Wheel turning angle control method and device and vehicle

Abstract

The invention provides a wheel turning angle control method and device and a vehicle. The method comprises the steps that a steering wheel turning angle value and a vehicle roll angle corresponding to the steering wheel turning angle value are obtained; when the roll angle is larger than or equal to a preset threshold value, a rear wheel rotation angle initial value of the vehicle at the current running speed is obtained; according to the method, before the dangerous working condition occurs, the rear wheels of the vehicle are intervened in advance, rollover of the vehicle can be effectively prevented, and the driving safety of the vehicle is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicles, and in particular to a wheel angle control method, device and vehicle. Background Art

[0002] Today's vehicles have changed from a means of transportation to a toy for people's entertainment. Many people buy cars not for their daily needs, but for travel and entertainment. For example, off-road vehicles have always been popular among young consumers. Off-road vehicles can go to places that ordinary vehicles cannot reach, and can bring consumers great driving pleasure and excitement. For example, desert off-roading is a place that many people pursue and yearn for, but desert off-roading requires more desert driving experience. Novice off-road drivers are very likely to get stuck in the desert.

[0003] At present, when a vehicle is driving on a flat road, ESP (Electronic Stability Program) is used to control the vehicle's driving performance. For example, when the roll angle is greater than the theoretical roll angle, an alarm signal is sent, and the theoretical roll angle is sent to the angle limitation unit to calculate the wheel angle. The wheel angle is then controlled according to ESP to ensure smooth driving of the vehicle.

[0004] However, when the vehicle is driving off-road in the desert, the ESP function is turned off and a dedicated driving mode is set. Through pre-calibration, it can ensure that the vehicle can adapt to more scenarios and working conditions, but it cannot fully remind the driver of the dangers of desert driving, and cannot actively intervene in advance before dangerous conditions occur, which can easily lead to driver error and cause safety accidents. Summary of the invention

[0005] The present invention aims to solve at least one of the technical problems existing in the prior art.

[0006] To this end, an object of the present invention is to provide a wheel angle control method, which intervenes in the rear wheels of a vehicle in advance before a dangerous working condition occurs, thereby effectively preventing the vehicle from rolling over and improving the driving safety of the vehicle.

[0007] To this end, a second objective of the present invention is to provide a wheel angle control device.

[0008] To this end, a third object of the present invention is to provide a vehicle.

[0009] In order to achieve the above-mentioned purpose, an embodiment of the first aspect of the present invention proposes a wheel angle control method, which includes: obtaining a steering wheel angle value and a roll angle of the vehicle corresponding to the steering wheel angle value; when the roll angle is greater than or equal to a preset threshold value, obtaining an initial value of the rear wheel angle of the vehicle at the current driving speed; and controlling the rear wheel angle of the vehicle according to the steering wheel angle value and the initial value of the rear wheel angle.

[0010] According to the wheel angle control method of the embodiment of the present invention, the roll angle of the vehicle corresponding to the steering wheel angle value is obtained in real time, and the relationship between the roll angle and the preset threshold value is compared, so as to monitor the driving state of the vehicle in real time. When the roll angle is greater than or equal to the preset threshold value, it is considered that the vehicle is at risk of rollover. The rear wheel angle of the vehicle is controlled in real time according to the steering wheel angle value and the initial value of the rear wheels of the vehicle, so as to realize active adjustment of the rear wheels of the vehicle. By intervening in the rear wheels of the vehicle in advance before the dangerous working condition occurs, the vehicle can be effectively prevented from rolling over and the driving safety of the vehicle can be improved.

[0011] In some embodiments, the rear wheel steering angle of the vehicle is controlled according to the steering wheel angle value and the initial value of the rear wheel steering angle, including: determining an angle compensation value of the initial rear wheel steering angle according to the steering wheel angle value and a proportional coefficient between the rear wheel steering angle and the steering wheel angle value; determining the rear wheel steering angle of the vehicle according to the angle compensation value and the initial rear wheel steering angle, and controlling the rear wheels of the vehicle to adjust to the rear wheel steering angle.

[0012] In some embodiments, determining the rear wheel steering angle of the vehicle according to the steering angle compensation value and the rear wheel initial steering angle includes:

[0013] θ=σ 后轮转角初始值 +θ 方向盘转角值 *k

[0014] Wherein, θ is the rear wheel steering angle, σ is the initial value of the rear wheel steering angle, θ is the steering wheel angle value, k is the proportional coefficient between the rear wheel steering angle and the steering wheel angle value, and θ*k is the steering angle compensation value.

