Method and device for controlling steering of vehicle and vehicle

Abstract

The invention provides a method and device for controlling vehicle steering, electronic equipment, a readable storage medium and a vehicle, and relates to the technical field of artificial intelligence such as automatic driving and intelligent transportation. The method for controlling steering of the vehicle comprises the steps that the running speed of the vehicle and a target wheel turning angle corresponding to a steering request are obtained; determining a target steering state according to the driving speed; when it is determined that the target steering state is the static steering state, a first steering strategy is executed to control the vehicle to complete the steering request; and under the condition that the target steering state is determined to be the dynamic steering state, executing a second steering strategy to control the vehicle to complete the steering request. The steering flexibility and the steering efficiency of the vehicle can be improved, and then the driving safety of the vehicle is enhanced.

Description

Technical Field

[0001] The present disclosure relates to the field of data processing technology, and more particularly to the field of artificial intelligence technology such as autonomous driving and intelligent transportation. A method, device, electronic device, readable storage medium and vehicle for controlling vehicle steering are provided. Background Art

[0002] In the prior art, when controlling the steering of a vehicle, the steering strategy usually adopted is to limit the maximum wheel turning angle of the vehicle to a specific angle each time the vehicle turns. In order to avoid damage to the steering gear, the specific angle is usually small. Since the steering strategy is relatively fixed and rigid, the prior art has problems such as poor flexibility and low efficiency when controlling the steering of a vehicle. Summary of the invention

[0003] According to a first aspect of the present disclosure, a method for controlling vehicle steering is provided, comprising: obtaining a vehicle's driving speed and a target wheel angle corresponding to a steering request; determining a target steering state according to the driving speed, wherein the target steering state is one of a static steering state and a dynamic steering state; when it is determined that the target steering state is a static steering state, executing a first steering strategy to control the vehicle to complete the steering request, wherein the first steering strategy is formulated based on the target wheel angle and the static wheel angle, or the first steering strategy is formulated based on the driving speed and the target wheel angle; when it is determined that the target steering state is a dynamic steering state, executing a second steering strategy to control the vehicle to complete the steering request, wherein the second steering strategy is formulated based on the target wheel angle, the steering driving speed and the actual wheel angle.

[0004] According to a second aspect of the present disclosure, a device for controlling vehicle steering is provided, comprising: an acquisition unit for acquiring a vehicle's driving speed and a target wheel angle corresponding to a steering request; a determination unit for determining a target steering state according to the driving speed, wherein the target steering state is one of a static steering state and a dynamic steering state; a first steering unit for, when it is determined that the target steering state is a static steering state, executing a first steering strategy to control the vehicle to complete the steering request, wherein the first steering strategy is formulated based on the target wheel angle and the static wheel angle, or the first steering strategy is formulated based on the driving speed and the target wheel angle; a second steering unit for, when it is determined that the target steering state is a dynamic steering state, executing a second steering strategy to control the vehicle to complete the steering request, wherein the second steering strategy is formulated based on the target wheel angle, the steering driving speed and the actual wheel angle.

[0005] According to a third aspect of the present disclosure, an electronic device is provided, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method as described above.

[0006] According to a fourth aspect of the present disclosure, a non-transitory computer-readable storage medium storing computer instructions is provided, wherein the computer instructions are used to cause the computer to execute the method as described above.

[0007] According to a fifth aspect of the present disclosure, a computer program product is provided, comprising a computer program, wherein the computer program implements the method as described above when executed by a processor.

[0008] According to a sixth aspect of the present disclosure, a vehicle is provided, comprising the above-mentioned electronic device, wherein the at least one processor is capable of executing the above-mentioned method.

[0009] It can be seen from the above technical solutions that the present invention divides the steering state of the vehicle into two types, so that under different steering states, the vehicle is controlled to complete the steering request based on different steering control strategies, which can improve the steering flexibility and steering efficiency of the vehicle, thereby enhancing the safety of vehicle driving.

[0010] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The accompanying drawings are used to better understand the present solution and do not constitute a limitation of the present disclosure.

[0012] Figure 1 is a schematic diagram according to a first embodiment of the present disclosure;

[0013] Figure 2 is a schematic diagram according to a second embodiment of the present disclosure;

[0014] Figure 3 is a schematic diagram according to a third embodiment of the present disclosure;

[0015] Figure 4 The block diagram of an electronic device used to implement the method for controlling vehicle steering according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0016] The following is a description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, the description of well-known functions and mechanisms is omitted in the following description.

[0017] The technical principle of this embodiment is explained as follows: when turning when the vehicle is stationary, the steering rack force is large, and the steering rack force will increase with the increase of the wheel angle; when turning while the vehicle is moving, the steering rack force will drop significantly even when traveling at a very low speed.

[0018] The greater the steering rack force, the smaller the maximum wheel turning angle that the steering gear can provide. Conversely, the smaller the steering rack force, the larger the maximum wheel turning angle that the steering gear can provide. As the wheel turning angle increases, the turning radius of the vehicle will become smaller, and the smaller the steering radius, the higher the vehicle's driving performance.

