Wheel angle control method, device and vehicle

Abstract

This invention proposes a wheel steering angle control method, device, and vehicle. The method includes: acquiring a steering wheel angle value and the vehicle's roll angle corresponding to the steering wheel angle value; when the roll angle is greater than or equal to a preset threshold, acquiring the initial value of the rear wheel steering angle of the vehicle at the current driving speed; and controlling the rear wheel steering angle of the vehicle based on the steering wheel angle value and the initial value of the rear wheel steering angle. This invention intervenes in the rear wheels of the vehicle in advance before dangerous conditions occur, which can effectively prevent vehicle rollover and improve vehicle driving safety.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and in particular to a wheel steering angle control method, device, and vehicle. Background Technology

[0002] Today, vehicles have transformed from a means of transportation into toys for entertainment and leisure. Many people buy cars not for daily necessities, but for travel and recreation. For example, off-road vehicles have always been popular among young consumers. Off-road vehicles can go to places that ordinary vehicles cannot, bringing consumers great driving pleasure and excitement. For example, desert off-roading is a place that many people aspire to, but desert off-roading requires a lot of desert driving experience. Novice off-road drivers are very likely to get stuck in the desert.

[0003] Currently, when a vehicle is driving on a smooth road, it uses ESP (Electronic Stability Program) 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 steering angle limiting unit to calculate the wheel steering angle. The ESP then controls the wheel steering angle to ensure the vehicle drives smoothly.

[0004] However, when the vehicle is in desert off-road conditions, 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 provide sufficient warning of the dangers of desert driving. It cannot proactively intervene in advance before dangerous working conditions occur, which can easily lead to driver misoperation and thus 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] Therefore, one objective of this invention is to propose a wheel steering angle control method that intervenes in the rear wheels of a vehicle in advance before a dangerous situation occurs, which can effectively prevent the vehicle from overturning and improve vehicle driving safety.

[0007] Therefore, a second objective of the present invention is to provide a wheel steering angle control device.

[0008] Therefore, a third objective of the present invention is to provide a vehicle.

[0009] To achieve the above objectives, a first aspect of the present invention provides a wheel angle control method, the wheel angle control method comprising: acquiring 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, acquiring 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 present invention, the vehicle roll angle corresponding to the steering wheel angle value is acquired in real time, and the relationship between the roll angle and a preset threshold is compared to monitor the vehicle's driving status in real time. When the roll angle is greater than or equal to the preset threshold, it is considered that the vehicle has a 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 wheel, thereby realizing active adjustment of the rear wheel. By intervening in the rear wheel in advance before the occurrence of dangerous conditions, the vehicle rollover can be effectively prevented and the vehicle driving safety can be improved.

[0011] In some embodiments, controlling the rear wheel angle of the vehicle based on the steering wheel angle value and the initial rear wheel angle value includes: determining an angle compensation value for the initial rear wheel angle based on the steering wheel angle value and the ratio 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.

[0012] In some embodiments, determining the rear wheel steering angle of the vehicle based on the steering angle compensation value and the initial rear wheel 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 angle, σ is the initial value of the rear wheel angle, θ is the steering wheel angle value, k is the ratio coefficient between the rear wheel angle and the steering wheel angle value, and θ*k is the angle compensation value.

[0015] In some embodiments, before obtaining the vehicle's roll angle, the method further includes: determining whether the vehicle's rollover prevention function is activated when the vehicle is powered on; if so, obtaining the vehicle's roll angle.

[0016] In some embodiments, when the tilt angle is less than the preset threshold and the vehicle's rollover prevention function is not activated, 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 vehicle's roll angle corresponding to the steering wheel angle value includes: obtaining lateral acceleration and driving parameters; and determining the vehicle's roll angle based on the steering wheel angle value, the lateral acceleration, and the driving parameters.

[0019] In some embodiments, the driving parameters include: vehicle speed, vehicle wheelbase, vehicle mass, and the ratio of rear wheel angle to steering wheel angle. Determining the vehicle's roll angle based on the steering wheel angle, lateral acceleration, and driving parameters includes:

[0020]

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

[0022] To achieve the above objectives, a second aspect of the present invention provides a wheel angle control device, the device comprising: a first acquisition module 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 for acquiring 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; and a control module for controlling the rear wheel angle of the vehicle according to the steering wheel angle value and the initial value of the rear wheel angle.

