Vehicle steering display method and system and vehicle

Abstract

The invention provides a vehicle steering display method and system and a vehicle, and the method specifically comprises the following steps: (1) when the vehicle runs at a low speed, if the vehicle is detected to be in a steering state, calculating a current vehicle steering radius R; and (2) displaying the steering radius R of the vehicle on the running track of the vehicle. When the vehicle is steered, the current steering radius of the vehicle is calculated in real time, the current steering radius comprises the vehicle steering radius R1 when a wheel turning function is turned on and the vehicle steering radius R2 when a rear wheel turning function is turned off, and then the vehicle steering radiuses when the wheel turning function is turned on and turned off are compared and displayed on a vehicle traveling track. Or the current steering radius of the vehicle is displayed on the driving track of the vehicle, so that a driver and passengers can know the current steering information of the vehicle more intuitively.

Description

Technical Field

[0001] The present invention relates to the technical field of steering control, and provides a vehicle steering display method, a system and a vehicle. Background Art

[0002] With the development of the automobile industry, the steering system is the main part of automobile operation, and customers' demands for automobile flexibility, stability and safety are increasing day by day.

[0003] The rear-wheel steering technology can reasonably meet the needs of customers. It reduces the turning radius by deflecting the front and rear wheels in opposite directions during low-speed driving, and increases the stability of lane changes by deflecting the front and rear wheels in the same direction during high-speed driving.

[0004] The existing technology basically only displays the vehicle's driving trajectory. This display method cannot allow the driver and passengers to intuitively feel the turning distance. Novice users cannot accurately judge the turning distance, which may lead to errors in turning distance judgment, affecting the safety of the steering process and the driving experience of novice customers. Summary of the invention

[0005] In view of this, the present application provides a vehicle steering display method, aiming to improve the above-mentioned problem.

[0006] Specifically, the following technical solutions are included:

[0007] On the one hand, an embodiment of the present application provides a vehicle steering display method, the method is specifically as follows:

[0008] (1) When the vehicle is driving at a low speed, if it is detected that the vehicle is turning, calculate the current turning radius of the vehicle R ;

[0009] (2) Display the vehicle turning radius on the vehicle's driving trajectory R .

[0010] In the embodiment of the present invention, when the rear wheel steering function is turned on, the calculation formula of the vehicle steering radius R1 is as follows:

[0011]

[0012] Where L is the wheelbase between the front and rear axles of the vehicle, δ f is the turning angle of the front wheel turning to the outer wheel, δ r The turning angle of the rear wheel steering outer wheel.

[0013] In the embodiment of the present invention, when the rear wheel steering function is turned off, the calculation formula of the vehicle turning radius R2 is as follows:

[0014]

[0015] Where L is the wheelbase between the front and rear axles of the vehicle, δ f is the turning angle of the front wheel turning to the outer wheel.

[0016] In an embodiment of the present invention, when the rear-wheel steering function is turned on or off, the vehicle steering radius R2 when the rear-wheel steering function is turned off and the vehicle steering radius R1 when the rear-wheel steering function is turned off are calculated simultaneously, and the vehicle steering radius R2 and the vehicle steering radius R1 are displayed simultaneously on the vehicle trajectory.

[0017] In the embodiment of the present invention, the current actual turning radius of the vehicle is highlighted.

[0018] On the other hand, an embodiment of the present application provides a vehicle turn display system, characterized in that the system includes:

[0019] Rear wheel steering opening unit, steering radius calculation unit, steering display unit and vehicle controller ECU;

[0020] The rear wheel steering opening unit is connected to the vehicle controller ECU for communication, the vehicle controller ECU is connected to the steering radius calculation unit, and the steering radius calculation unit is connected to the steering display unit;

[0021] A rear-wheel steering opening unit is used to control the opening and closing of the rear-wheel steering function;

[0022] The vehicle controller ECU is used to calculate the turning angle δ of the front wheel steering outer wheel under the current steering wheel f and the turning angle δ of the rear steering outer wheel r ;

[0023] A turning radius calculation unit, used to calculate a turning radius R1 of the vehicle when the rear wheel turning function is turned on and a turning radius R2 of the vehicle when the rear wheel turning function is turned off;

[0024] The turning display unit is used to display the vehicle turning radius R1 and / or the vehicle turning radius R2 on the vehicle driving track.