[0019] However, when the vehicle is traveling at a low speed and turning, if braking force is applied, the steering rack force will increase accordingly. When the steering rack force increases to a certain extent, it will damage the vehicle's steering gear.

[0020] Since manned vehicles cannot avoid the problem of damage to the steering gear caused by simultaneous steering and braking operations, in order to improve driving safety, the actual wheel angle of the vehicle during steering needs to be limited to not more than the static wheel angle. The static wheel angle is the wheel angle corresponding to the maximum steering rack force when the vehicle is turning in a stationary state.

[0021] For autonomous vehicles, since the steering, driving and braking operations are controlled by instructions issued by the chassis domain controller or the autonomous driving controller, certain control strategies can be used to ensure that the autonomous vehicle does not perform steering and braking operations simultaneously during low-speed driving and turning. There is no need to limit the actual wheel angle of the vehicle to not exceed the static wheel angle, so that the vehicle can achieve a larger wheel angle while driving, thereby completing steering more quickly and improving steering flexibility and steering efficiency.

[0022] Figure 1 Schematic diagram of the first embodiment of the present disclosure. Figure 1 As shown, the method for controlling vehicle steering in this embodiment specifically includes the following steps:

[0023] S101, obtaining a vehicle speed and a target wheel angle corresponding to a steering request;

[0024] S102, determining a target steering state according to the driving speed, wherein the target steering state is one of a static steering state and a dynamic steering state;

[0025] S103, when it is determined that the target steering state is a static steering state, executing a first steering strategy to control the vehicle to complete the steering request, wherein the first steering strategy is formulated according to the target wheel angle and the static wheel angle, or the first steering strategy is formulated according to the driving speed and the target wheel angle;

[0026] S104. When it is determined that the target steering state is a dynamic steering state, execute a second steering strategy to control the vehicle to complete the steering request, wherein the second steering strategy is formulated based on the target wheel angle, the steering speed and the actual wheel angle.

[0027] The method for controlling vehicle steering of the present embodiment first determines, based on the vehicle's driving speed, whether the target steering state of the vehicle is a static steering state or a dynamic steering state, and then controls the vehicle to complete a steering request based on a control strategy corresponding to the determined target steering state. Since the present embodiment divides the vehicle's steering state into two types, the present embodiment can control the vehicle to complete a steering request based on different steering control strategies under different steering states, thereby improving the vehicle's steering flexibility and steering efficiency, and thereby enhancing the vehicle's driving safety.

[0028] The vehicle in this embodiment may be an autonomous driving vehicle; the executor of the method for controlling vehicle steering in this embodiment is an autonomous driving vehicle, which may specifically be a steering controller, a chassis domain controller, an autonomous driving controller, or other controllers in the autonomous driving vehicle that can control vehicle steering, braking, and driving.

[0029] In this embodiment, when executing S101 to obtain the target wheel angle corresponding to the steering request, the automatic driving controller in the vehicle can send a steering request to the chassis domain controller when it determines that the vehicle is about to turn based on the path planning. The chassis domain controller obtains the wheel angle required for the vehicle to complete the steering based on the received steering request, and then uses the wheel angle as the target wheel angle corresponding to the steering request.

[0030] In this embodiment, the target wheel angle is the rotation angle of the wheel when the vehicle completes the steering request; after executing S101 to obtain the target wheel angle, this embodiment can also send the target wheel angle to the vehicle's steering controller so that the steering controller can execute subsequent steps to control the vehicle to steer.

[0031] The driving speed obtained by executing S101 in this embodiment is the speed of the vehicle before it turns.

[0032] After executing S101 to obtain the driving speed and the target wheel angle, this embodiment executes S102 to determine the target steering state according to the driving speed; the target steering state determined by executing S102 in this embodiment is one of a static steering state and a dynamic steering state.

[0033] When executing S102 to determine the target steering state according to the driving speed, this embodiment may use the static steering state as the target steering state when the driving speed is determined to be 0, and use the dynamic steering state as the target steering state when the driving speed is determined to be not 0.

[0034] During the research, it was also found that the steering rules when the vehicle is traveling at a very low speed and turning are similar to the steering rules when the vehicle is completely stationary and turning.

[0035] Therefore, when executing S102 to determine the target steering state of the vehicle according to the driving speed, this embodiment can also adopt the following method: obtain the target speed. This embodiment can use the speed corresponding to the obtained identification information as the target speed. The obtained identification information can be the vehicle model, the steering gear model of the vehicle, etc. The target speed in this embodiment is not 0; when it is determined that the driving speed is less than the target speed, the static steering state is used as the target steering state; when it is determined that the driving speed is greater than or equal to the target speed, the dynamic steering state is used as the target steering state.

[0036] That is to say, this embodiment can determine the target steering state of the vehicle by comparing the target speed with the vehicle's driving speed, so that the determined target steering state is more accurate, thereby improving the accuracy when controlling the vehicle to turn according to the target steering state.