[0015] In some embodiments, before obtaining the roll angle of the vehicle, it also includes: determining whether the anti-rollover function of the vehicle is turned on when the vehicle is powered on; if so, obtaining the roll angle of the vehicle.

[0016] In some embodiments, when the roll angle is less than the preset threshold value and the anti-rollover function of the vehicle is not turned on, the rear wheels of the vehicle are controlled to adjust to a preset turning angle.

[0017] In some embodiments, controlling the rear wheels of the vehicle to adjust to a preset turning angle includes: adjusting the rear wheels of the vehicle to the preset turning angle according to a preset turning angle change rate.

[0018] In some embodiments, obtaining the roll angle of the vehicle corresponding to the steering wheel angle value includes: obtaining lateral acceleration and driving parameters; and determining the roll angle of the vehicle according to the steering wheel angle value, the lateral acceleration and the driving parameters.

[0019] In some embodiments, the driving parameters include: the driving speed of the vehicle, the wheelbase of the vehicle, the mass of the vehicle, and the ratio of the rear wheel angle to the steering wheel angle value. The roll angle of the vehicle is determined according to the steering wheel angle value, the lateral acceleration and the driving parameters, including:

[0020]

[0021] Among them, d is the vehicle wheelbase, m is the vehicle mass, V is the driving speed, g is the acceleration of gravity, i is the ratio of the rear wheel angle to the steering wheel angle, θ is the steering wheel angle, and a y is the lateral acceleration, and δ is the roll angle.

[0022] In order to achieve the above-mentioned purpose, an embodiment of the second aspect of the present invention proposes a wheel angle control device, which includes: a first acquisition module, used to obtain a steering wheel angle value and a roll angle of the vehicle corresponding to the steering wheel angle value; a second acquisition module, used to obtain an initial value of the rear wheel angle of the vehicle at the current driving speed when the roll angle is greater than or equal to a preset threshold value; and a control module, used to control the rear wheel angle of the vehicle according to the steering wheel angle value and the initial value of the rear wheel angle.

[0023] The wheel angle control device according to the embodiment of the present invention obtains the roll angle of the vehicle corresponding to the steering wheel angle value in real time, compares the relationship between the roll angle and a preset threshold value, and monitors the driving state of the vehicle in real time. When the roll angle is greater than or equal to the preset threshold value, it is considered that the vehicle is at risk of rollover. The rear wheel angle of the vehicle is controlled in real time according to the steering wheel angle value and the initial value of the rear wheels of the vehicle, thereby realizing active adjustment of the rear wheels of the vehicle. By intervening in the rear wheels of the vehicle in advance before a dangerous condition occurs, the vehicle can be effectively prevented from rolling over, thereby improving the driving safety of the vehicle.

[0024] In order to achieve the above-mentioned object, an embodiment of a third aspect of the present invention provides a vehicle, comprising: a wheel angle control device as described in the above-mentioned embodiment.

[0025] According to the vehicle of the embodiment of the present invention, the rolling angle of the vehicle corresponding to the steering wheel angle value is acquired in real time, and the relationship between the rolling angle and the preset threshold value is compared to monitor the driving state of the vehicle in real time. When the rolling angle is greater than or equal to the preset threshold value, it is considered that the vehicle is at risk of rollover. The rear wheel angle of the vehicle is controlled in real time according to the steering wheel angle value and the initial value of the rear wheels of the vehicle to achieve active adjustment of the rear wheels of the vehicle. By intervening in the rear wheels of the vehicle in advance before the dangerous working condition occurs, the vehicle can be effectively prevented from rolling over and the driving safety of the vehicle can be improved.

[0026] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0028] Figure 1 is a flow chart of a wheel angle control method according to an embodiment of the present invention;

[0029] Figure 2 is a flow chart of a wheel angle control method according to an embodiment of the present invention;

[0030] Figure 3 is a structural block diagram of a wheel angle control device according to an embodiment of the present invention;

[0031] Figure 4 is a structural block diagram of a vehicle according to an embodiment of the present invention.

[0032] Reference numerals: wheel angle control device 2;

[0033] First acquisition module 21; second acquisition module 22; control module 23;

[0034] Vehicle 3. DETAILED DESCRIPTION

[0035] Embodiments of the present invention are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. Embodiments of the present invention are described in detail below.

[0036] Combine the following Figure 1 and Figure 2 A wheel angle control method according to an embodiment of the present invention is described.