[0025] In the embodiment of the present invention, when the rear-wheel steering function is started based on the rear-wheel steering activation unit, the vehicle controller ECU outputs the turning angle δ of the front-wheel steering outer wheel under the current steering wheel angle. f and the turning angle δ of the rear steering outer wheel r The turning radius calculation unit calculates the current vehicle turning radius R1 and sends it to the turning display unit, and the turning display unit displays the vehicle turning radius R1 on the vehicle driving track.

[0026] In the embodiment of the present invention, the calculation formula of the vehicle turning radius R1 is as follows:

[0027]

[0028] Where L is the wheelbase between the front and rear axles of the vehicle, δ f is the turning angle of the front wheel turning to the outer wheel, δ r The turning angle of the rear wheel steering outer wheel.

[0029] In the embodiment of the present invention, when the rear-wheel steering function is turned off based on the rear-wheel steering opening unit, the vehicle controller ECU outputs the turning angle δ of the front-wheel steering outer wheel under the current steering wheel angle. f , the turning angle of the rear wheel turning to the outer wheel δ r =0, the turning radius calculation unit calculates the current vehicle turning radius R2 and sends it to the turning display unit, and the turning display unit displays the vehicle turning radius R2 on the vehicle driving track.

[0030] On the other hand, an embodiment of the present application provides a vehicle, on which the above-mentioned vehicle turn display system is integrated.

[0031] When the vehicle is turning, the vehicle's current turning radius is calculated in real time, including the vehicle's turning radius R1 when the wheel turning function is turned on and the vehicle's turning radius R2 when the rear wheel turning function is turned off. Then, a comparison of the vehicle's turning radius when the turning function is turned on and off is displayed on the vehicle's driving trajectory, or the current vehicle's turning radius is displayed on the vehicle's driving trajectory, so that the driver and passengers can more intuitively understand the vehicle's current turning distance. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0033] Figure 1 A flow chart of a vehicle turning display method provided in Embodiment 1 of the present invention;

[0034] Figure 2 A flow chart of a vehicle turning display method provided in Embodiment 2 of the present invention;

[0035] Figure 3 A schematic diagram of the structure of a vehicle steering display system provided by an embodiment of the present invention;

[0036] Figure 4 A schematic diagram of a vehicle steering display provided by an embodiment of the present invention;

[0037] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0038] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0039] Unless otherwise defined, all technical terms used in the embodiments of the present application have the same meanings as commonly understood by those of ordinary skill in the art.

[0040] When the vehicle is traveling at a low speed, in order to ensure the flexibility of the vehicle, the turning radius should not be too large. Therefore, under low-speed driving conditions, the turning radius of the vehicle needs to be accurately calculated for the control of the steering of the front and rear wheels of the vehicle. However, when the vehicle is traveling at a high speed, the focus is on the stability of the vehicle, and there is no need to calculate the turning radius of the vehicle.

[0041] Figure 1 This is a flow chart of a vehicle steering display method provided in Embodiment 1 of the present invention. The method is specifically as follows:

[0042] (1) When the vehicle is traveling at a low speed (less than 45 km / h), if it is detected that the vehicle is turning, calculate the current turning radius R of the vehicle;

[0043] When the vehicle speed is higher than 45km / h, it is determined that the vehicle is currently in a high-speed driving state. When the vehicle speed is lower than 45km / h, it is determined that the vehicle is currently in a low-speed driving state. When the vehicle is in a low-speed driving state, if it is detected that the vehicle is in a turning state, the vehicle turning radius R is calculated based on the calculation.