[0037] After executing S102 to determine the target steering state, this embodiment executes S103 and, when it is determined that the target steering state is a static steering state, executes a first steering strategy to control the vehicle to complete the steering request. The first steering strategy is formulated based on the target wheel angle and the static wheel angle, or the first steering strategy is formulated based on the driving speed and the target wheel angle.

[0038] This embodiment executes S103 and, when it is determined that the target steering state is a static steering state, executes the first steering strategy to control the vehicle to complete the steering request. The first steering strategy is formulated based on the target wheel angle and the static wheel angle. The implementation method that can be adopted is: obtaining the static wheel angle, which is the maximum wheel angle of the vehicle each time it turns, so as to ensure that the maximum wheel angle of the vehicle each time it turns does not exceed the static wheel angle; according to the static wheel angle and the target wheel angle, obtaining the number of turns and the wheel angle of each turn; according to the obtained number of turns and the wheel angle of each turn, controlling the vehicle to complete the steering request.

[0039] In this embodiment, the static wheel steering angle is preset, and the static wheel steering angle is the wheel steering angle corresponding to the maximum steering rack force when the vehicle is turning in a stationary state.

[0040] That is to say, the first steering strategy adopted by this embodiment when determining that the target steering state of the vehicle is a static steering state, avoids the problem of steering gear damage caused by the actual wheel angle being greater than the static wheel angle by limiting the maximum wheel angle of the vehicle at each turn to be less than or equal to the static wheel angle. Then, based on the number of turns and the wheel angle of each turn obtained according to the static wheel angle and the target wheel angle, the vehicle is controlled to complete the steering request, thereby improving the steering accuracy of the vehicle during static steering.

[0041] For example, if the target wheel angle is 70° and if the static wheel angle is 20°, when executing S103, this embodiment can first determine the number of turns to be 4 according to the target wheel angle and the static wheel angle, the wheel angle of the first turn is 20°, the wheel angle of the second turn is 20°, the wheel angle of the third turn is 20°, and the wheel angle of the fourth turn is 10°, and then control the vehicle to perform four turns to complete the steering request.

[0042] This embodiment executes S103 and, when it is determined that the target steering state is a static steering state, executes the first steering strategy to control the vehicle to complete the steering request. The first steering strategy is formulated based on the driving speed and the target wheel angle, and can be implemented as follows: sending a driving force request to the chassis domain controller to increase the driving speed; when it is determined that the driving force request is passed and the target steering state is determined to be a dynamic steering state based on the increased driving speed, obtaining the steering speed and actual wheel angle of the vehicle during the steering process; when it is determined that the steering speed meets the preset requirements and the actual wheel angle is less than the target wheel angle, controlling the vehicle to continue to execute the steering request until the actual wheel angle is equal to the target wheel angle.

[0043] This embodiment executes S103 and, when it is determined that the target steering state is a static steering state, executes a first steering strategy to control the vehicle to complete the steering request. The first steering strategy is formulated based on the driving speed and the target wheel angle. The following implementation method may also be adopted: sending a driving force request to the chassis domain controller to increase the driving speed; when it is determined that the driving force request is passed and the target steering state is determined to be a dynamic steering state based on the increased driving speed, obtaining the steering speed and actual wheel angle of the vehicle during the steering process; when it is determined that the steering speed does not meet the preset requirements, suspending the execution of the steering request, and sending a driving force request to the chassis domain controller to increase the steering speed; when it is determined that the driving force request is passed and the increased steering speed meets the preset requirements, controlling the vehicle to continue to execute the steering request until the actual wheel angle is equal to the target wheel angle.

[0044] That is to say, after determining that the static steering state is the target steering state, this embodiment can also increase the vehicle's driving speed by sending a driving force request to the chassis domain controller, so that the vehicle's target driving state is changed from a static steering state to a dynamic steering state, and then the vehicle's actual wheel angle is no longer restricted by the static wheel angle, so that the vehicle can complete the steering more quickly.

[0045] When executing S103, the present embodiment controls the vehicle to complete the steering request according to the target steering state and the target wheel angle. The implementation method that can be adopted is: when it is determined that the target steering state is dynamic steering, the steering speed and the actual wheel angle of the vehicle during the steering process are obtained; according to the steering speed, the actual wheel angle and the target wheel angle, the vehicle is controlled to complete the steering request.

[0046] That is to say, when the present embodiment determines that the target steering state of the vehicle is a dynamic steering state, there is no need to limit the maximum wheel turning angle of the vehicle each time it turns to a static wheel turning angle, so that the actual wheel turning angle of the vehicle each time it turns can be greater than the static wheel turning angle, thereby enabling the vehicle to complete the steering request more quickly.

[0047] After executing S102 to determine the target steering state, this embodiment executes S104 and, when it is determined that the target steering state is a dynamic steering state, executes a second steering strategy to control the vehicle to complete the steering request. The second steering strategy is formulated based on the target wheel angle, steering speed and actual wheel angle.