[0023] According to an embodiment of the present invention, the wheel angle control device acquires the vehicle's roll angle corresponding to the steering wheel angle value in real time, compares the relationship between the roll angle and a preset threshold, monitors the vehicle's driving state in real time, and considers the vehicle to be at risk of rollover when the roll angle is greater than or equal to the preset threshold. Based on the steering wheel angle value and the initial value of the vehicle's rear wheels, the device controls the rear wheel angle of the vehicle in real time to achieve active adjustment of the vehicle's rear wheels. By intervening in the rear wheels of the vehicle in advance before a dangerous situation occurs, the vehicle rollover can be effectively prevented, and vehicle driving safety can be improved.

[0024] To achieve the above objectives, a third aspect of the present invention provides a vehicle comprising a wheel angle control device as described in the above embodiments.

[0025] According to embodiments of the present invention, the vehicle's driving status 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. When the roll angle is greater than or equal to the preset threshold, the vehicle is considered to have a risk of rollover. The vehicle's rear wheel angle is controlled in real time based on the steering wheel angle value and the initial value of the rear wheels, thereby achieving active adjustment of the vehicle's rear wheels. By intervening in the vehicle's rear wheels in advance before the occurrence of dangerous conditions, vehicle rollover can be effectively prevented, and vehicle driving safety can be improved.

[0026] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

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

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

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

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

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

[0032] Reference numeral: Wheel angle control device 2;

[0033] First acquisition module 21; Second acquisition module 22; Control module 23;

[0034] Vehicle 3. Detailed Implementation

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

[0036] The following combination Figure 1 and Figure 2 This invention describes a wheel steering angle control method according to an embodiment of the present invention.

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

[0038] Step S1: Obtain the steering wheel angle value and the vehicle roll angle corresponding to the steering wheel angle value.

[0039] In the embodiments, desert rollover accidents are mostly caused by user misoperation. Usually, when driving on a slope (commonly known as off-road driving), the turning center of the vehicle is at the bottom of the slope, and the centrifugal force of the vehicle is pointing towards the top of the slope. The centrifugal force can overcome the component of the vehicle's weight on the slope. If the user turns the steering wheel towards the top of the slope when driving off-road, the turning center will shift to the top of the slope, and the centrifugal force will be directed towards the bottom of the slope. If the vehicle's 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 status of the vehicle can be monitored in real time through relevant sensors on the vehicle, and the real-time attitude information of the vehicle can be obtained. For example, within a preset period, such as 10ms, the steering wheel angle sensor of the vehicle can obtain a steering wheel angle value θ, and then determine the corresponding roll angle δ based on the steering wheel angle value θ. 侧倾角度 By obtaining the vehicle's roll angle δ 侧倾角度 It can 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, obtain the initial value of the rear wheel steering angle of the vehicle at the current driving speed.

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

[0043] In this embodiment, the vehicle's roll angle δ is determined. 侧倾角度 Then, determine the vehicle's roll angle δ. 侧倾角度 The relationship between the magnitude of the value and the preset threshold value, at the vehicle's roll angle δ 侧倾角度 When the value is greater than or equal to a preset threshold, the vehicle is considered to be in a rollover limit state. The initial value of the rear wheel angle at the current driving speed can be obtained by relevant sensors on the vehicle, for example, denoted as σ. The rear wheel angle of the vehicle can be controlled in real time based on the initial value of the rear wheel angle σ.

[0044] Step S3: Control the rear wheel angle of the vehicle based on the steering wheel angle value and the initial rear wheel angle value.

[0045] In this embodiment, after determining the steering wheel angle value θ and the initial rear wheel angle value σ, the rear wheel angle of the vehicle is controlled in real time according to the steering wheel angle value θ and the initial rear wheel angle value σ to change the vehicle's driving trajectory until the rear wheels of the vehicle reach a safe turning angle. By intervening in the direction and magnitude of the rear wheel rotation in advance before a dangerous situation occurs, the user is prevented from causing an accident due to panic when encountering the risk of rollover.

[0046] According to the wheel angle control method of the present invention, the vehicle's roll angle corresponding to the steering wheel angle value is acquired in real time, and the relationship between the roll angle and a preset threshold is compared to monitor the vehicle's driving state in real time. When the roll angle is greater than or equal to the preset threshold, the vehicle is considered to have a 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, thereby realizing active adjustment of the rear wheels. By intervening in the rear wheels of the vehicle in advance before the occurrence of dangerous conditions, the vehicle rollover can be effectively prevented and the vehicle driving safety can be improved.