[0037] like Figure 1 As shown, the wheel angle control method of the embodiment of the present invention at least includes steps S1 to S3.

[0038] Step S1, obtaining a steering wheel angle value and a roll angle of a vehicle corresponding to the steering wheel angle value.

[0039] In the embodiments, the cause of desert rollover accidents is mostly caused by user misoperation, usually when driving on a slope (commonly known as off-road rolling), the turning center of the vehicle is at the bottom of the pot, the centrifugal force of the vehicle is directed to the top of the pot, and the centrifugal force can overcome the component of the vehicle's gravity on the slope; if the user turns the steering wheel toward the top of the pot when off-road rolling, the turning center will be transferred to the top of the pot, and the centrifugal force will be directed toward the bottom of the pot. If the vehicle's driving speed is too high and the centrifugal force is too large, the vehicle is very likely to roll over.

[0040] Therefore, when the vehicle is powered on, the driving state of the vehicle can be monitored in real time through the relevant sensors on the vehicle, and the real-time posture information of the vehicle can be obtained. For example, within a preset period, such as 10ms, the steering wheel angle value θ is obtained once through the vehicle's steering wheel angle sensor, so that the corresponding roll angle δ is determined according to the steering wheel angle value θ. 侧倾角度 , by obtaining the vehicle's roll angle δ 侧倾角度 , able to determine the real-time driving status of the vehicle.

[0041] Step S2, when the roll angle is greater than or equal to a preset threshold value, obtaining an initial value of the rear wheel steering angle of the vehicle at the current driving speed.

[0042] The preset threshold value is the roll angle value at which the vehicle is about to roll over. By judging the relationship between the roll angle and the preset threshold value, it is possible to determine whether the vehicle is in a rollover limit state.

[0043] In an embodiment, the roll angle δ of the vehicle is determined 侧倾角度 Then, the roll angle δ of the vehicle is determined. 侧倾角度 The relationship between the value of the preset threshold value and the vehicle roll angle δ 侧倾角度 When it is greater than or equal to a preset threshold value, the vehicle is considered to be in a rollover limit state. The initial value of the rear wheel steering angle of the vehicle at the current driving speed can be obtained through relevant sensors on the vehicle, for example, denoted as σ, so as to control the rear wheel steering angle of the vehicle in real time according to the initial value of the rear wheel steering angle σ.

[0044] Step S3, controlling the rear wheel steering angle of the vehicle according to the steering wheel angle value and the initial value of the rear wheel steering angle.

[0045] In the embodiment, after determining the steering wheel angle value θ and the initial value σ of the rear wheel angle, the rear wheel angle of the vehicle is controlled in real time according to the steering wheel angle value θ and the initial value σ of the rear wheel angle, and the driving trajectory of the vehicle is changed until the rear wheels of the vehicle reach a safe turning angle. By intervening in the turning direction and magnitude of the rear wheels of the vehicle in advance before a dangerous condition occurs, it is prevented that an accident is caused by panic when the user encounters the risk of rollover.

[0046] According to the wheel angle control method of the embodiment of the present invention, the vehicle's driving state is monitored in real time by acquiring the vehicle's roll angle corresponding to the steering wheel angle value in real time and comparing the relationship between the roll angle and a preset threshold value. When the roll angle is greater than or equal to the preset threshold value, it is considered that the vehicle is at risk of rollover. The rear wheel angle of the vehicle is controlled in real time according to the steering wheel angle value and the initial value of the rear wheels of the vehicle to achieve active adjustment of the rear wheels of the vehicle. By intervening in the rear wheels of the vehicle in advance before a dangerous condition occurs, the vehicle can be effectively prevented from rolling over and the vehicle's driving safety can be improved.

[0047] In some embodiments, the rear wheel angle of a vehicle is controlled based on a steering wheel angle value and an initial value of the rear wheel angle, including: determining an angle compensation value of the initial rear wheel angle based on the steering wheel angle value and a proportional coefficient between the rear wheel angle and the steering wheel angle value; determining the rear wheel angle of the vehicle based on the angle compensation value and the initial rear wheel angle, and controlling the rear wheels of the vehicle to adjust to the rear wheel angle.

[0048] In an embodiment, after determining the steering wheel angle value θ and the initial value of the rear wheel angle σ, the angle compensation value of the initial value of the rear wheel angle σ is determined according to the steering wheel angle value θ and the proportional coefficient of the rear wheel angle to the steering wheel angle value, for example, denoted as k. After determining the angle compensation value, the initial rear wheel angle σ is compensated according to the angle compensation value to determine the rear wheel angle of the vehicle, for example, denoted as θ, thereby controlling the rear wheels of the vehicle to adjust to the rear wheel angle θ.

