheel angle and the lateral acceleration and outputs the signal to the slave motor drive module; When a first rear-wheel steering signal is received from the motor drive module, the connection component is controlled to be in an open state by the motor drive module so that the domain controller is electrically connected to the rear-wheel steering system, and the rear-wheel steering system is controlled according to the first rear-wheel steering signal.

[0132] In some embodiments, reference Figure 4 The redundant steering system 200 may include a domain controller 220 and a front wheel steering system 210, the front wheel steering system 210 may include a main front wheel steering subsystem 213, and the domain controller 220 is connected to the main front wheel steering subsystem 213 and the connection component 300 respectively; in the above step S102, controlling the rear wheel steering system according to the steering wheel angle and lateral acceleration of the vehicle through the redundant steering system may include: When a rear-wheel steering system failure is detected and the secondary front-wheel steering subsystem is invalid, the secondary rear-wheel steering signal of the vehicle is obtained by the primary front-wheel steering subsystem according to the steering wheel angle and lateral acceleration and output to the domain controller; When the domain controller receives the second rear-wheel steering signal, the domain controller controls the connection component to be in an open state so that the domain controller is electrically connected to the rear-wheel steering system, and the rear-wheel steering system is controlled according to the second rear-wheel steering signal.

[0133] The contents of the above system embodiments are all applicable to the present method embodiments. The functions specifically implemented by the present method embodiments are the same as those of the above system embodiments, and the beneficial effects achieved are also the same as those achieved by the above system embodiments.

[0134] In addition, refer to Figure 6 , the embodiment of the present application further provides a vehicle, the vehicle comprising: at least one processor 201; At least one memory 202, used to store at least one program; When at least one program is executed by at least one processor 201, at least one processor 201 implements the above rear wheel steering fault processing method.

[0135] It should be noted that the above-mentioned vehicles can be private cars, such as sedans, sport utility vehicles (SUV), multi-purpose vehicles (MPV) or pickup trucks, etc., or they can be commercial vehicles, such as vans, buses, small trucks or large trailers, etc. They can also be gasoline vehicles or new energy vehicles such as hybrid and pure electric vehicles.

[0136] It should be noted that the memory 202, as a non-transient network system, can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory 202 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory 202 may optionally include a memory 202 remotely arranged relative to the processor 201, and these remote memories 202 may be connected to the processor 201 via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0137] It is understandable that the memory 202 can be implemented in the form of a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 202 can store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program codes are stored in the memory 202, and the processor 201 calls and executes the methods of the embodiments of this application.

[0138] It can be understood that the processor 201 can be implemented by a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solution provided in the embodiments of the present application.

[0139] In some embodiments, the vehicle may further include: Input / output interface, used to realize information input and output; Communication interface, used to realize communication interaction between this device and other devices. Communication can be realized through wired methods (such as USB, network cable, etc.) or wireless methods (such as mobile network, WIFI, Bluetooth, etc.); A bus that transfers information between various components of the device (e.g., processor 201, memory 202, input / output interfaces, and communication interfaces); It is understandable that the processor 201, the memory 202, the input / output interface and the communication interface can achieve communication connection with each other inside the device through a bus.

[0140] The contents of the above method embodiments are all applicable to the present vehicle embodiment. The functions specifically implemented by the present vehicle embodiment are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0141] The rear-wheel steering fault handling system, method and vehicle in the embodiments of the present application are described in detail below in conjunction with a specific application implementation process.

[0142] Reference Figure 2 The rear wheel steering system 100 of the vehicle generally includes a rear wheel drive motor 110, a rear wheel motor controller 120 and a rear wheel motor drive module 130. In the rear wheel steering system 100, the rear wheel motor controller 120 is electrically connected to the rear wheel motor drive module 130, and the rear wheel motor drive module 130 is electrically connected to the rear wheel drive motor 110. When the rear wheel steering system 100 is normal, the rear wheel motor controller 120 receives the rear wheel steering instruction from the upper controller, processes the rear wheel steering instruction, obtains the steering angle of the rear wheel and sends it to the rear wheel motor drive module 130, and the rear wheel motor drive module 130 controls the rear wheel drive motor 110 based on the steering angle, and the rear wheel drive motor 110 drives the rear wheel to steer when rotating, so as to adjust the steering angle of the rear wheel to the steering angle.