[0044] In the embodiment of the present invention, when the steering wheel angle is greater than the set steering angle threshold, it is determined that the vehicle is currently in a steering state. Since the rear-wheel steering function can be turned on and off according to user needs, the calculation of the vehicle turning radius R is divided into two cases, one is that the rear-wheel steering function is not turned on, and the other is that the rear-wheel steering function is turned on. The vehicle turning radius calculation process in these two cases is described in detail below:

[0045] (11) When the rear-wheel steering function is turned on, the calculation formula for the vehicle turning radius R1 is as follows:

[0046]

[0047] Where L is the wheelbase between the front and rear axles of the vehicle, is the set value, and δ f is the turning angle of the front wheel turning to the outer wheel, δ r is the turning angle of the rear wheel turning to the outer wheel, δ f , δ r Read directly from the vehicle controller ECU;

[0048] When the wheel steering function is turned on, the vehicle controller ECU calculates the steering angle δ of the front wheel steering outer wheel based on the current steering wheel angle f and the turning angle δ of the rear steering outer wheel r .

[0049] (12) When the rear wheel steering function is turned off, the calculation formula of the vehicle turning radius R2 is as follows:

[0050]

[0051] Where L is the wheelbase between the front and rear axles of the vehicle, is the set value, and δ f is the turning angle of the front wheel turning to the outer wheel, δ f Read directly from the vehicle controller ECU;

[0052] When the rear wheel steering function is turned off, the vehicle controller ECU turns the rear wheel to the outer wheel angle δ r =0, cosδ f tanδ r = 0, calculate the steering angle δ of the front wheel to the outer wheel based on the current steering wheel angle f .

[0053] (2) Display the vehicle turning radius R on the vehicle's driving trajectory.

[0054] In order to let users understand the current steering situation of the vehicle more intuitively, the current turning radius of the vehicle is displayed in the current driving track of the vehicle. The display method of the vehicle turning radius is as follows:

[0055] Based on the current driving trajectory of the vehicle, the current driving direction and turning direction of the vehicle are determined. The driving direction of the current position is used as the tangent, and a perpendicular line of the tangent is drawn along the turning direction. The vertical length is the vehicle turning radius, and the display of the vehicle turning radius on the vehicle driving trajectory is completed. The display effect is as follows: Figure 4 shown.

[0056] Figure 2 This is a flow chart of a vehicle turn display method provided by Embodiment 2 of the present invention. The method is specifically as follows:

[0057] (1) When the vehicle is traveling at a low speed (less than 45 km / h), if it is detected that the vehicle is in a turning state, the current vehicle turning radius R is calculated, including: the vehicle turning radius R1 when the rear wheel turning function is turned on and the vehicle turning radius R2 when the rear wheel turning function is turned off;

[0058] (2) The vehicle turning radius R1 and the vehicle turning radius R2 are simultaneously displayed on the vehicle driving trajectory.

[0059] When the rear-wheel steering function is turned on, in order to let users experience the difference between vehicle steering when the rear-wheel steering function is turned on and off, the vehicle controller ECU calculates the steering angle δ of the front steering outer wheel based on the current steering wheel angle f and the turning angle δ of the rear steering outer wheel r , while calculating the vehicle turning radius R1 when the rear wheel turning function is turned on, the vehicle turning radius R2 when the rear wheel turning function is turned off is also calculated; since the vehicle turning radius R1 is the vehicle's current actual turning radius, it is highlighted, such as displayed in bold and / or bright colors, and the vehicle turning radius R2 is mainly used for comparison with the vehicle turning radius R1 and is not highlighted.

[0060] When the rear-wheel steering function is turned off, in order to let users experience the difference in vehicle steering when the rear-wheel steering function is turned on and off, the vehicle controller ECU calculates the steering angle δ of the front steering outer wheel based on the current steering wheel angle f and the turning angle δ of the rear steering outer wheel r When calculating the vehicle turning radius R2 when the rear wheel turning function is turned off, the vehicle turning radius R1 when the rear wheel turning function is turned off is also calculated. Since the vehicle turning radius R2 is the current actual turning radius of the vehicle, it is highlighted, such as displayed in bold and / or bright colors. The vehicle turning radius R1 is mainly used for comparison with the vehicle turning radius R2 and is not highlighted.