[0048] This embodiment executes S104 and, when it is determined that the target steering state is a dynamic steering state, executes the second steering strategy to control the vehicle to complete the steering request. The second steering strategy is formulated based on the target wheel angle, the steering speed and the actual wheel angle. The implementation method that can be adopted is: obtaining the steering speed and the actual wheel angle of the vehicle during the steering process; when it is determined that the steering speed meets the preset requirements and the actual wheel angle is less than the target wheel angle, controlling the vehicle to continue to execute the steering request until the actual wheel angle is equal to the target wheel angle.

[0049] When executing S104 to determine that the turning speed meets the preset requirements, this embodiment may determine that the turning speed meets the preset requirements when it is determined that the turning speed is not 0; it may also first obtain the target speed, and then determine that the turning speed meets the preset requirements when it is determined that the turning speed is greater than or equal to the target speed.

[0050] This embodiment executes S104 and, when it is determined that the target steering state is a dynamic steering state, executes the second steering strategy to control the vehicle to complete the steering request. The second steering strategy is formulated based on the target wheel angle, the steering speed and the actual wheel angle, and may also include the following contents: obtaining the steering speed and the actual wheel angle of the vehicle during the steering process; when it is determined that the steering speed does not meet the preset requirements, suspending the steering request and sending a driving force request to the chassis domain controller to increase the steering speed; when it is determined that the driving force request is passed and the steering speed after the increase meets the preset requirements, controlling the vehicle to continue to execute the steering request until the actual wheel angle is equal to the target wheel angle.

[0051] When executing S103, this embodiment stops executing the steering request if the driving force request is not passed; in this embodiment, if the vehicle encounters an obstacle during the steering process, the chassis domain controller will not pass the driving force request in order to avoid traffic accidents; if the driving force request is not passed, this embodiment can also send a driving force request to the chassis domain controller again after a preset time interval.

[0052] That is to say, this embodiment controls the vehicle to steer according to the steering speed during the vehicle steering process, so that the steering speed of the vehicle is not 0 or is greater than or equal to the target speed during dynamic steering, thereby ensuring that the vehicle is always in a dynamic steering state to complete the steering request.

[0053] This embodiment may also include the following contents: when it is determined that the vehicle is taken over by the user in the vehicle, the static steering state is used as the target steering state, so that in the subsequent steering process, the target steering state is no longer determined based on the driving speed, and the vehicle is directly controlled to complete the steering request based on the static steering state; if the vehicle is no longer taken over by the user, the target steering state is determined again based on the driving speed.

[0054] Figure 2 is a schematic diagram according to a second embodiment of the present disclosure. Figure 2 , a flowchart of controlling vehicle steering of the present embodiment is shown in FIG. 1 : S201, obtaining a steering request, and obtaining a target wheel angle according to the steering request. In the present embodiment, S201 can be executed by a chassis domain controller in the vehicle, and then the target wheel angle is sent to a steering controller; S202, determining a target steering state according to the driving speed of the vehicle. In the present embodiment, S202 can be executed by a steering controller in the vehicle; S203, when it is determined that the driving speed is greater than or equal to the target speed, determining that the target steering state is a dynamic steering state; S204, executing a steering request, and obtaining the steering driving speed of the vehicle during the steering process; S205, when it is determined that the steering driving speed is greater than or equal to the target speed, executing the steering request until the actual wheel The steering angle is equal to the target wheel steering angle; S206. When it is determined that the steering speed is less than the target speed, the steering request is suspended and a driving force request is sent to the chassis domain controller; S207. When it is determined that the driving force request is passed and the steering speed is greater than or equal to the target speed, the steering request is continued; S208. When it is determined that the driving force request is not passed, the steering request is stopped. In this embodiment, the driving force request may be sent to the chassis domain controller again after the steering request is stopped; S209. When it is determined that the driving speed is less than the target speed, the target steering state is determined to be a static steering state; S210. The steering request is executed, and the static wheel angle is set to the maximum wheel angle each time the vehicle turns.

[0055] Figure 3 is a schematic diagram according to the third embodiment of the present disclosure. Figure 3 As shown, the device 300 for controlling vehicle steering in this embodiment includes:

[0056] An acquisition unit 301 is used to acquire a vehicle's driving speed and a target wheel angle corresponding to a steering request;

[0057] A determination unit 302 is used to determine a target steering state according to the driving speed, wherein the target steering state is one of a static steering state and a dynamic steering state;

[0058] a first steering unit 303, configured to execute a first steering strategy to control the vehicle to complete the steering request when it is determined that the target steering state is a static steering state, wherein the first steering strategy is formulated according to the target wheel angle and the static wheel angle, or the first steering strategy is formulated according to the driving speed and the target wheel angle;

[0059] The second steering unit 304 is used to execute a second steering strategy to control the vehicle to complete the steering request when it is determined that the target steering state is a dynamic steering state. The second steering strategy is formulated based on the target wheel angle, steering speed and actual wheel angle.

[0060] The device for controlling vehicle steering in this embodiment is located in the autonomous driving vehicle, and specifically may be located in a steering controller, a chassis domain controller, an autonomous driving controller, or other controllers in the autonomous driving vehicle that can control vehicle steering, braking, and driving.