[0049] In some embodiments, determining the rear wheel steering angle of the vehicle according to the steering angle compensation value and the initial steering angle of the rear wheels includes:

[0050] θ=σ 后轮转角初始值 +θ 方向盘转角值 *k

[0051] Among them, θ is the rear wheel steering angle, σ is the initial value of the rear wheel steering angle, θ is the steering wheel angle value, k is the proportional coefficient between the rear wheel steering angle and the steering wheel angle value, and θ*k is the steering angle compensation value.

[0052] In the embodiment, the proportionality coefficient k of the rear wheel steering angle to the steering wheel steering angle value is the product of the ratio i of the rear wheel steering angle to the steering wheel steering angle value and the preset coefficient j, that is, k=i*j. When the direction of the steering wheel steering angle is the same as the vehicle roll direction, j=-1; when the direction of the steering wheel steering angle is opposite to the vehicle roll direction, j=+1. After determining the steering wheel steering angle value θ and the proportionality coefficient k of the rear wheel steering angle to the steering wheel steering angle value, the product of the steering wheel steering angle value θ and the proportionality coefficient k of the rear wheel steering angle to the steering wheel steering angle value is calculated, and the product is used as the steering angle compensation value of the initial value σ of the rear wheel steering angle, that is, θ*k. After determining the steering angle compensation value, the sum of the steering angle compensation value θ*k and the initial rear wheel steering angle σ is calculated, and the sum is used as the rear wheel steering angle θ. That is, the calculation formula of the rear wheel steering angle θ is as follows:

[0053] θ=σ 后轮转角初始值 +θ 方向盘转角值 *k=σ 后轮转角初始值 +θ 方向盘转角值 *i*j

[0054] By calculating the rear wheel turning angle θ, the real-time safe turning angle of the vehicle is determined, so that the rear wheels of the vehicle are controlled to adjust to the rear wheel turning angle θ, at which time the vehicle is in a safe state.

[0055] In some embodiments, before obtaining the roll angle of the vehicle, it also includes: determining whether the anti-rollover function of the vehicle is turned on when the vehicle is powered on; if so, obtaining the roll angle of the vehicle.

[0056] In an embodiment, before obtaining the roll angle of the vehicle, it is determined whether the vehicle is powered on. When the vehicle is powered on, it is determined whether the anti-rollover function of the vehicle is turned on. The anti-rollover function switch of the vehicle can be set in the HUT (Head-up-Display). When the anti-rollover function of the vehicle is turned on, it is considered that the user needs the vehicle to enter a dedicated driving mode, and the roll angle of the vehicle is obtained to control the rear wheel steering angle of the vehicle in real time according to the roll angle of the vehicle to prevent the vehicle from rolling over; if the anti-rollover function of the vehicle is not turned on, it is considered that the user does not need the vehicle to enter a dedicated off-road anti-rollover driving mode, and the rear wheel steering angle of the vehicle is not controlled to reduce the energy loss of the vehicle.

[0057] In some embodiments, before determining that the vehicle is powered on, the process also includes: determining whether the vehicle is ignited and / or powered on; if so, determining that the vehicle is powered on; otherwise, controlling the vehicle's anti-rollover function to be turned off.

[0058] In an embodiment, it is determined whether the vehicle is ignited and / or high voltage is applied. If the vehicle is ignited and / or high voltage is applied, it is confirmed that the vehicle is powered on; if the vehicle is not ignited and high voltage is not applied, it is considered that the vehicle is not powered on, and the anti-rollover function of the vehicle is controlled to be turned off.

[0059] In some embodiments, when the roll angle is less than a preset threshold and the anti-rollover function of the vehicle is not turned on, the rear wheels of the vehicle are controlled to adjust to a preset turning angle.

[0060] In an embodiment, at the roll angle δ of the vehicle 侧倾角度 When the angle is less than the preset threshold and the anti-rollover function of the vehicle is not turned on, the vehicle is considered to be in a safe state, and the rear wheels of the vehicle are controlled to adjust to a preset turning angle, such as 0°, to change the driving trajectory of the vehicle.

[0061] In some embodiments, controlling the rear wheels of the vehicle to adjust to a preset turning angle includes: adjusting the rear wheels of the vehicle to a preset turning angle according to a preset turning angle change rate.