[0061] Figure 3 This is a schematic diagram of the structure of a vehicle turn display system provided by an embodiment of the present invention. For the convenience of explanation, only the parts related to the embodiment of the present invention are shown. The system includes:

[0062] Rear wheel steering opening unit, steering radius calculation unit, steering display unit and vehicle controller ECU;

[0063] The rear wheel steering opening unit is connected to the vehicle controller ECU for communication, the vehicle controller ECU is connected to the steering radius calculation unit, and the steering radius calculation unit is connected to the steering display unit;

[0064] The rear-wheel steering opening unit is used to control the opening and closing of the rear-wheel steering function; the vehicle controller ECU is used to calculate the turning angle δ of the front-wheel steering outer wheel under the current steering wheel f and the turning angle δ of the rear steering outer wheel r The turning radius calculation unit is used to calculate the vehicle turning radius R1 when the rear wheel turning function is turned on and the vehicle turning radius R2 when the rear wheel turning function is turned off; the turning display unit is used to display the vehicle turning radius R1 and / or the vehicle turning radius R2 on the vehicle driving trajectory.

[0065] When the rear-wheel steering function is started based on the rear-wheel steering activation unit, the vehicle controller ECU outputs the steering angle δ of the front-wheel steering outer wheel under the current steering wheel angle. f and the turning angle δ of the rear steering outer wheel r , and outputs it to the turning radius calculation unit. The turning radius calculation unit calculates the current vehicle turning radius R1 based on the above formula (1) and sends it to the steering display unit. The steering display unit displays the vehicle turning radius R1 on the vehicle driving trajectory.

[0066] In order to let users experience the difference between vehicle steering when the rear-wheel steering function is turned on and off, the vehicle controller ECU calculates the steering angle δ of the front steering outer wheel based on the current steering wheel angle. f and the turning angle δ of the rear steering outer wheel r The turning radius calculation unit calculates the turning radius R1 of the vehicle when the rear wheel turning function is turned on based on formula (1), and calculates the turning radius R2 of the vehicle when the rear wheel turning function is turned off based on formula (2); since the vehicle turning radius R1 is the current actual turning radius of the vehicle, the vehicle turning radius R2 is mainly used for comparison and display with the vehicle turning radius R1, and the steering display unit highlights the turning radius R1 of the vehicle, and does not highlight the turning radius R2 of the vehicle.

[0067] When the rear-wheel steering function is turned off based on the rear-wheel steering opening unit, the vehicle controller ECU outputs the steering angle δ of the front-wheel steering outer wheel under the current steering wheel angle. f , the turning angle of the rear wheel turning to the outer wheel δ r =0, and outputs it to the turning radius calculation unit. The turning radius calculation unit calculates the current vehicle turning radius R2 based on the above formula (2) and sends it to the steering display unit. The steering display unit displays the vehicle turning radius R2 on the vehicle driving trajectory.

[0068] In order to let users experience the difference between vehicle steering when the rear-wheel steering function is turned on and off, the vehicle controller ECU calculates the steering angle δ of the front steering outer wheel based on the current steering wheel angle. f and the turning angle δ of the rear steering outer wheel rThe turning radius calculation unit calculates the turning radius R1 of the vehicle when the rear wheel turning function is turned on based on formula (1), and calculates the turning radius R2 of the vehicle when the rear wheel turning function is turned off based on formula (2); since the vehicle turning radius R2 is the current actual turning radius of the vehicle, the vehicle turning radius R1 is mainly used for comparison and display with the vehicle turning radius R2, and the steering display unit highlights the turning radius R2 of the vehicle, and does not highlight the turning radius R1 of the vehicle.

[0069] Another embodiment of the present invention also provides a vehicle, which is integrated with the above-mentioned vehicle steering display system. When the vehicle is turning, the current turning radius of the vehicle is calculated in real time, including the vehicle turning radius R1 when the wheel turning function is turned on and the vehicle turning radius R2 when the rear wheel turning function is turned off. Then, a comparative display of the vehicle turning radius when the turning function is turned on and off is performed on the vehicle driving trajectory, or the current vehicle turning radius is displayed on the vehicle driving trajectory, so that the driver and passengers can understand the current steering information of the vehicle more intuitively.

