Method, device for controlling the steering of a vehicle and vehicle

Abstract

The present disclosure provides a method, device, electronic equipment and readable storage medium for controlling vehicle steering, and a vehicle, and relates to the technical field of artificial intelligence such as automatic driving and intelligent transportation. The method for controlling vehicle steering comprises: obtaining a driving speed of the vehicle and a target wheel steering angle corresponding to a steering request; determining a target steering state according to the driving speed; in a case where the target steering state is determined to be a static steering state, executing a first steering strategy to control the vehicle to complete the steering request; and in a case where the target steering state is determined to be a dynamic steering state, executing a second steering strategy to control the vehicle to complete the steering request. The present disclosure can improve the steering flexibility and steering efficiency of the vehicle, thereby enhancing the safety of vehicle driving.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of data processing, in particular to the technical field of artificial intelligence such as automatic driving and intelligent transportation. A method, device, electronic equipment, readable storage medium and vehicle for controlling vehicle steering are provided. BACKGROUND

[0002] In the prior art, when controlling vehicle steering, a commonly used steering strategy is to limit the maximum wheel angle of the vehicle each time the vehicle steers to a specific angle, which is usually small in order to avoid damage to the steering gear. Since this steering strategy is relatively fixed and rigid, it leads to the problems of poor flexibility and low efficiency in controlling vehicle steering in the prior art. SUMMARY

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

[0004] According to a second aspect of the present disclosure, a device for controlling vehicle steering is provided, comprising: an obtaining unit configured to obtain a driving speed of a vehicle and a target wheel angle corresponding to a steering request; a determining unit configured to determine a target steering state according to the driving speed, the target steering state being one of a static steering state and a dynamic steering state; a first steering unit configured to, in a case where it is determined that the target steering state is the static steering state, execute a first steering strategy to control the vehicle to complete the steering request, the first steering strategy being formulated according to the target wheel angle and a static wheel angle, or the first steering strategy being formulated according to the driving speed and the target wheel angle; a second steering unit configured to, in a case where it is determined that the target steering state is the dynamic steering state, execute a second steering strategy to control the vehicle to complete the steering request, the second steering strategy being formulated according to the target wheel angle, a steering driving speed and an 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 with 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 to enable the at least one processor to perform 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 enable the computer to perform 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 which, when executed by a processor, implements the method as described above.

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

[0009] It can be seen from the above technical solutions that the present disclosure divides the steering state of the vehicle into two kinds, so that the vehicle completes the steering request based on different steering control strategies in different steering states, which can improve the steering flexibility and steering efficiency of the vehicle, and further enhance the safety of the vehicle driving.

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

[0011] The accompanying drawings are used to better understand the present scheme and do not limit the present disclosure. Among them:

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

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

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

[0015] Figure 4 is a block diagram of an electronic device for implementing the method of controlling the steering of the vehicle according to the embodiments of the present disclosure. DETAILED DESCRIPTION

[0016] Exemplary embodiments of the present disclosure are described herein with reference to the accompanying drawings, which are meant to be exemplary in nature, and include various details intended to facilitate understanding of the present disclosure. Thus, it should be apparent to those skilled in the art that various modifications and changes can be made in the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, it should be apparent to those skilled in the art that the descriptions in the following description have been simplified for the sake of clarity and understanding and are meant is be illustrative only. Therefore, it is the object of the appended claims to determine the scope of the disclosure.

[0017] The technical principle of the present embodiment is explained as follows: when the vehicle is stationary, the steering gear rack force is large, and the steering gear rack force increases with the increase of the wheel angle; when the vehicle is running, even if it is running at a very low speed, the steering gear rack force will decrease significantly.

[0018] The larger the steering gear rack force, the smaller the maximum wheel angle that the steering gear can provide, and vice versa. With the increase of the wheel angle, the turning radius of the vehicle becomes smaller, and the smaller the turning radius, the higher the running performance of the vehicle.

[0019] However, when the vehicle is running at a low speed and steering, if the brake force is applied, the steering gear rack force will increase, and when the steering gear rack force increases to a certain extent, the steering gear of the vehicle will be damaged.

[0020] Since the damage to the steering gear caused by the simultaneous occurrence of steering and braking operations cannot be avoided in a manually driven vehicle, in order to improve the running safety, the actual wheel angle of the vehicle during steering is limited to be not more than the static wheel angle, which is the wheel angle corresponding to the maximum steering gear rack force when the vehicle is stationary.