[0062] In an embodiment, after determining the rear wheel turning angle of the vehicle, the rear wheels of the vehicle are automatically adjusted according to a preset turning angle change rate, for example, at a rate of change of 1° / s, until the rear wheels of the vehicle reach a preset turning angle, for example, 0°, thereby avoiding a rollover accident before the risk of rollover occurs.

[0063] In some embodiments, obtaining the roll angle of the vehicle corresponding to the steering wheel angle value includes: obtaining lateral acceleration and driving parameters; and determining the roll angle of the vehicle according to the steering wheel angle value, the lateral acceleration and the driving parameters.

[0064] In the embodiment, when the vehicle is powered on, the vehicle's driving parameters such as the driving speed V are obtained in real time according to the vehicle's speed sensor, and the vehicle's acceleration is obtained in real time according to the vehicle's three-way acceleration sensor. For example, the vehicle's position is taken as the origin, the vehicle's forward direction is taken as the x-axis, the left direction is taken as the y-axis, and the vertical upward direction is taken as the z-axis. Then the acceleration of the vehicle in the x-axis direction is obtained, for example, recorded as a x , obtain the acceleration of the vehicle in the y-axis direction, that is, the lateral acceleration of the vehicle, for example, denoted as a y , the acceleration of the vehicle in the z-axis direction is obtained as the vertical acceleration, for example, denoted as a z , thereby determining the real-time posture information of the vehicle. It can be understood that when the vehicle is stationary on the horizontal plane, the vehicle only has an acceleration a in the z-axis direction. z , which is equal to the gravitational acceleration g, i.e. a z =g, when the vehicle rolls on the slope, affected by the gravity component, the lateral acceleration of the vehicle is a y , and the vehicle's acceleration a in the z direction z changes have occurred.

[0065] Get the lateral acceleration a y and driving parameters, according to the lateral acceleration a y The rolling angle of the vehicle is determined by combining the steering wheel angle value θ and the driving parameters, for example, denoted as δ 侧倾角度 , according to the vehicle's roll angle δ 侧倾角度 Determine whether the vehicle will roll over.

[0066] In some embodiments, the driving parameters include: the driving speed of the vehicle, the wheelbase of the vehicle, the mass of the vehicle, and the ratio of the rear wheel angle to the steering wheel angle value. The roll angle of the vehicle is determined according to the steering wheel angle value, the lateral acceleration, and the driving parameters, including:

[0067]

[0068] Among them, d is the vehicle wheelbase, m is the vehicle mass, V is the driving speed, g is the acceleration of gravity, i is the ratio of the rear wheel angle to the steering wheel angle, θ is the steering wheel angle, and a yis the lateral acceleration, and δ is the roll angle.

[0069] In an embodiment, the driving state of the vehicle can be monitored in real time through relevant sensors on the vehicle, and the driving parameters of the vehicle can be obtained, such as the wheelbase d (the wheelbase between the coaxial wheels of the vehicle, such as the wheelbase between the left front wheel and the right front wheel of the vehicle), the driving speed V, the vehicle mass m, and the ratio i of the rear wheel angle to the steering wheel angle value. The vehicle controller obtains the above driving parameters and combines the steering wheel angle value θ and the lateral acceleration a of the vehicle. y , calculate the vehicle's roll angle δ 侧倾角度 , the vehicle's roll angle δ 侧倾角度 The calculation formula is as follows:

[0070]

[0071] By calculating the vehicle's roll angle δ 侧倾角度 , thereby determining the vehicle's rollover limit state.

[0072] Reference below Figure 2 The wheel angle control method according to the embodiment of the present invention is described with examples.

[0073] like Figure 2 As shown, the wheel angle control method of the embodiment of the present invention at least includes steps S11 to S22.

[0074] Step S11, start.

[0075] Step S12, determine whether the vehicle is ignited and / or high voltage is applied, if so, execute step S14; otherwise, execute step S13.

[0076] Step S13, controlling the anti-rollover function of the vehicle to be turned off.

[0077] Step S14, determining whether the vehicle is powered on.

[0078] Step S15, determining whether the anti-rollover function of the vehicle is turned on, if so, executing step S17; otherwise, executing step S16.

[0079] Step S16, obtaining the steering wheel angle value, lateral acceleration and driving parameters, and determining the roll angle of the vehicle according to the steering wheel angle value, lateral acceleration and driving parameters.

[0080] Step S17: Do not control the rear wheel steering angle of the vehicle.

