Oblique travel control method, device, program, vehicle controller, and vehicle

Abstract

The invention provides an oblique driving control method, device and program, a vehicle controller and a vehicle, according to the oblique driving control method provided by the invention, when the oblique driving function of the vehicle is in an open state and the vehicle is controlled to obliquely drive, the front wheel steering angle corresponding to the front wheels of the vehicle and the vehicle speed are firstly obtained; calculating a first vehicle body yaw velocity generated by vehicle front wheel steering based on the front wheel steering angle and the vehicle speed, determining a rear wheel steering angle corresponding to a vehicle rear wheel based on the first vehicle body yaw velocity, and finally controlling the vehicle to run obliquely based on the rear wheel steering angle. The stability of the vehicle during oblique driving is improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to an oblique driving control method, device, program, vehicle controller and vehicle. Background Art

[0002] The diagonal driving mode is a special driving mode that allows the vehicle to move diagonally on special roads like a crab through the coordinated steering of the four wheels, giving the vehicle a more flexible driving trajectory. Different from the traditional vehicle turning method, the diagonal driving mode allows the rear wheels to deflect synchronously with the front wheels, allowing the vehicle to handle narrow roads and sharp turns more calmly. This mode is achieved thanks to the rear wheel wire control technology, which greatly enhances the vehicle's controllability.

[0003] In the related art, when the vehicle is in an oblique driving mode, the rear wheel steering angle of the vehicle is usually the same as the front wheel steering angle. However, when the road surface is uneven, the same wheel steering angle of the front and rear wheels may cause the vehicle to generate unexpected yaw angular velocity, causing vehicle instability and affecting driving safety. Summary of the invention

[0004] Based on this, the present invention provides a diagonal driving control method, device, program, vehicle controller and vehicle. Using the diagonal driving control method, when the vehicle's diagonal driving function is turned on and the vehicle is controlled to drive diagonally, the first vehicle body yaw angular velocity is calculated according to the front wheel steering angle, so as to adjust the rear wheel steering angle in real time according to the first vehicle body yaw angular velocity, thereby ensuring the vehicle's driving stability in the diagonal driving mode.

[0005] In one aspect, the present invention provides a method for controlling oblique driving, the method comprising:

[0006] In response to the oblique driving function being in an on state, obtaining a front wheel steering angle and a vehicle speed corresponding to the front wheels of the vehicle;

[0007] Calculating a first vehicle body yaw rate generated by the front wheel steering of the vehicle based on the front wheel steering angle and the vehicle speed;

[0008] determining a rear wheel steering angle corresponding to a rear wheel of the vehicle based on the first vehicle body yaw angular velocity;

[0009] The vehicle is controlled to travel diagonally based on the rear wheel steering angle.

[0010] Further, in some embodiments, the calculating the first vehicle body yaw rate generated by the front wheel steering of the vehicle based on the front wheel steering angle and the vehicle speed includes:

[0011] The vehicle body yaw angular velocity generated by the front wheel steering of the vehicle is calculated based on the front wheel steering angle and the vehicle speed by using the Ackerman equation.

[0012] Furthermore, in some embodiments, determining the rear wheel steering angle corresponding to the rear wheels of the vehicle based on the first vehicle body yaw angular velocity includes:

[0013] determining a second body yaw rate corresponding to the rear wheels of the vehicle based on the first body yaw rate, wherein the second body yaw rate is used to offset the first body yaw rate so that the body yaw rate approaches 0;

[0014] A rear wheel steering angle corresponding to the second vehicle body yaw rate is determined.

[0015] Furthermore, in some embodiments, determining a second vehicle body yaw angular velocity corresponding to a rear wheel of the vehicle based on the first vehicle body yaw angular velocity includes:

[0016] Obtain the actual vehicle body yaw angular velocity measured by inertial sensors;

[0017] An angular velocity correction value is determined based on the actual body yaw velocity and the first body yaw velocity, and the second body yaw velocity is determined based on the first body yaw velocity and the angular velocity correction value.

[0018] Furthermore, in some embodiments, after determining the rear wheel steering angle corresponding to the rear wheel of the vehicle based on the first vehicle body yaw angular velocity, the method further includes:

[0019] Obtain the steering delay duration corresponding to the rear wheel steering actuator;

[0020] Performing delay compensation on the rear wheel steering angle based on the steering delay time, and calculating the compensated rear wheel steering angle;

[0021] The controlling the vehicle to travel obliquely based on the rear wheel steering angle comprises:

[0022] The vehicle is controlled to travel diagonally based on the compensated rear wheel steering angle.

[0023] Furthermore, in some embodiments, delay compensation is performed on the rear wheel steering angle based on the steering delay duration to calculate the compensated rear wheel steering angle, including:

[0024] Determining an angle compensation amount based on the steering delay duration, the angle calculation cycle, the rear wheel steering angle calculated in the current cycle, and the rear wheel steering angle calculated in the previous cycle;

[0025] The rear wheel steering angle calculated in the current cycle is compensated based on the angle compensation amount to obtain a rear wheel steering angle after delay compensation.