[0021] For an automatic driving vehicle, since the steering, driving and braking operations are controlled by the instructions issued by the chassis domain controller or the automatic driving controller, through certain control strategies, it can be ensured that the automatic driving vehicle will not simultaneously appear steering and braking operations during low-speed running and steering, and there is no need to limit the actual wheel angle of the vehicle to be not more than the static wheel angle, so that the vehicle can achieve a larger wheel angle during running, thereby completing the steering more quickly and improving the steering flexibility and steering efficiency.

[0022] Figure 1 is a schematic diagram according to the first embodiment of the present disclosure. As shown in Figure 1 the method for controlling the steering of the vehicle of the present embodiment specifically includes the following steps:

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

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

[0025] S103, in a case where it is determined that the target steering state is the static steering state, execute a first steering strategy to control the vehicle to complete the steering request, the first steering strategy being formulated according to the target wheel angle and a static wheel angle, or the first steering strategy being formulated according to the driving speed and the target wheel angle;

[0026] S104, in a case where it is determined that the target steering state is the dynamic steering state, execute a second steering strategy to control the vehicle to complete the steering request, the second steering strategy being formulated according to the target wheel angle, a steering driving speed and an actual wheel angle.

[0027] The method for controlling vehicle steering in this embodiment first determines whether the target steering state of the vehicle is a static steering state or a dynamic steering state according to the driving speed of the vehicle, and then controls the vehicle to complete the steering request according to the control strategy corresponding to the determined target steering state. Since the steering state of the vehicle is divided into two states in this embodiment, the vehicle can be controlled to complete the steering request based on different steering control strategies in different steering states, which can improve the steering flexibility and efficiency of the vehicle, and further enhance the safety of the vehicle during driving.

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

[0029] In this embodiment, when S101 is executed to obtain the target wheel angle corresponding to the steering request, the autonomous driving controller in the vehicle can send a steering request to the chassis domain controller when the vehicle is to be steered according to path planning, and the chassis domain controller can obtain the wheel angle required for the vehicle to complete steering according to the received steering request, and then take 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 the target wheel angle is obtained in S101 in this embodiment, the target wheel angle can also be sent to the steering controller of the vehicle, so that the steering controller executes the subsequent steps to control the vehicle to steer.

[0031] The driving speed obtained in S101 in this embodiment is the speed of the vehicle before steering.

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

[0033] When determining the target steering state according to the driving speed in S102, the embodiment can determine the static steering state as the target steering state when the driving speed is determined to be 0, and determine the dynamic steering state as the target steering state when the driving speed is determined to be not 0.

[0034] It is also found in the research that the steering law when the vehicle drives at an extremely low speed and steers is similar to the steering law when the vehicle is completely stationary and steers.

[0035] Therefore, when determining the target steering state of the vehicle according to the driving speed in S102, the embodiment can also adopt the following manner: acquiring a target speed, the embodiment can acquire the speed corresponding to the acquired identification information as the target speed, the acquired identification information can be the vehicle model, the steering gear model of the vehicle, etc., and the target speed in the embodiment is not 0; determining the static steering state as the target steering state when the driving speed is determined to be less than the target speed; and determining the dynamic steering state as the target steering state when the driving speed is determined to be greater than or equal to the target speed.

[0036] That is, the embodiment 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, and the accuracy when controlling the vehicle to steer according to the target steering state is improved.

[0037] After determining the target steering state in S102, the embodiment executes S103 to execute the first steering strategy to control the vehicle to complete the steering request when the target steering state is determined to be the static steering state, the first steering strategy is formulated according to the target wheel rotation angle and the static wheel rotation angle, or the first steering strategy is formulated according to the driving speed and the target wheel rotation angle.

[0038] In the embodiment, the static wheel angle is set in advance, and the static wheel angle is a wheel angle corresponding to a maximum steering rack force when the vehicle is steering in a static state.

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

[0040] That is, the first steering strategy adopted by the embodiment when the target steering state of the vehicle is determined to be the static steering state avoids the problem of damage to the steering gear caused by the actual wheel angle being greater than the static wheel angle by limiting the maximum wheel angle of the vehicle in each steering to be less than or equal to the static wheel angle. Then, the steering times and the wheel angle in each steering obtained according to the static wheel angle and the target wheel angle are used to control the vehicle to complete the steering request, thereby improving the steering accuracy of the vehicle in static steering.