[0143] The cause of the rear wheel steering system 100 failure is mostly due to at least one of the rear wheel motor controller 120 or the rear wheel motor drive module 130 failure, that is, the rear wheel motor controller 120 failure, the rear wheel motor drive module 130 failure, or both the rear wheel motor controller 120 and the rear wheel motor drive module 130 failure. Therefore, when the rear wheel steering system 100 fails, the rear wheel drive motor 110 is often in a normal and usable state, that is, the steering drive function of the rear wheel of the rear wheel of the rear wheel steering system 100 is normally usable.

[0144] In this regard, refer to Figure 1 The rear-wheel steering fault handling system provided in the embodiment of the present application includes a rear-wheel steering system 100, a redundant steering system 200 and a connecting component 300. The connecting component 300 is a relay. In the event of a fault in the rear-wheel steering system 100, the connecting component 300 is in an open state so that the redundant steering system 200 is electrically connected to the rear-wheel steering system 100 through the connecting component 300 in the open state. At this time, the redundant steering system 200 will take over the rear-wheel steering control.

[0145] The configuration of the redundant steering system 200 is determined according to whether the front wheel steering system of the vehicle has a redundant configuration.

[0146] In some application scenarios, refer to Figure 4 The front wheel steering system 210 of the vehicle generally includes a front wheel drive motor 212, which is arranged at the front wheel of the vehicle and is used to drive the front wheel to steer. It is understandable that the front wheel drive motor 212 will drive the front wheel to steer when rotating. The type of the front wheel drive motor 212 can be flexibly set according to actual conditions. For example, the front wheel drive motor 212 can be a six-phase dual-winding drive motor, but is not limited to this. In addition, most of the current front wheel steering systems 210 are redundant architectures, that is, the front wheel steering system 210 can also include two subsystems: a main front wheel steering subsystem 213 and a slave front wheel steering subsystem 211. Under this redundant architecture, when the main front wheel steering subsystem 213 is normal, the main front wheel steering subsystem 213 is used to control the front wheel drive motor 212 to achieve the front wheel steering control of the vehicle, and the slave front wheel steering subsystem 211 is idle; when the main front wheel steering subsystem 213 fails, the main front wheel steering subsystem 213 is disabled due to the failure, and the slave front wheel steering subsystem 211 takes over to perform the front wheel steering function, that is, the slave front wheel steering subsystem 211 is used to control the front wheel drive motor 212 to achieve the front wheel steering control of the vehicle.

[0147] Therefore, an embodiment of the present application provides a redundant takeover control method for the rear-wheel steering of a vehicle. In this redundant takeover control method, the redundant steering system 200 includes a front-wheel steering system 210. The front-wheel steering system 210 has a redundant architecture, that is, the front-wheel steering system 210 includes a main front-wheel steering subsystem 213 and a slave front-wheel steering subsystem 211. When a fault is detected in the rear-wheel steering system 100, the main front-wheel steering subsystem 213 performs the front-wheel steering control normally, and the idle and available slave front-wheel steering subsystem 211 takes over the rear-wheel steering control.