[0047] In some embodiments, controlling the rear wheel angle of a vehicle based on the steering wheel angle value and the initial rear wheel angle value includes: determining an angle compensation value for the initial rear wheel angle based on the steering wheel angle value and the ratio 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 this embodiment, after determining the steering wheel angle value θ and the initial rear wheel angle value σ, the angle compensation value of the initial rear wheel angle value σ is determined according to the steering wheel angle value θ and the ratio coefficient between the rear wheel angle and 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 based on 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] Where θ is the rear wheel angle, σ is the initial value of the rear wheel angle, θ is the steering wheel angle value, k is the ratio coefficient between the rear wheel angle and the steering wheel angle value, and θ*k is the angle compensation value.

[0052] In this embodiment, the proportionality coefficient k between the rear wheel angle and the steering wheel angle is the product of the ratio i between the rear wheel angle and the steering wheel angle and a preset coefficient j, i.e., k = i * j. When the steering wheel angle direction is the same as the vehicle's tilt direction, j = -1; when the steering wheel angle direction is opposite to the vehicle's tilt direction, j = +1. After determining the steering wheel angle value θ and the proportionality coefficient k between the rear wheel angle and the steering wheel angle, the product of the steering wheel angle value θ and the proportionality coefficient k between the rear wheel angle and the steering wheel angle is calculated. This product is used as the angle compensation value θ * k for the initial rear wheel angle σ. After determining the angle compensation value, the sum of the angle compensation value θ * k and the initial rear wheel angle σ is calculated. This sum is used as the rear wheel angle θ. The formula for calculating the rear wheel 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 steering angle θ, the real-time safe steering angle of the vehicle is determined, thereby controlling the rear wheels to adjust to the rear wheel steering angle θ, at which point the vehicle is in a safe state.

[0055] In some embodiments, before obtaining the vehicle's roll angle, the method further includes: determining whether the vehicle's rollover prevention function is activated when the vehicle is powered on; if so, obtaining the vehicle's roll angle.

[0056] In this embodiment, before acquiring the vehicle's roll angle, it is determined whether the vehicle is powered on. When the vehicle is powered on, it is determined whether the vehicle's rollover prevention function is activated. The vehicle's rollover prevention function switch can be set in the HUT (Head-up Display). When the vehicle's rollover prevention function is activated, it is assumed that the user needs the vehicle to enter a dedicated driving mode. In this case, the vehicle's roll angle is acquired, and the rear wheel steering angle is controlled in real time based on the vehicle's roll angle to prevent the vehicle from rolling over. If the vehicle's rollover prevention function is not activated, it is assumed that the user does not need the vehicle to enter a dedicated off-road rollover prevention driving mode. In this case, the rear wheel steering angle is not controlled to reduce the vehicle's energy consumption.

[0057] In some embodiments, before determining that the vehicle is powered on, the method further includes: determining whether the vehicle is ignited and / or connected to high voltage; if so, determining that the vehicle is powered on; otherwise, controlling the vehicle's rollover prevention function to be turned off.

[0058] In this embodiment, it is determined whether the vehicle is ignited and / or connected to high voltage. If the vehicle is ignited and / or connected to high voltage, it is confirmed that the vehicle is powered on. If the vehicle is not ignited and connected to high voltage, it is considered that the vehicle is not powered on, and the vehicle's anti-rollover function is turned off.

[0059] In some embodiments, when the roll angle is less than a preset threshold and the vehicle's rollover prevention function is not activated, the rear wheels of the vehicle are controlled to adjust to a preset turning angle.

[0060] In the embodiment, at the vehicle's roll angle δ 侧倾角度 If the vehicle's rollover prevention function is not activated and the speed is below the preset threshold, the vehicle is considered to be in a safe state. The vehicle's rear wheels are then adjusted to a preset turning angle, such as 0°, to change the vehicle's trajectory.

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

[0062] In this embodiment, after determining the rear wheel angle of the vehicle, the rear wheels of the vehicle are automatically adjusted according to a preset angle change rate, such as a change rate of 1° / s, until the rear wheels of the vehicle reach a preset angle, such as 0°, so that a rollover accident can be avoided before the risk of rollover occurs.