[0041] For example, if the target wheel angle is 70° and the static wheel angle is 20°, the embodiment can first determine the steering times to be 4 according to the target wheel angle and the static wheel angle when S103 is executed, the wheel angle in the first steering is 20°, the wheel angle in the second steering is 20°, the wheel angle in the third steering is 20°, and the wheel angle in the fourth steering is 10°. Then, the vehicle is controlled to perform four times of steering to complete the steering request.

[0042] In the embodiment, the static wheel angle is set in advance, and the static wheel angle is a wheel angle corresponding to a maximum steering rack force when the vehicle is steering in a static state.

[0043] In the embodiment, 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, the first steering strategy is formulated according to the driving speed and the target wheel angle, and the following implementation manner can also be adopted: a driving force request is sent 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 the dynamic steering state according to the driving speed after the increase, the steering driving speed and the actual wheel angle of the vehicle in the steering process are obtained; when it is determined that the steering driving speed does not meet the preset requirement, the steering request is suspended, the driving force request is sent to the chassis domain controller to increase the steering driving speed; and when it is determined that the driving force request is passed and the steering driving speed after the increase meets the 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.

[0044] That is, after it is determined that the static steering state is the target steering state, the driving speed of the vehicle can also be increased by sending the driving force request to the chassis domain controller, so that the target driving state of the vehicle is changed from the static steering state to the dynamic steering state, and then the actual wheel angle of the vehicle is no longer limited by the static wheel angle, so that the vehicle can complete the steering more quickly.

[0045] In the embodiment, when it is determined that the target steering state is the dynamic steering state, the steering driving speed and the actual wheel angle of the vehicle in the steering process are obtained, and the vehicle is controlled to complete the steering request according to the steering driving speed, the actual wheel angle and the target wheel angle.

[0046] That is, when it is determined that the target steering state of the vehicle is the dynamic steering state, the maximum wheel angle of the vehicle in each steering is no longer limited to the static wheel angle, so that the actual wheel angle of the vehicle in each steering can be greater than the static wheel angle, thereby enabling the vehicle to complete the steering request more quickly.

[0047] In the embodiment, after the target steering state is determined in S102, S104 is executed, and when it is determined that the target steering state is the 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 driving speed and the actual wheel angle.

[0048] In the embodiment, when it is determined in S104 that the target steering state is the 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 the implementation manner can be as follows: the steering speed and the actual wheel angle of the vehicle in the steering process are obtained; when it is determined that the steering speed meets the preset requirement 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.

[0049] In the embodiment, when it is determined in S104 that the steering speed meets the preset requirement, the steering speed can be determined to meet the preset requirement when it is determined that the steering speed is not 0; or the target speed can be obtained first, and then the steering speed is determined to meet the preset requirement when it is determined that the steering speed is greater than or equal to the target speed.

[0050] In the embodiment, when it is determined in S104 that the target steering state is the 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 the implementation manner can be as follows: the steering speed and the actual wheel angle of the vehicle in the steering process are obtained; when it is determined that the steering speed meets the preset requirement 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.

[0051] In the embodiment, when it is determined in S103 that the driving force request is not passed, the steering request is stopped; in the embodiment, when the vehicle encounters an obstacle in the steering process, the chassis domain controller does not pass the driving force request in order to avoid traffic accidents; when the driving force request is not passed, the driving force request can be sent to the chassis domain controller again after a preset time interval in the embodiment.

[0052] That is, the vehicle is controlled to steer according to the steering speed in the steering process of the vehicle in the embodiment, so that the steering speed of the vehicle is not 0 or greater than or equal to the target speed when the vehicle is dynamically steered, thereby ensuring that the vehicle is always in the dynamic steering state to complete the steering request.