[0061] When the acquisition unit 301 acquires the target wheel angle corresponding to the steering request, the automatic driving controller in the vehicle can send a steering request to the chassis domain controller when it determines that the vehicle is about to turn based on the path planning. The chassis domain controller acquires the wheel angle required for the vehicle to complete the steering based on the received steering request, and then uses the wheel angle as the target wheel angle corresponding to the steering request.

[0062] In this embodiment, the target wheel angle is the rotation angle of the wheel when the vehicle completes the steering request; after obtaining the target wheel angle, the acquisition unit 301 can also send the target wheel angle to the vehicle's steering controller so that the steering controller can execute subsequent steps to control the vehicle to steer.

[0063] The driving speed acquired by the acquisition unit 301 is the speed of the vehicle before it turns.

[0064] In this embodiment, after the acquisition unit 301 acquires the driving speed and the target wheel angle, the determination unit 302 determines the target steering state according to the driving speed; the target steering state determined by the determination unit 302 is one of a static steering state and a dynamic steering state.

[0065] When determining the target steering state according to the driving speed, the determination unit 302 may use the static steering state as the target steering state when the driving speed is determined to be 0, and use the dynamic steering state as the target steering state when the driving speed is determined to be not 0.

[0066] During the research, it was also found that the steering rules when the vehicle is traveling at a very low speed and turning are similar to the steering rules when the vehicle is completely stationary and turning.

[0067] Therefore, when determining the target steering state of the vehicle according to the driving speed, the determination unit 302 can also adopt the following method: obtain the target speed, the target speed in this embodiment is not 0; when it is determined that the driving speed is less than the target speed, the static steering state is used as the target steering state; when it is determined that the driving speed is greater than or equal to the target speed, the dynamic steering state is used as the target steering state.

[0068] That is to say, the determination unit 302 can determine the target steering state of the vehicle by comparing the target speed with the driving speed of the vehicle, so that the determined target steering state is more accurate, thereby improving the accuracy when controlling the vehicle to turn according to the target steering state.

[0069] In this embodiment, after the determination unit 302 determines the target steering state, the first steering unit 303 executes the first steering strategy to control the vehicle to complete the steering request when it is determined that the target steering state is a static steering state. The first steering strategy is formulated based on the target wheel angle and the static wheel angle, or the first steering strategy is formulated based on the driving speed and the target wheel angle.

[0070] When determining that the target steering state is a static steering state, the first steering unit 303 executes a first steering strategy to control the vehicle to complete the steering request. The first steering strategy is formulated based on the target wheel angle and the static wheel angle. The implementation method that can be adopted is: obtaining the static wheel angle, which is the maximum wheel angle each time the vehicle turns; obtaining the number of turns and the wheel angle of each turn based on the static wheel angle and the target wheel angle; and controlling the vehicle to complete the steering request based on the obtained number of turns and the wheel angle of each turn.

[0071] In this embodiment, the static wheel steering angle is preset, and the static wheel steering angle is the wheel steering angle corresponding to the maximum steering rack force when the vehicle is turning in a stationary state.

[0072] That is to say, the first steering strategy adopted by the first steering unit 303 when determining that the target steering state of the vehicle is a static steering state avoids the problem of steering gear damage caused by the actual wheel angle being greater than the static wheel angle by limiting the maximum wheel angle of the vehicle at each turn to be less than or equal to the static wheel angle. Then, the vehicle is controlled to complete the steering request based on the number of turns and the wheel angle of each turn obtained according to the static wheel angle and the target wheel angle, thereby improving the steering accuracy of the vehicle during static steering.

[0073] When the first steering unit 303 determines that the target steering state is a static steering state, it executes a first steering strategy to control the vehicle to complete the steering request. The first steering strategy is formulated according to the driving speed and the target wheel angle. The following implementation method can also be adopted: sending a driving force request to the chassis domain controller to increase the driving speed; when it is determined that the driving force request is passed and the target steering state is determined to be a dynamic steering state according to the increased driving speed, the steering driving speed and the actual wheel angle of the vehicle during the steering process are obtained; when it is determined that the steering driving speed meets the preset requirements and the actual wheel angle is less than the target wheel angle, the vehicle is controlled to continue to execute the steering request until the actual wheel angle is equal to the target wheel angle.

[0074] When determining that the target steering state is a static steering state, the first steering unit 303 executes a first steering strategy to control the vehicle to complete the steering request. The first steering strategy is formulated according to the driving speed and the target wheel angle, and can also be implemented in the following manner: sending a driving force request to the chassis domain controller to increase the driving speed; when determining that the driving force request is passed and the target steering state is determined to be a dynamic steering state according to the increased driving speed, obtaining the steering speed and the actual wheel angle of the vehicle during the steering process; when determining that the steering speed does not meet the preset requirements, suspending the execution of the steering request, and sending a driving force request to the chassis domain controller to increase the steering speed; when determining that the driving force request is passed and the increased steering speed meets the preset requirements, controlling the vehicle to continue to execute the steering request until the actual wheel angle is equal to the target wheel angle.