[0148] Specifically, the front-wheel steering subsystem 211 includes a slave motor drive module and a slave motor controller. The slave motor drive module is connected to the connecting component 300, that is, when the connecting component 300 is in the on state, the slave motor drive module is electrically connected to the rear-wheel drive motor 110 in the rear-wheel steering system 100, and when the connecting component 300 is in the off state, the slave motor drive module is disconnected from the rear-wheel drive motor 110. In this redundant takeover control mode, the main front wheel steering subsystem 213 performs front wheel steering control normally, and the slave motor controller determines that the rear wheel steering system 100 is faulty through the steering wheel angle and lateral acceleration of the vehicle during driving, and at the same time determines that the slave front wheel steering subsystem 211 is valid. At this time, the slave motor controller obtains the rear wheel stuck angle of the vehicle through the steering wheel angle and lateral acceleration of the vehicle, generates a first rear wheel steering signal through the rear wheel stuck angle and outputs it to the slave motor drive module, and the slave motor drive module receives the first rear wheel steering signal, disconnects from the front wheel drive motor 212 and opens the connection component 300, and then controls the rear wheel drive motor 110 according to the first rear wheel steering signal, and the rear wheel drive motor 110 will control the rear wheel steering to return to the neutral position.

[0149] Of course, in other application scenarios, even if the front-wheel steering system 210 is equipped with a redundant architecture, it is inevitable that the front-wheel steering subsystem 211 will fail due to a fault during vehicle driving. In this case, the vehicle's rear-wheel steering cannot be taken over and controlled by the redundant takeover control method provided above. In addition, there are still some front-wheel steering systems 210 that do not have a redundant architecture. Such front-wheel steering systems 210 often use a single front-wheel steering subsystem to achieve front-wheel steering control. In this case, the vehicle's rear-wheel steering cannot be taken over and controlled by the redundant takeover control method provided above.

[0150] In this regard, the embodiment of the present application provides another redundant takeover control method for rear wheel steering of a vehicle, referring to Figure 4 In this redundant control mode, the redundant steering system 200 includes a front-wheel steering system 210 and a domain controller 220. The front-wheel steering system 210 can be a front-wheel steering system 210 with a redundant architecture but with a failure of the front-wheel steering subsystem 211, or a front-wheel steering system 210 without a redundant architecture. It should be understood that regardless of whether the front-wheel steering system 210 has a redundant architecture, the front-wheel steering system 210 must include a main front-wheel steering subsystem 213 for performing front-wheel steering control. When a failure of the rear-wheel steering system 100 is detected, the main front-wheel steering subsystem 213 and the domain controller 220 can jointly take over the rear-wheel steering control.

[0151] Specifically, the domain controller 220 is connected to the main motor controller and the connection component 300, that is, when the connection component 300 is in an open state, the domain controller 220 is electrically connected to the rear-wheel drive motor 110 through the connection component 300, and when the connection component 300 is in a closed state, the domain controller 220 is disconnected from the rear-wheel drive motor 110; the main front-wheel steering subsystem 213 includes a main motor controller and a main motor drive module, the main motor controller is connected to the main motor drive module and the domain controller 220, respectively, and the main motor drive module is connected to the front-wheel drive motor 212 in the front-wheel steering system 210. In this redundant takeover control mode, the main motor controller controls the front wheel drive motor 212 through the main motor drive module to achieve front wheel steering. During this front wheel steering control, the main motor controller determines the failure of the rear wheel steering system 100 through the steering wheel angle and lateral acceleration of the vehicle during driving, and at the same time determines that the front wheel steering subsystem 211 is invalid. At this time, the main motor controller obtains the rear wheel stuck angle of the vehicle according to the steering wheel angle and lateral acceleration, generates a second rear wheel steering signal through the rear wheel stuck angle and outputs it to the domain controller 220. The domain controller 220 receives the second rear wheel steering signal and controls the connection component 300 to open, and then controls the rear wheel steering system 100 according to the second rear wheel steering signal to return the rear wheels to the neutral position.

[0152] It should be understood that the above two redundant takeover control methods can be in parallel. For example, when the front-wheel steering system 210 has a redundant architecture and the front-wheel steering subsystem 211 is effective, the first redundant takeover control method of the rear-wheel steering is adopted to perform the rear-wheel steering control; when the front-wheel steering system 210 does not have a redundant architecture, the second redundant takeover control method of the rear-wheel steering is adopted to perform the rear-wheel steering control.