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

[0064] In this embodiment, when the vehicle is powered on, the vehicle's driving parameters, such as the driving speed V, are obtained in real time using the vehicle speed sensor, and the vehicle's acceleration is obtained in real time using the vehicle's three-axis acceleration sensors. For example, if the vehicle's position is defined as the origin, the forward direction is defined as the x-axis, the leftward direction as the y-axis, and the vertical upward direction as the z-axis, then the vehicle's acceleration in the x-axis direction is obtained, for example, denoted as a. x To obtain the vehicle's acceleration along the y-axis, i.e., the vehicle's lateral acceleration, for example, denoted as a. y To obtain the vehicle's acceleration along the z-axis, we can define the vertical acceleration, for example, denoted as a. z This allows us to determine the vehicle's real-time attitude information. It's understandable that when the vehicle is stationary on a horizontal plane, it only has an acceleration *a* in the *z*-axis direction. z The magnitude is equal to the gravitational acceleration g, i.e., a z =g, when the vehicle is tilted on a slope, the lateral acceleration a of the vehicle is affected by the component of gravity. y and the vehicle's acceleration a in the z-direction z Things have changed.

[0065] Obtain the lateral acceleration a y After considering the driving parameters, based on the lateral acceleration a y Combine driving parameters with the steering wheel angle value θ to determine the vehicle's roll angle, for example, denoted as δ. 侧倾角度 Based on the vehicle's roll angle δ 侧倾角度 Determine if the vehicle is likely to overturn.

[0066] In some embodiments, the driving parameters include: vehicle speed, vehicle wheelbase, vehicle mass, and the ratio of rear wheel steering angle to steering wheel angle. Determining the vehicle's roll angle based on the steering wheel angle, lateral acceleration, and driving parameters includes:

[0067]

[0068] Where d is the vehicle wheelbase, m is the vehicle mass, V is the driving speed, g is the gravitational acceleration, i is the ratio of the rear wheel steering angle to the steering wheel angle, θ is the steering wheel angle, and a yδ represents the lateral acceleration, and δ represents the roll angle.

[0069] In this embodiment, the vehicle's driving status can be monitored in real time using relevant sensors on the vehicle, and driving parameters can be obtained, such as the vehicle wheelbase d (the track width between wheels on the same axle, such as the track width between the left and right front wheels), driving speed V, vehicle mass m, and the ratio i of the rear wheel angle to the steering wheel angle. The vehicle controller then uses these driving parameters, combined with the vehicle's steering wheel angle θ and lateral acceleration a, to determine the driving parameters. 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 This allows us to determine the vehicle's rollover limit.

[0072] The following is for reference. Figure 2 An example of the wheel steering angle control method of this invention will be provided.

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

[0074] Step S11, Begin.

[0075] Step S12: Determine whether the vehicle is ignited and / or has high voltage applied. If yes, proceed to step S14; otherwise, proceed to step S13.

[0076] Step S13: Control the vehicle's anti-rollover function to turn off.

[0077] Step S14: Confirm that the vehicle is powered on.

[0078] Step S15: Determine whether the vehicle's rollover prevention function is activated. If yes, proceed to step S17; otherwise, proceed to step S16.

[0079] Step S16: Obtain the steering wheel angle value, lateral acceleration, and driving parameters, and determine the vehicle's roll angle based on the steering wheel angle value, lateral acceleration, and driving parameters.

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

[0081] Step S18: Determine whether the roll angle is greater than or equal to the preset threshold. If yes, proceed to step S20; otherwise, proceed to step S19.

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

[0083] Step S20: When the vehicle's rollover prevention function is not activated, control the rear wheels of the vehicle to adjust to a preset turning angle.

[0084] Step S21: Determine the angle compensation value of the initial rear wheel angle based on the steering wheel angle value and the ratio coefficient between the rear wheel angle and the steering wheel angle value, and determine the rear wheel angle of the vehicle based on the angle compensation value and the initial rear wheel angle.

[0085] Step S22: Adjust the rear wheels of the vehicle to the preset turning angle according to the preset turning angle change rate.

[0086] According to the wheel angle control method of the present invention, the vehicle's roll angle corresponding to the steering wheel angle value is acquired in real time, and the relationship between the roll angle and a preset threshold is compared to monitor the vehicle's driving state in real time. When the roll angle is greater than or equal to the preset threshold, the vehicle is considered to have a 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, thereby realizing active adjustment of the rear wheels. By intervening in the rear wheels of the vehicle in advance before the occurrence of dangerous conditions, the vehicle rollover can be effectively prevented and the vehicle driving safety can be improved.

[0087] The following is for reference. Figure 3 The wheel angle control device 2 of this invention is described in an embodiment.