[0075] That is to say, after determining that the static steering state is the target steering state, the first steering unit 303 can also increase the vehicle's driving speed by sending a driving force request to the chassis domain controller, so that the vehicle's target driving state is changed from a static steering state to a dynamic steering state, and the vehicle's actual wheel angle is no longer restricted by the static wheel angle, so that the vehicle can complete the steering more quickly.

[0076] In this embodiment, after the determination unit 302 determines the target steering state, the second steering unit 304 executes the second steering strategy to control the vehicle to complete the steering request when it is determined that the target steering state is a dynamic steering state. The second steering strategy is formulated based on the target wheel angle, steering speed and actual wheel angle.

[0077] When the second steering unit 304 determines that the target steering state is a dynamic steering state, it executes a second steering strategy to control the vehicle to complete the steering request. The second steering strategy is formulated based on the target wheel angle, the steering speed and the actual wheel angle. The implementation method that can be adopted is: obtaining the steering speed and the actual wheel angle of the vehicle during the steering process; when it is determined that the steering speed meets the preset requirements and the actual wheel angle is less than the target wheel angle, the vehicle is controlled to continue to execute the steering request until the actual wheel angle is equal to the target wheel angle.

[0078] When determining that the steering driving speed meets the preset requirements, the second steering unit 304 may determine that the steering driving speed meets the preset requirements when it is determined that the steering driving speed is not 0; it may also first obtain the target speed, and then determine that the steering driving speed meets the preset requirements when it is determined that the steering driving speed is greater than or equal to the target speed.

[0079] When the second steering unit 304 determines that the target steering state is a dynamic steering state, it executes a second steering strategy to control the vehicle to complete the steering request. The second steering strategy is formulated based on the target wheel angle, the steering speed and the actual wheel angle, and may also include the following contents: obtaining the steering speed and the actual wheel angle of the vehicle during the steering process; when it is determined that the steering speed does not meet the preset requirements, suspending the execution of the steering request and sending a driving force request to the chassis domain controller to increase the steering speed; when it is determined that the driving force request is passed and the steering speed after the increase meets the preset requirements, controlling the vehicle to continue to execute the steering request until the actual wheel angle is equal to the target wheel angle.

[0080] That is to say, when the second steering unit 304 determines that the target steering state of the vehicle is a dynamic steering state, there is no need to limit the maximum wheel turning angle of the vehicle each time it turns to a static wheel turning angle, so that the actual wheel turning angle of the vehicle each time it turns can be greater than the static wheel turning angle, thereby enabling the vehicle to complete the steering request more quickly.

[0081] If the driving force request is not passed, the second steering unit 304 stops executing the steering request; in this embodiment, if the vehicle encounters an obstacle during the steering process, in order to avoid traffic accidents, the chassis domain controller will not pass the driving force request; if the driving force request is not passed, the second steering unit 304 can also send a driving force request to the chassis domain controller again after a preset time interval.

[0082] That is to say, the second steering unit 304 controls the vehicle to steer according to the steering speed during the vehicle steering process, so that the steering speed of the vehicle is not 0 or is greater than or equal to the target speed during dynamic steering, thereby ensuring that the vehicle is always in a dynamic steering state to complete the steering request.

[0083] The device 300 for controlling vehicle steering of this embodiment may further include a switching unit 305 for executing the following contents: when it is determined that the vehicle is taken over by the user in the vehicle, the static steering state is used as the target steering state, so that in the subsequent steering process of the vehicle, the target steering state is no longer determined according to the driving speed, and the vehicle is directly controlled to complete the steering request according to the static steering state; if the vehicle is no longer taken over by the user, the target steering state is determined again according to the driving speed.

[0084] In the technical solution disclosed herein, the acquisition, storage and application of user personal information involved are in compliance with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0085] According to an embodiment of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium and a computer program product.

[0086] like Figure 4 , is a block diagram of an electronic device for controlling vehicle steering according to an embodiment of the present disclosure. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present disclosure described and / or required herein.

[0087] like Figure 4 As shown, the device 400 includes a computing unit 401, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 402 or a computer program loaded from a storage unit 408 into a random access memory (RAM) 403. In the RAM 403, various programs and data required for the operation of the device 400 can also be stored. The computing unit 401, the ROM 402, and the RAM 403 are connected to each other via a bus 404. An input / output (I / O) interface 405 is also connected to the bus 404.

[0088] A number of components in the device 400 are connected to the I / O interface 405, including: an input unit 406, such as a keyboard, a mouse, etc.; an output unit 407, such as various types of displays, speakers, etc.; a storage unit 408, such as a disk, an optical disk, etc.; and a communication unit 409, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 409 allows the device 400 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0089] The computing unit 401 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 401 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The computing unit 401 performs the various methods and processes described above, such as a method for controlling vehicle steering. For example, in some embodiments, the method for controlling vehicle steering may be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as a storage unit 408.

[0090] In some embodiments, part or all of the computer program may be loaded and / or installed on the device 400 via the ROM 402 and / or the communication unit 409. When the computer program is loaded into the RAM 403 and executed by the computing unit 401, one or more steps of the method for controlling the steering of the vehicle described above may be performed. Alternatively, in other embodiments, the computing unit 401 may be configured to perform the method for controlling the steering of the vehicle in any other appropriate manner (e.g., by means of firmware).