[0153] Of course, the above two redundant takeover control methods can also be integrated into the same redundant steering system, such as Figure 7 As shown, when the front-wheel steering system has a redundant architecture and the front-wheel steering subsystem is effective, the first redundant takeover control method of the rear-wheel steering is used to perform the rear-wheel steering control; when the front-wheel steering system has a redundant architecture but the front-wheel steering subsystem is invalid, the second redundant takeover control method of the rear-wheel steering is used to perform the rear-wheel steering control.

[0154] In summary, it can be seen that, on the one hand, the embodiment of the present application does not require additional arrangement of a device for controlling the rear wheels to return to the neutral position, and only requires an additional wiring harness connection to control the rear wheels to return to the neutral position, which can effectively reduce the number of hardware for the rear wheel steering function and reduce the hardware cost of the vehicle. On the other hand, by controlling the rear wheels to return to the preset neutral position, the embodiment of the present application can not only effectively reduce the risk of lateral movement of the entire vehicle, reduce the phenomenon of lateral movement of the entire vehicle when driving, reduce the difficulty of driving operation of the vehicle, ensure the normal driving posture of the vehicle, but also reduce the possibility of abnormal four-wheel alignment of the vehicle, reduce the degree of wear on the rear wheels of the vehicle, and thus improve the driving safety of the vehicle.

[0155] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present application, and that the scope of the present application is defined by the claims and their equivalents.

[0156] The above is a specific description of the preferred implementation of the present application, but the present application is not limited to the described embodiments. Technical personnel familiar with the field may make various equivalent modifications or substitutions without violating the spirit of the present application. These equivalent modifications or substitutions are all included in the scope defined by the claims of the present application.

Claims

1. A rear wheel steering fault handling system, characterized in that: include: Rear wheel steering system, used to drive the rear wheels of the vehicle for steering; a redundant steering system, for controlling the connection assembly to be in an open state when a failure of the rear-wheel steering system is detected, and controlling the rear-wheel steering system according to the steering wheel angle and lateral acceleration of the vehicle, so that the rear-wheel steering system drives the rear wheels to return to a preset neutral position; A connection component is configured to electrically connect the rear wheel steering system and the redundant steering system in the open state.

2. The rear wheel steering fault processing system according to claim 1, characterized in that: The redundant steering system includes a front wheel steering system, the front wheel steering system includes a slave front wheel steering subsystem, and the slave front wheel steering subsystem is connected to the connection component; The front-wheel steering subsystem is used to control the connection component to be in the open state when a fault of the rear-wheel steering system is detected and the front-wheel steering subsystem is effective, so that the front-wheel steering subsystem is electrically connected to the rear-wheel steering system; The front-wheel steering subsystem is also used to control the rear-wheel steering system according to the steering wheel angle and the lateral acceleration when a fault in the rear-wheel steering system is detected and the front-wheel steering subsystem is valid, so that the rear-wheel steering system drives the rear wheels to return to the neutral position.

3. The rear wheel steering fault processing system according to claim 2, characterized in that: The slave front wheel steering subsystem comprises a slave motor controller and a slave motor drive module, wherein the slave motor drive module is connected to the slave motor controller and the connecting component respectively; The slave motor controller is used for obtaining a first rear wheel steering signal of the vehicle according to the steering wheel angle and the lateral acceleration and outputting the signal to the slave motor driving module when a rear wheel steering system failure is detected and the slave front wheel steering subsystem is effective; The slave motor drive module is used to control the connection component to be in the open state when receiving the first rear-wheel steering signal, and control the rear-wheel steering system according to the first rear-wheel steering signal so that the rear-wheel steering system drives the rear wheels to return to the neutral position.

4. The rear wheel steering fault processing system according to claim 3, characterized in that: When the slave motor controller is used to obtain the first rear wheel steering signal of the vehicle according to the steering wheel angle and the lateral acceleration, it is specifically used to perform the following operations: Obtaining a rear wheel stuck angle of the vehicle according to a steering wheel angle and a lateral acceleration of the vehicle; The first rear wheel steering signal is obtained according to the rear wheel stuck angle.