[0081] Step S18, determining whether the roll angle is greater than or equal to a preset threshold value, if so, executing step S20; otherwise, executing step S19.

[0082] Step S19, obtaining the initial value of the rear wheel steering angle of the vehicle at the current driving speed.

[0083] Step S20, when the anti-rollover function of the vehicle is not turned on, controlling the rear wheels of the vehicle to adjust to a preset turning angle.

[0084] Step S21, determining an angle compensation value of an initial rear wheel angle according to a steering wheel angle value and a proportional coefficient between a rear wheel angle and a steering wheel angle value, and determining a rear wheel angle of the vehicle according to the angle compensation value and the initial rear wheel angle.

[0085] Step S22, adjusting the rear wheels of the vehicle to a preset turning angle according to a preset turning angle change rate.

[0086] According to the wheel angle control method of the embodiment of the present invention, the vehicle's driving state is monitored in real time by acquiring the vehicle's roll angle corresponding to the steering wheel angle value in real time and comparing the relationship between the roll angle and a preset threshold value. When the roll angle is greater than or equal to the preset threshold value, it is considered that the vehicle is at risk of rollover. The rear wheel angle of the vehicle is controlled in real time according to the steering wheel angle value and the initial value of the rear wheels of the vehicle to achieve active adjustment of the rear wheels of the vehicle. By intervening in the rear wheels of the vehicle in advance before a dangerous condition occurs, the vehicle can be effectively prevented from rolling over and the vehicle's driving safety can be improved.

[0087] Reference below Figure 3 The wheel angle control device 2 according to the embodiment of the present invention is described.

[0088] like Figure 3 As shown, the wheel angle control device 2 of the embodiment of the present invention includes: a first acquisition module 21, a second acquisition module 22 and a control module 23, wherein:

[0089] The first acquisition module 21 is used to obtain the steering wheel angle value and the roll angle of the vehicle corresponding to the steering wheel angle value; the second acquisition module 22 is used to obtain the initial value of the rear wheel angle of the vehicle at the current driving speed when the roll angle is greater than or equal to the preset threshold value; the control module 23 is used to control the rear wheel angle of the vehicle according to the steering wheel angle value and the initial value of the rear wheel angle.

[0090] In the embodiments, the cause of desert rollover accidents is mostly caused by user misoperation, usually when driving on a slope (commonly known as off-road rolling), the turning center of the vehicle is at the bottom of the pot, the centrifugal force of the vehicle is directed to the top of the pot, and the centrifugal force can overcome the component of the vehicle's gravity on the slope; if the user turns the steering wheel toward the top of the pot when off-road rolling, the turning center will be transferred to the top of the pot, and the centrifugal force will be directed toward the bottom of the pot. If the vehicle's driving speed is too high and the centrifugal force is too large, the vehicle is very likely to roll over.

[0091] Therefore, when the vehicle is powered on, the first acquisition module 21 can monitor the driving state of the vehicle in real time through the relevant sensors on the vehicle and obtain the real-time posture information of the vehicle, for example, obtain the steering wheel angle value θ in real time according to the steering wheel angle sensor of the vehicle, and then determine the corresponding roll angle δ according to the steering wheel angle value θ. 侧倾角度 , by obtaining the vehicle's roll angle δ 侧倾角度 , able to determine the real-time driving status of the vehicle.

[0092] The second acquisition module 22 determines the roll angle δ of the vehicle 侧倾角度 The relationship between the value of the preset threshold value and the vehicle roll angle δ 侧倾角度 When the value is greater than or equal to the preset threshold value, the vehicle is considered to be in a rollover limit state. Then, the initial value of the rear wheel angle of the vehicle at the current driving speed can be obtained through the relevant sensors on the vehicle, for example, recorded as σ, so as to control the rear wheel angle of the vehicle in real time according to the initial value of the rear wheel angle σ. Among them, the preset threshold value is the roll angle value of the vehicle that is about to roll over. By judging the relationship between the roll angle and the preset threshold value, it can be determined whether the vehicle is in a rollover limit state. The control module 23 controls the rear wheel angle of the vehicle in real time according to the steering wheel angle value θ and the initial value of the rear wheel angle σ, and changes the driving trajectory of the vehicle until the rear wheels of the vehicle reach a safe angle. By intervening in the direction and size of the rotation of the rear wheels of the vehicle in advance before a dangerous working condition occurs, it is prevented that the user will be panicked when encountering a rollover risk and cause an accident.