[0088] like Figure 3 As shown, the wheel angle control device 2 of this embodiment 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 acquire the steering wheel angle value and the vehicle's roll angle corresponding to the steering wheel angle value; the second acquisition module 22 is used to acquire 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 a preset threshold; 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, desert rollover accidents are mostly caused by user misoperation. Usually, when driving on a slope (commonly known as off-road driving), the turning center of the vehicle is at the bottom of the slope, and the centrifugal force of the vehicle is pointing towards the top of the slope. The centrifugal force can overcome the component of the vehicle's weight on the slope. If the user turns the steering wheel towards the top of the slope when driving off-road, the turning center will shift to the top of the slope, and the centrifugal force will be directed towards the bottom of the slope. If the vehicle's 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 vehicle's driving status in real time through relevant sensors on the vehicle and acquire the vehicle's real-time attitude information. For example, it can acquire the steering wheel angle value θ in real time based on the vehicle's steering wheel angle sensor, and then determine the corresponding roll angle δ based on the steering wheel angle value θ. 侧倾角度 By obtaining the vehicle's roll angle δ 侧倾角度 It can determine the real-time driving status of the vehicle.

[0092] The second acquisition module 22 determines the vehicle's roll angle δ. 侧倾角度 The relationship between the magnitude of the value and the preset threshold value, at the vehicle's roll angle δ 侧倾角度 When the vehicle's rear wheel angle is greater than or equal to a preset threshold, it is considered to be in a rollover limit state. The initial rear wheel angle at the current speed, denoted as σ, is then obtained from relevant sensors on the vehicle. The rear wheel angle is controlled in real-time based on this initial value σ. The preset threshold is the roll angle at which the vehicle is about to roll over. By comparing the roll angle with the preset threshold, it can be determined whether the vehicle is in a rollover limit state. The control module 23 controls the rear wheel angle in real-time based on the steering wheel angle θ and the initial rear wheel angle σ, changing the vehicle's trajectory until the rear wheels reach a safe angle. By intervening in the direction and magnitude of the rear wheel rotation before a dangerous situation occurs, it prevents accidents caused by panic when the user encounters a rollover hazard.

[0093] According to an embodiment of the present invention, the wheel angle control device 2 acquires the vehicle's roll angle corresponding to the steering wheel angle value in real time and compares the relationship between the roll angle and a preset threshold value to monitor the vehicle's driving status in real time. When the roll angle is greater than or equal to the preset threshold value, it is considered that the vehicle has a risk of rollover. Based on the steering wheel angle value and the initial value of the vehicle's rear wheels, the device controls the rear wheel angle of the vehicle in real time to achieve active adjustment of the vehicle's rear wheels. By intervening in the rear wheels of the vehicle in advance before the occurrence of dangerous conditions, the vehicle rollover can be effectively prevented and the vehicle driving safety can be improved.

[0094] In some embodiments, the control module 23 controls the rear wheel angle of the vehicle based on the steering wheel angle value and the initial rear wheel angle value, including: determining the angle compensation value of the initial rear wheel angle based on the steering wheel angle value and the ratio 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.

[0095] In some embodiments, the control module 23 determines the rear wheel steering angle of the vehicle based on 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] Where θ is the rear wheel angle, σ is the initial value of the rear wheel angle, θ is the steering wheel angle value, k is the ratio coefficient between the rear wheel angle and the steering wheel angle value, and θ*k is the angle compensation value.

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

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

[0100] In some embodiments, when the tilt angle is less than a preset threshold and the vehicle's rollover prevention function is not activated, 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 adjust to a preset turning angle according to a preset turning angle change rate.

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

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

[0104]

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

[0106] According to an embodiment of the present invention, the wheel angle control device 2 acquires the vehicle's roll angle corresponding to the steering wheel angle value in real time and compares the relationship between the roll angle and a preset threshold value to monitor the vehicle's driving status in real time. When the roll angle is greater than or equal to the preset threshold value, it is considered that the vehicle has a risk of rollover. Based on the steering wheel angle value and the initial value of the vehicle's rear wheels, the device controls the rear wheel angle of the vehicle in real time to achieve active adjustment of the vehicle's rear wheels. By intervening in the rear wheels of the vehicle in advance before the occurrence of dangerous conditions, the vehicle rollover can be effectively prevented and the vehicle driving safety can be improved.

[0107] The following is for reference. Figure 4 Vehicle 3, as described in an embodiment of the present invention.

[0108] like Figure 4 As shown, the vehicle 3 in this embodiment of the invention includes the wheel angle control device 2 as described in the above embodiment.