[0091] Various implementations of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0092] The program code for implementing the method of the present disclosure may be written in any combination of one or more programming languages. The program code may be provided to a processor or controller of a general purpose computer, a special purpose computer, or other device for programmable control of vehicle steering, such that the program code, when executed by the processor or controller, implements the functions / operations specified in the flow chart and / or block diagram. The program code may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0093] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0094] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0095] The systems and techniques described herein may be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), and the Internet.

[0096] A computer system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The relationship between the client and the server is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services ("Virtual Private Server", or "VPS" for short). The server may also be a server for a distributed system, or a server combined with a blockchain.

[0097] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this disclosure can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved, and this document does not limit this.

[0098] The above specific implementations do not constitute a limitation on the protection scope of the present disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A method for controlling vehicle steering, comprising: Obtaining the vehicle's driving speed and a target wheel angle corresponding to the steering request; determining a target steering state according to the driving speed, wherein the target steering state is one of a static steering state and a dynamic steering state; When it is determined that the target steering state is a static steering state, executing a first steering strategy to control the vehicle to complete the steering request, wherein the first steering strategy is formulated according to the target wheel angle and the static wheel angle, or the first steering strategy is formulated according to the driving speed and the target wheel angle; When it is determined that the target steering state is a dynamic steering state, a second steering strategy is executed to control the vehicle to complete the steering request, and the second steering strategy is formulated based on the target wheel angle, steering speed and actual wheel angle.

2. The method according to claim 1, wherein: In the case where it is determined that the target steering state is a static steering state, a first steering strategy is executed to control the vehicle to complete the steering request, wherein the first steering strategy is formulated according to the target wheel angle and the static wheel angle and includes: Obtaining a static wheel turning angle, where the static wheel turning angle is a maximum wheel turning angle of the vehicle each time it turns; According to the static wheel angle and the target wheel angle, obtaining the number of turns and the wheel angle of each turn; The vehicle is controlled to complete the steering request according to the number of turns and the wheel angle of each turn.

3. The method according to claim 1, wherein: When it is determined that the target steering state is a static steering state, executing a first steering strategy to control the vehicle to complete the steering request, wherein the first steering strategy is formulated according to the driving speed and the target wheel angle, and includes: sending a driving force request to a chassis domain controller to increase the driving speed; When it is determined that the driving force request is passed and the target steering state is determined to be a dynamic steering state according to the increased driving speed, obtaining the steering driving speed and the actual wheel angle of the vehicle during the steering process; When it is determined that the steering driving speed meets a preset requirement and the actual wheel turning angle is less than the target wheel turning angle, the vehicle is controlled to continue to execute the steering request until the actual wheel turning angle is equal to the target wheel turning angle.

4. The method according to claim 1, wherein: When it is determined that the target steering state is a static steering state, executing a first steering strategy to control the vehicle to complete the steering request, wherein the first steering strategy is formulated according to the driving speed and the target wheel angle, and includes: sending a driving force request to a chassis domain controller to increase the driving speed; When it is determined that the driving force request is passed and the target steering state is determined to be a dynamic steering state according to the increased driving speed, obtaining the steering driving speed and the actual wheel angle of the vehicle during the steering process; When it is determined that the steering speed does not meet the preset requirement, suspending the execution of the steering request and sending a driving force request to the chassis domain controller to increase the steering speed; When it is determined that the driving force request is passed and the increased steering speed meets a preset requirement, the vehicle is controlled to continue to execute the steering request until the actual wheel angle is equal to the target wheel angle.

5. The method according to claim 1, wherein: When it is determined that the target steering state is a dynamic steering state, executing a second steering strategy to control the vehicle to complete the steering request, wherein the second steering strategy is formulated according to the target wheel angle, the steering speed and the actual wheel angle, and includes: Obtaining the turning speed and actual wheel angle of the vehicle during the turning process; When it is determined that the steering driving speed meets a preset requirement and the actual wheel turning angle is less than the target wheel turning angle, the vehicle is controlled to continue to execute the steering request until the actual wheel turning angle is equal to the target wheel turning angle.

6. The method according to claim 1, wherein: When it is determined that the target steering state is a dynamic steering state, executing a second steering strategy to control the vehicle to complete the steering request, wherein the second steering strategy is formulated according to the target wheel angle, the steering speed and the actual wheel angle, and includes: Obtaining the turning speed and actual wheel angle of the vehicle during the turning process; When it is determined that the steering speed does not meet the preset requirement, suspending the execution of the steering request and sending a driving force request to the chassis domain controller to increase the steering speed; When it is determined that the driving force request is passed and the increased steering speed meets a preset requirement, the vehicle is controlled to continue to execute the steering request until the actual wheel angle is equal to the target wheel angle.