[0070] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the present application disclosed herein. The present application is intended to cover any variations, uses or adaptations of the present application, which follow the general principles of the present application and include common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only.

[0071] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A vehicle steering display method, characterized in that: The method is specifically as follows: (1) When the vehicle is driving at a low speed, if it is detected that the vehicle is in a turning state, calculate the current vehicle turning radius R; (2) Display the vehicle turning radius R on the vehicle's driving trajectory.

2. The vehicle turn display method according to claim 1, characterized in that: When the rear-wheel steering function is turned on, the calculation formula of the vehicle turning radius R1 is as follows: Where L is the wheelbase between the front and rear axles of the vehicle, δ f is the turning angle of the front wheel turning to the outer wheel, δ r is the turning angle of the rear wheel turning to the outer wheel.

3. The vehicle turn display method as claimed in claim 2, characterized in that: When the rear wheel steering function is turned off, the calculation formula of the vehicle turning radius R2 is as follows: Where L is the wheelbase between the front and rear axles of the vehicle, δ f is the turning angle of the front wheel turning to the outer wheel.

4. The vehicle turn display method according to claim 1, characterized in that: When the rear-wheel steering function is turned on or off, the vehicle turning radius R2 when the rear-wheel steering function is turned off and the vehicle turning radius R1 when the rear-wheel steering function is turned off are calculated simultaneously, and the vehicle turning radius R2 and the vehicle turning radius R1 are displayed simultaneously on the vehicle trajectory.

5. The vehicle turn display method as claimed in claim 4, characterized in that: The current actual vehicle turning radius is highlighted.

6. A vehicle steering display system, characterized in that: The system comprises: Rear wheel steering opening unit, steering radius calculation unit, steering display unit and vehicle controller ECU; The rear wheel steering opening unit is connected to the vehicle controller ECU for communication, the vehicle controller ECU is connected to the steering radius calculation unit, and the steering radius calculation unit is connected to the steering display unit; A rear-wheel steering opening unit is used to control the opening and closing of the rear-wheel steering function; The vehicle controller ECU is used to calculate the turning angle δ of the front wheel steering outer wheel under the current steering wheel f and the turning angle δ of the rear steering outer wheel r ; A turning radius calculation unit, used to calculate a turning radius R1 of the vehicle when the rear wheel turning function is turned on and a turning radius R2 of the vehicle when the rear wheel turning function is turned off; The turning display unit is used to display the vehicle turning radius R1 and / or the vehicle turning radius R2 on the vehicle driving track.

7. The vehicle turn display system as claimed in claim 6, characterized in that: When the rear-wheel steering function is started based on the rear-wheel steering activation unit, the vehicle controller ECU outputs the steering angle δ of the front-wheel steering outer wheel under the current steering wheel angle. f and the turning angle δ of the rear steering outer wheel r The turning radius calculation unit calculates the current vehicle turning radius R1 and sends it to the turning display unit, and the turning display unit displays the vehicle turning radius R1 on the vehicle driving track.

8. The vehicle turn display system as claimed in claim 7, characterized in that: The calculation formula of vehicle turning radius R1 is as follows: Where L is the wheelbase between the front and rear axles of the vehicle, δ f is the turning angle of the front wheel turning to the outer wheel, δ r is the turning angle of the rear wheel turning to the outer wheel.

9. The vehicle turn display system as claimed in claim 8, characterized in that: When the rear-wheel steering function is turned off based on the rear-wheel steering opening unit, the vehicle controller ECU outputs the steering angle δ of the front-wheel steering outer wheel under the current steering wheel angle. f , the turning angle of the rear wheel turning to the outer wheel δ r =0, the turning radius calculation unit calculates the current vehicle turning radius R2 and sends it to the turning display unit, and the turning display unit displays the vehicle turning radius R2 on the vehicle driving track.

10. A vehicle, characterized in that: The vehicle is integrated with the vehicle turn display system according to any one of claims 6 to 9.

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