[0109] According to the embodiment of the present invention, the vehicle 3 acquires the vehicle's roll angle corresponding to the steering wheel angle value in real time and compares the relationship between the roll angle and a preset threshold value to monitor the vehicle's driving status in real time. When the roll angle is greater than or equal to the preset threshold value, it is considered that the vehicle has a risk of rollover. The vehicle's rear wheel angle is controlled in real time according to the steering wheel angle value and the initial value of the vehicle's rear wheels to achieve active adjustment of the vehicle's rear wheels. By intervening in the vehicle's rear wheels in advance before the occurrence of dangerous conditions, the vehicle rollover can be effectively prevented and the vehicle driving safety can be improved.

[0110] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

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

Claims

1. A method for controlling wheel steering angle, characterized in that, include: Obtaining the steering wheel angle value and the corresponding vehicle roll angle, wherein obtaining the vehicle roll angle corresponding to the steering wheel angle value includes: obtaining lateral acceleration and driving parameters, and determining the vehicle roll angle based on the steering wheel angle value, the lateral acceleration, and the driving parameters; the driving parameters include: vehicle speed, vehicle wheelbase, vehicle mass, and the ratio of rear wheel angle to steering wheel angle value; determining the vehicle roll angle based on the steering wheel angle value, lateral acceleration, and driving parameters includes: in, This refers to the vehicle's wheelbase. For vehicle quality, For driving speed, It is the acceleration due to gravity. It is the ratio of the rear wheel steering angle to the steering wheel steering angle. This is the steering wheel angle value. The lateral acceleration is... This refers to the roll angle; When the roll angle is greater than or equal to a preset threshold, the initial value of the rear wheel steering angle of the vehicle at the current driving speed is obtained; The rear wheel angle of the vehicle is controlled based on the steering wheel angle value and the initial value of the rear wheel angle.

2. The wheel steering angle control method according to claim 1, characterized in that, Controlling the rear wheel angle of the vehicle based on the steering wheel angle value and the initial rear wheel angle value includes: The angle compensation value of the initial rear wheel angle is determined based on the steering wheel angle value and the ratio coefficient between the rear wheel angle and the steering wheel angle value. The rear wheel angle of the vehicle is determined based on the angle compensation value and the initial rear wheel angle, and the rear wheels of the vehicle are controlled to adjust to the rear wheel angle.

3. The wheel steering angle control method according to claim 2, characterized in that, Determining the rear wheel steering angle of the vehicle based on the steering angle compensation value and the initial rear wheel steering angle includes: Among them, the For the rear wheel steering angle, This is the initial value for the rear wheel steering angle. This is the steering wheel angle value. The ratio of the rear wheel steering angle to the steering wheel angle is the coefficient. This is the angle compensation value.

4. The wheel steering angle control method according to claim 1, characterized in that, Before obtaining the roll angle of the vehicle, the process also includes: When the vehicle is powered on, determine whether the vehicle's rollover prevention function is activated; If so, obtain the steering wheel angle value and the corresponding roll angle of the vehicle.

5. The wheel angle control method according to claim 4, characterized in that, Also includes: When the tilt angle is less than the preset threshold and the vehicle's rollover prevention function is not activated, the rear wheel steering angle of the vehicle is controlled to be adjusted to the preset steering angle.

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

7. A wheel steering angle control device, characterized in that, include: The first acquisition module is used to acquire a steering wheel angle value and the vehicle roll angle corresponding to the steering wheel angle value. Acquiring the vehicle roll angle corresponding to the steering wheel angle value includes: acquiring lateral acceleration and driving parameters; and determining the vehicle roll angle based on the steering wheel angle value, the lateral acceleration, and the driving parameters. The driving parameters include: vehicle speed, vehicle wheelbase, vehicle mass, and the ratio of the rear wheel angle to the steering wheel angle value. Determining the vehicle roll angle based on the steering wheel angle value, lateral acceleration, and driving parameters includes: in, This refers to the vehicle's wheelbase. For vehicle quality, For driving speed, It is the acceleration due to gravity. It is the ratio of the rear wheel steering angle to the steering wheel steering angle. This is the steering wheel angle value. The lateral acceleration is... This refers to the roll angle; The second acquisition module is used to acquire the initial value of the rear wheel steering angle of the vehicle at the current driving speed when the tilt angle is greater than or equal to a preset threshold. The control module is used to control the rear wheel angle of the vehicle based on the steering wheel angle value and the initial value of the rear wheel angle.

8. A vehicle, characterized in that, include: The wheel angle control device as described in claim 7.

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