[0053] The embodiment can further include the following: in a case where it is determined that the vehicle is taken over by the in-vehicle user, taking the static steering state as the target steering state, so that the vehicle is no longer controlled according to the driving speed to complete the steering request in a subsequent steering process, but is directly controlled according to the static steering state; and if the vehicle is no longer taken over by the user, the target steering state is determined again according to 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 in the embodiment is shown in FIG. 2: S201, obtaining a steering request and obtaining a target wheel angle according to the steering request, which can be performed by a chassis domain controller in the vehicle; S202, determining a target steering state according to a driving speed of the vehicle, which can be performed by a steering controller in the vehicle; S203, determining that the target steering state is a dynamic steering state in a case where the driving speed is greater than or equal to a target speed; S204, executing the steering request and obtaining a steering driving speed of the vehicle in a steering process; S205, executing the steering request until an actual wheel angle is equal to the target wheel angle in a case where the steering driving speed is greater than or equal to the target speed; S206, pausing the execution of the steering request and sending a driving force request to the chassis domain controller in a case where the steering driving speed is less than the target speed; S207, continuing to execute the steering request in a case where the driving force request is passed and the steering driving speed is greater than or equal to the target speed; S208, stopping the execution of the steering request in a case where the driving force request is not passed, and the embodiment can further send the driving force request to the chassis domain controller again after stopping the execution of the steering request; S209, determining that the target steering state is a static steering state in a case where the driving speed is less than the target speed; and S210, executing the steering request and setting a static wheel angle as a maximum wheel angle of the vehicle each time the vehicle steers.

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

[0056] an obtaining unit 301, configured to obtain a driving speed of the vehicle and a target wheel angle corresponding to a steering request;

[0057] a determining unit 302, configured to determine a target steering state according to the driving speed, the target steering state being one of a static steering state and a dynamic steering state;

[0058] ​The first steering unit 303 is configured to execute a first steering strategy to control the vehicle to complete the steering request in a case where the target steering state is determined to be a static steering state, the first steering strategy being formulated according to the target wheel angle and a static wheel angle, or the first steering strategy being formulated according to the driving speed and the target wheel angle.

[0059] The second steering unit 304 is configured to execute a second steering strategy to control the vehicle to complete the steering request in a case where the target steering state is determined to be a dynamic steering state, the second steering strategy being formulated according to the target wheel angle, a steering driving speed, and an actual wheel angle.

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

[0061] When the acquisition unit 301 acquires the target wheel angle corresponding to the steering request, the autonomous driving controller in the vehicle can determine the vehicle to steer according to path planning, send a steering request to the chassis domain controller, and the chassis domain controller acquires the wheel angle required for the vehicle to complete steering according to the received steering request, and then takes the wheel angle as the target wheel angle corresponding to the steering request.

[0062] In the embodiment, the target wheel angle is the rotation angle of the wheel when the vehicle completes the steering request. After the acquisition unit 301 acquires the target wheel angle, the target wheel angle can be sent to the steering controller of the vehicle, so that the steering controller executes 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 steering.

[0064] 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 can determine the static steering state as the target steering state in a case where the driving speed is 0, and determine the dynamic steering state as the target steering state in a case where the driving speed is not 0.

[0066] It is also found in the research process that the steering law when the vehicle drives at an extremely low speed and steers is similar to the steering law when the vehicle is completely stationary and steers.

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

[0068] That is, the determining 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, and thus the accuracy when controlling the vehicle to steer according to the target steering state is improved.

[0069] In this embodiment, after the determining 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 determining that the target steering state is the static steering state, 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.

[0070] The first steering unit 303 executes the first steering strategy to control the vehicle to complete the steering request when determining that the target steering state is the static steering state, the first steering strategy is formulated according to the target wheel angle and the static wheel angle, and the implementation manner that can be adopted is: obtaining the static wheel angle, the static wheel angle being the maximum wheel angle of the vehicle each time the vehicle steers; obtaining the steering times and the wheel angle of each steering according to the static wheel angle and the target wheel angle; controlling the vehicle to complete the steering request according to the obtained steering times and the wheel angle of each steering.

[0071] In this embodiment, the static wheel angle is pre-set, and the static wheel angle is the wheel angle corresponding to the maximum steering rack force when the vehicle steers in the static state.

[0072] That is, the first steering unit 303 adopts the first steering strategy when determining that the target steering state of the vehicle is the static steering state, which avoids the problem of damage to the steering gear caused by the actual wheel angle being greater than the static wheel angle by limiting the maximum wheel angle of the vehicle each time the vehicle steers to be less than or equal to the static wheel angle, and then controls the vehicle to complete the steering request according to the steering times and the wheel angle of each steering obtained according to the static wheel angle and the target wheel angle, thereby improving the steering accuracy of the vehicle when steering in the static state.