[0093] The wheel angle control device 2 according to the embodiment of the present invention monitors the driving state of the vehicle in real time by acquiring the roll angle of the vehicle corresponding to the steering wheel angle value in real time and comparing the relationship between the roll angle and the preset threshold value. When the roll angle is greater than or equal to the preset threshold value, it is considered that the vehicle is at risk of rollover. The rear wheel angle of the vehicle is controlled in real time according to the steering wheel angle value and the initial value of the rear wheels of the vehicle to achieve active adjustment of the rear wheels of the vehicle. By intervening in the rear wheels of the vehicle in advance before the dangerous working condition occurs, the vehicle can be effectively prevented from rolling over and the driving safety of the vehicle can be improved.

[0094] In some embodiments, the control module 23 controls the rear wheel angle of the vehicle according to the steering wheel angle value and the initial value of the rear wheel angle, including: determining the angle compensation value of the initial rear wheel angle according to the steering wheel angle value and the proportional coefficient of the rear wheel angle to the steering wheel angle value; determining the rear wheel angle of the vehicle according to the angle compensation value and the initial rear wheel angle, and controlling the rear wheels of the vehicle to adjust to the rear wheel angle.

[0095] In some embodiments, the control module 23 determines the rear wheel steering angle of the vehicle according to the steering angle compensation value and the initial steering angle of the rear wheels, including:

[0096] θ=σ 后轮转角初始值 +θ方向盘转角值 *k

[0097] Among them, θ is the rear wheel steering angle, σ is the initial value of the rear wheel steering angle, θ is the steering wheel angle value, k is the proportional coefficient between the rear wheel steering angle and the steering wheel angle value, and θ*k is the steering angle compensation value.

[0098] In some embodiments, before the first acquisition module 21 acquires the roll angle of the vehicle, it is also specifically used to: determine whether the anti-rollover function of the vehicle is turned on when the vehicle is powered on; if so, acquire the roll angle of the vehicle; otherwise, do not control the rear wheel steering angle of the vehicle.

[0099] In some embodiments, before the first acquisition module 21 determines that the vehicle is powered on, it is also specifically used to: determine whether the vehicle is ignited and / or high voltage is applied; if so, determine that the vehicle is powered on; otherwise, control the anti-rollover function of the vehicle to be turned off.

[0100] In some embodiments, when the roll angle is less than a preset threshold and the anti-rollover function of the vehicle is not turned on, the control module 23 is specifically used to control the rear wheels of the vehicle to adjust to a preset turning angle.

[0101] In some embodiments, when the control module 23 controls the rear wheels of the vehicle to adjust to a preset turning angle, it is specifically used to: adjust the rear wheels of the vehicle to a preset turning angle according to a preset turning angle change rate.

[0102] In some embodiments, the first acquisition module 21 acquires the roll angle of the vehicle corresponding to the steering wheel angle value, including: acquiring and driving parameters; determining the roll angle of the vehicle according to the steering wheel angle value, lateral acceleration and driving parameters.

[0103] In some embodiments, the driving parameters include: the driving speed of the vehicle, the wheelbase of the vehicle, the mass of the vehicle, and the ratio of the rear wheel angle to the steering wheel angle value. The first acquisition module 21 determines the roll angle of the vehicle according to the steering wheel angle value, the lateral acceleration and the driving parameters, including:

[0104]

[0105] Among them, d is the vehicle wheelbase, m is the vehicle mass, V is the driving speed, g is the acceleration of gravity, i is the ratio of the rear wheel angle to the steering wheel angle, θ is the steering wheel angle, and a y is the lateral acceleration, and δ is the roll angle.

[0106] The wheel angle control device 2 according to the embodiment of the present invention monitors the driving state of the vehicle in real time by acquiring the roll angle of the vehicle corresponding to the steering wheel angle value in real time and comparing the relationship between the roll angle and the preset threshold value. When the roll angle is greater than or equal to the preset threshold value, it is considered that the vehicle is at risk of rollover. The rear wheel angle of the vehicle is controlled in real time according to the steering wheel angle value and the initial value of the rear wheels of the vehicle to achieve active adjustment of the rear wheels of the vehicle. By intervening in the rear wheels of the vehicle in advance before the dangerous working condition occurs, the vehicle can be effectively prevented from rolling over and the driving safety of the vehicle can be improved.

[0107] Reference below Figure 4 A vehicle 3 according to an embodiment of the present invention will be described.