5. The rear wheel steering fault processing system according to claim 1, characterized in that: The redundant steering system comprises a domain controller and a front wheel steering system, the front wheel steering system comprises a main front wheel steering subsystem, and the domain controller is connected to the main front wheel steering subsystem and the connection component respectively; The main front wheel steering subsystem is used for obtaining a second rear wheel steering signal of the vehicle according to the steering wheel angle and the lateral acceleration and outputting the signal to the domain controller when a fault of the rear wheel steering system is detected and the secondary front wheel steering subsystem is invalid; The domain controller is used to control the connection component to be in the open state when receiving the second rear-wheel steering signal, and control the rear-wheel steering system according to the second rear-wheel steering signal so that the rear-wheel steering system drives the rear wheels to return to the neutral position.

6. A method for handling rear wheel steering failure, characterized in that: Applied to the rear wheel steering fault processing system according to any one of claims 1 to 5, the method comprises the following steps: In the case where a failure of the rear-wheel steering system is detected, controlling the connection component to be in the open state through the redundant steering system so that the redundant steering system is electrically connected to the rear-wheel steering system; The redundant steering system controls the rear-wheel steering system according to the steering wheel angle and lateral acceleration of the vehicle, so that the rear-wheel steering system drives the rear wheels to return to a preset neutral position.

7. The rear wheel steering fault processing method according to claim 6, characterized in that: The redundant steering system includes a front wheel steering system, the front wheel steering system includes a slave front wheel steering subsystem, and the slave front wheel steering subsystem is connected to the connection component; The controlling of the rear wheel steering system according to the steering wheel angle and lateral acceleration of the vehicle by the redundant steering system comprises: When a fault of the rear-wheel steering system is detected and the secondary front-wheel steering subsystem is effective, the secondary front-wheel steering subsystem controls the connection component to be in the open state so that the secondary front-wheel steering subsystem is electrically connected to the rear-wheel steering system; The rear-wheel steering system is controlled by the front-wheel steering subsystem according to the steering wheel angle and the lateral acceleration.

8. The rear wheel steering fault processing method according to claim 7, characterized in that: The slave front wheel steering subsystem comprises a slave motor controller and a slave motor drive module, wherein the slave motor drive module is connected to the slave motor controller and the connecting component respectively; The controlling the rear wheel steering system according to the steering wheel angle and the lateral acceleration by the front wheel steering subsystem includes: Obtaining a first rear wheel steering signal of the vehicle according to the steering wheel angle and the lateral acceleration through the slave motor controller and outputting the signal to the slave motor driving module; When the slave motor drive module receives the first rear-wheel steering signal, the slave motor drive module controls the connection component to be in the open state, so that the domain controller is electrically connected to the rear-wheel steering system, and the rear-wheel steering system is controlled according to the first rear-wheel steering signal.

9. The rear wheel steering fault processing method according to claim 6, characterized in that: The redundant steering system comprises a domain controller and a front wheel steering system, the front wheel steering system comprises a main front wheel steering subsystem, and the domain controller is connected to the main front wheel steering subsystem and the connection component respectively; The controlling of the rear wheel steering system according to the steering wheel angle and lateral acceleration of the vehicle by the redundant steering system comprises: When a rear-wheel steering system failure is detected and the slave front-wheel steering subsystem is invalid, the master front-wheel steering subsystem obtains a second rear-wheel steering signal of the vehicle according to the steering wheel angle and the lateral acceleration and outputs the signal to the domain controller; When the domain controller receives the second rear-wheel steering signal, the domain controller controls the connection component to be in the open state, so that the domain controller is electrically connected to the rear-wheel steering system, and controls the rear-wheel steering system according to the second rear-wheel steering signal.

10. A vehicle, characterized in that: include: at least one processor; at least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements the rear-wheel steering fault processing method as described in any one of claims 6 to 9.

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