[0073] In a case where the first steering unit 303 determines that the target steering state is the 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 being formulated according to the driving speed and the target wheel angle, and the following implementation manner can also be adopted: sending a driving force request to the chassis domain controller to increase the driving speed; in a case where it is determined that the driving force request is passed and the target steering state is determined to be the dynamic steering state according to the driving speed after the increase, obtaining the steering driving speed and the actual wheel angle of the vehicle in the steering process; in a case where it is determined that the steering driving speed meets the preset requirement 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.

[0074] In a case where the first steering unit 303 determines that the target steering state is the 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 being formulated according to the driving speed and the target wheel angle, and the following implementation manner can also be adopted: sending a driving force request to the chassis domain controller to increase the driving speed; in a case where it is determined that the driving force request is passed and the target steering state is determined to be the dynamic steering state according to the driving speed after the increase, obtaining the steering driving speed and the actual wheel angle of the vehicle in the steering process; in a case where it is determined that the steering driving speed meets the preset requirement 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.

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

[0076] After the target steering state is determined by the determination unit 302, the second steering unit 304 executes a second steering strategy to control the vehicle to complete the steering request in a case where the target steering state is determined to be the dynamic steering state, the second steering strategy being formulated according to the target wheel angle, the steering driving speed and the actual wheel angle.

[0077] The second steering unit 304 executes a second steering strategy to control the vehicle to complete the steering request in a case where the target steering state is determined to be the dynamic steering state, the second steering strategy being formulated according to the target wheel angle, the steering travel speed and the actual wheel angle, and an implementation manner that can be adopted is: obtaining the steering travel speed and the actual wheel angle of the vehicle in the steering process; in a case where the steering travel speed is determined to meet the preset requirement 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.

[0078] The second steering unit 304 can determine that the steering travel speed meets the preset requirement in a case where the steering travel speed is determined to be not 0 when the steering travel speed meets the preset requirement; or the second steering unit 304 can first obtain a target speed, and then determine that the steering travel speed meets the preset requirement in a case where the steering travel speed is determined to be greater than or equal to the target speed.

[0079] The second steering unit 304 executes a second steering strategy to control the vehicle to complete the steering request in a case where the target steering state is determined to be the dynamic steering state, the second steering strategy being formulated according to the target wheel angle, the steering travel speed and the actual wheel angle, and can further include the following content: obtaining the steering travel speed and the actual wheel angle of the vehicle in the steering process; in a case where the steering travel speed is determined not to 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 travel speed; in a case where the driving force request is determined to pass and the steering travel speed after the increase meets the preset requirement, 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, the second steering unit 304 does not need to limit the maximum wheel angle of the vehicle in each steering to the static wheel angle when the target steering state of the vehicle is determined to be the dynamic steering state, so that the actual wheel angle of the vehicle in each steering can be greater than the static wheel angle, thereby enabling the vehicle to complete the steering request more quickly.

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

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

[0083] The device 300 for controlling the steering of the vehicle according to the embodiment can further comprise a switching unit 305 configured to perform the following: in a case where it is determined that the vehicle is taken over by the user in the vehicle, taking the static steering state as the target steering state, and then causing the vehicle to complete the steering request according to the static steering state in the subsequent steering process without determining the target steering state according to the driving speed; and in a case where the vehicle is no longer taken over by the user, determining the target steering state according to the driving speed again.

[0084] In the technical solution of the present disclosure, the acquisition, storage and application of the personal information of the user comply with relevant laws and regulations and do not violate public order and good customs.

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

[0086] As Figure 4 shown, is a block diagram of an electronic device for a method of controlling the steering of a vehicle according to an embodiment of the present disclosure. The electronic device is intended to represent various forms of digital computers, such as laptops, desktops, tablets, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular telephones, smart phones, wearable devices, and other similar computing devices. The components shown in the figures, their connections and relationships, and their functions, are meant to be examples only, and are not intended to limit the implementations of the present disclosure described and / or claimed in this document.

[0087] As Figure 4 shown, the device 400 includes a computing unit 401 that 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 through a bus 404. An input / output (I / O) interface 405 is also connected to the bus 404.

[0088] A plurality 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 magnetic 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 can be various general and / or special-purpose 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 special-purpose artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The computing unit 401 performs various methods and processes described above, such as the method of controlling vehicle steering. For example, in some embodiments, the method of controlling vehicle steering can be implemented as a computer software program, which is tangibly embodied in a machine-readable medium, such as the storage unit 408.