7. The method according to claim 1, wherein: Determining the target turning state according to the driving speed comprises: Get the target speed; In the case where it is determined that the driving speed is less than the target speed, taking the static steering state as the target steering state; When it is determined that the driving speed is greater than or equal to the target speed, the dynamic steering state is used as the target steering state.

8. A device for controlling vehicle steering, comprising: an acquisition unit, used for acquiring a driving speed of the vehicle and a target wheel angle corresponding to a steering request; a determination unit, configured to determine a target steering state according to the driving speed, wherein the target steering state is one of a static steering state and a dynamic steering state; a first steering unit, configured to execute a first steering strategy to control the vehicle to complete the steering request when it is determined that the target steering state is a static steering state, wherein the first steering strategy is formulated according to the target wheel angle and the static wheel angle, or the first steering strategy is formulated according to the driving speed and the target wheel angle; The second steering unit is used to execute a second steering strategy to control the vehicle to complete the steering request when it is determined that the target steering state is a dynamic steering state. The second steering strategy is formulated based on the target wheel angle, steering speed and actual wheel angle.

9. The device according to claim 8, wherein: When the first steering unit determines that the target steering state is a static steering state, a first steering strategy is executed to control the vehicle to complete the steering request, wherein the first steering strategy is formulated according to the target wheel angle and the static wheel angle, and specifically executes: Obtaining a static wheel turning angle, where the static wheel turning angle is a maximum wheel turning angle of the vehicle each time it turns; According to the static wheel angle and the target wheel angle, obtaining the number of turns and the wheel angle of each turn; The vehicle is controlled to complete the steering request according to the number of turns and the wheel angle of each turn.

10. The device according to claim 8, wherein: When the first steering unit determines that the target steering state is a static steering state, a first steering strategy is executed to control the vehicle to complete the steering request, wherein the first steering strategy is formulated according to the driving speed and the target wheel angle, and specifically executes: sending a driving force request to a chassis domain controller to increase the driving speed; When it is determined that the driving force request is passed and the target steering state is determined to be a dynamic steering state according to the increased driving speed, obtaining the steering driving speed and the actual wheel angle of the vehicle during the steering process; When it is determined that the steering driving speed meets a preset requirement and the actual wheel turning angle is less than the target wheel turning angle, the vehicle is controlled to continue to execute the steering request until the actual wheel turning angle is equal to the target wheel turning angle.

11. The device according to claim 8, wherein: When the first steering unit determines that the target steering state is a static steering state, a first steering strategy is executed to control the vehicle to complete the steering request, wherein the first steering strategy is formulated according to the driving speed and the target wheel angle, and specifically executes: sending a driving force request to a chassis domain controller to increase the driving speed; When it is determined that the driving force request is passed and the target steering state is determined to be a dynamic steering state according to the increased driving speed, obtaining the steering driving speed and the actual wheel angle of the vehicle during the steering process; When it is determined that the steering speed does not meet the preset requirement, suspending the execution of the steering request and sending a driving force request to the chassis domain controller to increase the steering speed; When it is determined that the driving force request is passed and the increased steering speed meets a preset requirement, the vehicle is controlled to continue to execute the steering request until the actual wheel angle is equal to the target wheel angle.

12. The device according to claim 8, wherein: When the second steering unit determines that the target steering state is a dynamic steering state, a second steering strategy is executed to control the vehicle to complete the steering request. The second steering strategy is formulated according to the target wheel angle, the steering speed and the actual wheel angle, and specifically executes: Obtaining the turning speed and actual wheel angle of the vehicle during the turning process; When it is determined that the steering driving speed meets a preset requirement and the actual wheel turning angle is less than the target wheel turning angle, the vehicle is controlled to continue to execute the steering request until the actual wheel turning angle is equal to the target wheel turning angle.

13. The device according to claim 8, wherein: When the second steering unit determines that the target steering state is a dynamic steering state, a second steering strategy is executed to control the vehicle to complete the steering request. The second steering strategy is formulated according to the target wheel angle, the steering speed and the actual wheel angle, and specifically executes: Obtaining the turning speed and actual wheel angle of the vehicle during the turning process; When it is determined that the steering speed does not meet the preset requirement, suspending the execution of the steering request and sending a driving force request to the chassis domain controller to increase the steering speed; When it is determined that the driving force request is passed and the increased steering speed meets a preset requirement, the vehicle is controlled to continue to execute the steering request until the actual wheel angle is equal to the target wheel angle.

14. The device according to claim 8, wherein: When determining the target turning state according to the driving speed, the determining unit specifically performs: Get the target speed; In the case where it is determined that the driving speed is less than the target speed, taking the static steering state as the target steering state; When it is determined that the driving speed is greater than or equal to the target speed, the dynamic steering state is used as the target steering state.

15. An electronic device, comprising: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 7.

16. A non-transitory computer-readable storage medium storing computer instructions, wherein: The computer instructions are used to cause the computer to execute the method according to any one of claims 1 to 7.

17. A computer program product, comprising a computer program, which, when executed by a processor, implements the method according to any one of claims 1 to 7.

18. A vehicle comprising the electronic device of claim 15, wherein the at least one processor is capable of executing the method of any one of claims 1-7.

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