[0108] like Figure 4 As shown, the vehicle 3 according to the embodiment of the present invention includes the wheel angle control device 2 according to the above embodiment.

[0109] According to the vehicle 3 of the embodiment of the present invention, the rolling angle of the vehicle corresponding to the steering wheel angle value is acquired in real time, and the relationship between the rolling angle and the preset threshold value is compared to monitor the driving state of the vehicle in real time. When the rolling angle is greater than or equal to the preset threshold value, it is considered that the vehicle is at risk of rollover. The rear wheel angle of the vehicle is controlled in real time according to the steering wheel angle value and the initial value of the rear wheels of the vehicle to achieve active adjustment of the rear wheels of the vehicle. By intervening in the rear wheels of the vehicle in advance before the dangerous working condition occurs, the vehicle can be effectively prevented from rolling over and the driving safety of the vehicle can be improved.

[0110] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example.

[0111] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A wheel angle control method, characterized in that: include: Obtaining a steering wheel angle value and a roll angle of the vehicle corresponding to the steering wheel angle value; When the roll angle is greater than or equal to a preset threshold, obtaining an initial value of a rear wheel turning angle of the vehicle at a current driving speed; The rear wheel steering angle of the vehicle is controlled according to the steering wheel angle value and the rear wheel steering angle initial value.

2. The wheel angle control method according to claim 1, characterized in that: Controlling the rear wheel steering angle of the vehicle according to the steering wheel steering angle value and the rear wheel steering angle initial value includes: Determining an angle compensation value of the initial rear wheel angle according to the steering wheel angle value and a proportional coefficient between the rear wheel angle and the steering wheel angle value; The rear wheel steering angle of the vehicle is determined according to the steering angle compensation value and the rear wheel initial steering angle, and the rear wheels of the vehicle are controlled to be adjusted to the rear wheel steering angle.

3. The wheel angle control method according to claim 2, characterized in that: Determining the rear wheel steering angle of the vehicle according to the steering angle compensation value and the rear wheel initial steering angle includes: Wherein, θ is the rear wheel steering angle, σ is the initial value of the rear wheel steering angle, is the steering wheel angle value, k is the proportional coefficient between the rear wheel angle and the steering wheel angle value, is the rotation angle compensation value.

4. The wheel angle control method according to claim 1, characterized in that: Before obtaining the roll angle of the vehicle, the method further includes: When the vehicle is powered on, determining whether the anti-rollover function of the vehicle is turned on; If so, obtain a steering wheel angle value and a roll angle of the vehicle corresponding to the steering wheel angle value.

5. The wheel angle control method according to claim 4, characterized in that: Also includes: When the roll angle is less than the preset threshold value and the anti-rollover function of the vehicle is not turned on, the rear wheel steering angle of the vehicle is controlled to be adjusted to a preset steering angle.

6. The wheel angle control method according to claim 5, characterized in that: Controlling the rear wheel turning angle of the vehicle to be adjusted to a preset turning angle includes: The rear wheel steering angle of the vehicle is controlled to move to the preset steering angle according to a preset steering angle change rate.

7. The wheel angle control method according to claim 1, characterized in that: Obtaining the roll angle of the vehicle corresponding to the steering wheel angle value, comprising: Obtain lateral acceleration and driving parameters; The roll angle of the vehicle is determined according to the steering wheel angle value, the lateral acceleration and the driving parameter.

8. The wheel angle control method according to claim 7, characterized in that: The driving parameters include: the driving speed of the vehicle, the wheelbase of the vehicle, the mass of the vehicle and the ratio of the rear wheel angle to the steering wheel angle value. The roll angle of the vehicle is determined according to the steering wheel angle value, the lateral acceleration and the driving parameters, including: Among them, d is the vehicle wheelbase, m is the vehicle mass, V is the driving speed, g is the acceleration of gravity, and i is the ratio of the rear wheel angle to the steering wheel angle. is the steering wheel angle value, a y is the lateral acceleration, and δ is the roll angle.

9. A wheel angle control device, characterized in that: include: A first acquisition module, used for acquiring a steering wheel angle value and a roll angle of the vehicle corresponding to the steering wheel angle value; A second acquisition module, configured to acquire an initial value of a rear wheel turning angle of the vehicle at a current driving speed when the roll angle is greater than or equal to a preset threshold value; A control module is used to control the rear wheel steering angle of the vehicle according to the steering wheel angle value and the rear wheel steering angle initial value.

10. A vehicle, characterized in that: include: The wheel angle control device as claimed in claim 9.

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