[0090] In some embodiments, part or all of the computer program can 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 onto the RAM 403 and executed by the computing unit 401, one or more steps of the method of controlling vehicle steering described above can be performed. Alternatively, in other embodiments, the computing unit 401 can be configured to perform the method of controlling vehicle steering by any other appropriate means, such as by means of firmware.

[0091] Various implementations of the systems and techniques described here can be realized in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application-specific integrated circuit (ASIC), a system on a chip (SOC), a complex programmable logic device (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0092] Program code for carrying out methods of the present disclosure can be written in any combination of one or more programming languages. The program code can be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable control device to produce a machine, such that the program code, when executed by the processor or controller, causes the machine to perform the functions / acts specified in the flowcharts and / or block diagrams. The program code can be executed entirely on a machine, partially on a machine, partially on a machine and partially on a remote machine or entirely on a remote machine or server.

[0093] In the context of the present disclosure, a machine-readable medium can be a tangible medium that contains or stores a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include but is not limited to an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of the machine-readable storage medium will include one or more lines of electrical connections, portable computer disks, hard disk drives, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or Flash memory), optical fibers, portable compact disc read-only memories (CD-ROMs), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0094] To provide for interaction with a user, the systems and techniques described here 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 a trackball) by which the user can provide input to the computer. Other kinds of devices can be used to provide for interaction with a user as well; for example, 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, speech, or tactile input.

[0095] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can 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] The computer system can include clients and servers. This relationship can be. The servers are typically remote from the clients with the interactions typically taking place over a communication network. The relationship between a client and a server is one of client-server relationship. The server can be a cloud server, also known as cloud computing server or cloud host, which is a host product in the cloud computing service system. The server can also be a server of a distributed system or a server combined with a blockchain.

[0097] It should be understood that the various forms of flow shown above can be re-ordered, added to, or deleted from without departing from the scope of the present disclosure. For example, the steps recited in the present disclosure can be performed in parallel, in series, or in a different order, without departing from the desired results of the technical solutions disclosed in the present disclosure, and the present disclosure is not limited herein.

[0098] The above detailed description does not constitute a limitation on the protection scope of the present disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A method for controlling vehicle steering, comprising: Obtain the vehicle's speed and the target wheel angle corresponding to the steering request; The target steering state is determined based on the driving speed, and the target steering state is one of a static steering state and a dynamic steering state. If the target steering state is determined to be a static steering state, a first steering strategy is executed 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. If the target steering state is determined to be 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 based on the target wheel angle, steering speed and actual wheel angle. The step of determining the target steering state based on the driving speed includes: Obtain the target speed; If it is determined that the driving speed is less than the target speed, the static steering state is taken as the target steering state; If it is determined that the driving speed is greater than or equal to the target speed, the dynamic steering state is taken as the target steering state; When the target steering state is determined to be 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 based on the target wheel angle, steering speed, and actual wheel angle, and includes: Obtain the vehicle's steering speed and actual wheel angle during the steering process; If it is determined that the steering speed does not meet the preset requirements, the steering request is suspended and a drive force request is sent to the chassis domain controller to increase the steering speed. If it is determined that the driving force request is approved and the increased steering speed meets the preset requirements, the vehicle is controlled to continue executing the steering request until the actual wheel angle is equal to the target wheel angle.

2. The method according to claim 1, wherein, When the target steering state is determined to be a static steering state, a first steering strategy is executed 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, including: Obtain the static wheel angle, which is the maximum wheel angle when the vehicle turns each time; Based on the static wheel angle and the target wheel angle, obtain the number of turns and the wheel angle for each turn; The vehicle is controlled to complete the steering request based on the number of steering turns and the wheel angle of each steering turn.

3. The method according to claim 1, wherein, When the target steering state is determined to be a static steering state, a first steering strategy is executed 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 includes: Send a drive force request to the chassis domain controller to increase the driving speed; If it is determined that the driving force request is approved and the target steering state is determined to be a dynamic steering state based on the increased driving speed, the steering speed and actual wheel angle of the vehicle during the steering process are obtained. If 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 executing the steering request until the actual wheel angle is equal to the target wheel angle.

4. The method according to claim 1, wherein, When the target steering state is determined to be a static steering state, a first steering strategy is executed 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 includes: Send a drive force request to the chassis domain controller to increase the driving speed; If it is determined that the driving force request is approved and the target steering state is determined to be a dynamic steering state based on the increased driving speed, the steering speed and actual wheel angle of the vehicle during the steering process are obtained. If it is determined that the steering speed does not meet the preset requirements, the steering request is suspended and a drive force request is sent to the chassis domain controller to increase the steering speed. If it is determined that the driving force request is approved and the increased steering speed meets the preset requirements, the vehicle is controlled to continue executing the steering request until the actual wheel angle is equal to the target wheel angle.

5. The method according to claim 1, wherein, When the target steering state is determined to be 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 based on the target wheel angle, steering speed, and actual wheel angle, and includes: Obtain the vehicle's steering speed and actual wheel angle during the steering process; If 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 executing the steering request until the actual wheel angle is equal to the target wheel angle.

6. A device for controlling vehicle steering, comprising: The acquisition unit is used to acquire the vehicle's speed and the target wheel angle corresponding to the steering request; A determining unit is configured to determine a target steering state based on the driving speed, wherein the target steering state is one of a static steering state and a dynamic steering state; A first steering unit is configured to execute a first steering strategy when the target steering state is determined to be a static steering state, so as 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. The second steering unit is used to execute a second steering strategy when the target steering state is determined to be a dynamic steering state, so as 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. Specifically, when determining the target turning state based on the driving speed, the determining unit performs the following: Obtain the target speed; If it is determined that the driving speed is less than the target speed, the static steering state is taken as the target steering state; If it is determined that the driving speed is greater than or equal to the target speed, the dynamic steering state is taken as the target steering state; When the second steering unit 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, steering speed, and actual wheel angle, and is specifically executed as follows: Obtain the vehicle's steering speed and actual wheel angle during the steering process; If it is determined that the steering speed does not meet the preset requirements, the steering request is suspended and a drive force request is sent to the chassis domain controller to increase the steering speed. If it is determined that the driving force request is approved and the increased steering speed meets the preset requirements, the vehicle is controlled to continue executing the steering request until the actual wheel angle is equal to the target wheel angle.

7. The apparatus according to claim 6, wherein, When the first steering unit 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 based on the target wheel angle and the static wheel angle, and is specifically executed as follows: Obtain the static wheel angle, which is the maximum wheel angle when the vehicle turns each time; Based on the static wheel angle and the target wheel angle, obtain the number of turns and the wheel angle for each turn; The vehicle is controlled to complete the steering request based on the number of steering turns and the wheel angle of each steering turn.

8. The apparatus according to claim 6, wherein, When the first steering unit 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 based on the driving speed and the target wheel angle, and is specifically executed as follows: Send a drive force request to the chassis domain controller to increase the driving speed; If it is determined that the driving force request is approved and the target steering state is determined to be a dynamic steering state based on the increased driving speed, the steering speed and actual wheel angle of the vehicle during the steering process are obtained. If 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 executing the steering request until the actual wheel angle is equal to the target wheel angle.

9. The apparatus according to claim 6, wherein, When the first steering unit 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 based on the driving speed and the target wheel angle, and is specifically executed as follows: Send a drive force request to the chassis domain controller to increase the driving speed; If it is determined that the driving force request is approved and the target steering state is determined to be a dynamic steering state based on the increased driving speed, the steering speed and actual wheel angle of the vehicle during the steering process are obtained. If it is determined that the steering speed does not meet the preset requirements, the steering request is suspended and a drive force request is sent to the chassis domain controller to increase the steering speed. If it is determined that the driving force request is approved and the increased steering speed meets the preset requirements, the vehicle is controlled to continue executing the steering request until the actual wheel angle is equal to the target wheel angle.

10. The apparatus according to claim 6, wherein, When the second steering unit 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, steering speed, and actual wheel angle, and is specifically executed as follows: Obtain the vehicle's steering speed and actual wheel angle during the steering process; If 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 executing the steering request until the actual wheel angle is equal to the target wheel angle.

11. 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 to enable the at least one processor to perform the method of any one of claims 1-5.

12. A non-transitory computer-readable storage medium storing computer instructions, wherein, The computer instructions are used to cause the computer to perform the method according to any one of claims 1-5.

13. A computer program product comprising a computer program that, when executed by a processor, implements the method according to any one of claims 1-5.

14. A vehicle comprising the electronic device of claim 11, wherein the at least one processor is capable of performing the method of any one of claims 1-5.

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