[0026] Further, in some embodiments, the calculating the first vehicle body yaw rate generated by the front wheel steering of the vehicle based on the front wheel steering angle and the vehicle speed and using the Ackerman equation includes:

[0027]

[0028] Among them, the ψ fa_act is the first vehicle body yaw angular velocity, the δ fa The front wheel steering angle, v is the vehicle speed, l is the vehicle wheelbase, and vch is the vehicle characteristic speed.

[0029] Furthermore, in some embodiments, determining the rear wheel steering angle corresponding to the rear wheels of the vehicle based on the first vehicle body yaw angular velocity includes:

[0030]

[0031] Among them, the δ ra_tar is the rear wheel steering angle, the fa_act is the first vehicle body yaw angular velocity, the ψ correction is the yaw rate correction value, v is the vehicle speed, l is the vehicle wheelbase, and vch is the vehicle characteristic speed.

[0032] Furthermore, in some embodiments, delay compensation is performed on the rear wheel steering angle based on the steering delay duration to calculate the compensated rear wheel steering angle, including:

[0033]

[0034] Among them, the δ ra_set is the rear wheel steering angle after compensation, the δ ra_tar The rear wheel steering angle calculated for the current cycle, the δ RaRawLastCycle is the rear wheel steering angle calculated in the previous cycle, and t lead is the steering delay time, and t cycle The period is calculated for the angle.

[0035] Furthermore, in some embodiments, the method further comprises:

[0036] In response to the oblique driving function being in an on state, the front wheel steering angle is changed in real time according to the change of the steering wheel angle.

[0037] Furthermore, in some embodiments, the method further comprises:

[0038] When the steering wheel angle reaches a preset angle threshold, applying an additional resistance torque to the steering wheel hand torque;

[0039] Wherein, the preset turning angle threshold is determined based on the maximum steering angle of the rear wheels of the vehicle.

[0040] Furthermore, in some embodiments, the method further comprises:

[0041] When the vehicle speed is less than a preset speed threshold, the lateral acceleration is less than a preset acceleration threshold, the road slope is less than a preset slope threshold and the current front wheel steering angle is less than the maximum rear wheel steering angle, the diagonal driving function is turned on in response to the driver's turn-on instruction for the diagonal driving function control.

[0042] Furthermore, in some embodiments, the method further comprises:

[0043] When the predefined function exit condition is met, the oblique driving function is automatically exited;

[0044] The function exit condition includes any one of a vehicle speed greater than or equal to a preset speed threshold, a lateral acceleration greater than or equal to a preset acceleration threshold, and a road slope greater than or equal to a preset slope threshold.

[0045] In another aspect, the present invention provides an oblique travel control device, comprising:

[0046] A front wheel angle acquisition module, for acquiring a front wheel steering angle and a vehicle speed corresponding to the front wheels of the vehicle in response to the oblique driving function being in an on state;

[0047] a front wheel angular velocity calculation module, configured to calculate a first vehicle body yaw angular velocity generated by the front wheel steering of the vehicle based on the front wheel steering angle and the vehicle speed;

[0048] a rear wheel angle determination module, configured to determine a rear wheel steering angle corresponding to a rear wheel of the vehicle based on the first vehicle body yaw angular velocity;

[0049] The oblique driving control module is used to control the oblique driving of the vehicle based on the rear wheel steering angle.

[0050] On the other hand, the present invention also provides a computer program product, which includes a computer program, and the computer program implements the above method steps when being executed.

[0051] On the other hand, the present invention further provides a vehicle controller, comprising: a processor and a memory; wherein the memory stores computer-readable instructions, and the computer-readable instructions are suitable for being loaded by the processor and executing the steps of the above method.

[0052] On the other hand, the present invention further provides a vehicle, comprising the above-mentioned oblique driving control device or vehicle controller.

[0053] According to the oblique driving control method provided by the present invention, when the oblique driving function of the vehicle is turned on and the vehicle is controlled to drive obliquely, the front wheel steering angle and the vehicle speed corresponding to the front wheels of the vehicle are first obtained, and then the first body yaw angular velocity corresponding to the front wheels of the vehicle is calculated based on the front wheel steering angle and the vehicle speed, and then the rear wheel steering angle corresponding to the rear wheels of the vehicle is determined based on the first body yaw angular velocity, and finally the vehicle is controlled to drive obliquely based on the rear wheel steering angle. The oblique driving control method adjusts the rear wheel steering angle in real time according to the first body yaw angular velocity corresponding to different front wheel steering angles, so that the whole vehicle body yaw angular velocity approaches 0 after adjusting the rear wheel steering angle, thereby avoiding unexpected yaw angular velocity of the vehicle during oblique driving and ensuring the driving stability of the vehicle in the oblique driving mode.

[0054] It should be understood that the contents described in the summary of the invention are not intended to limit the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 A schematic flow chart of a method for controlling oblique driving provided by an embodiment of the present invention;

[0056] Figure 2 A schematic flow chart of a method for controlling oblique driving provided by an embodiment of the present invention;

[0057] Figure 3 A schematic flow chart of a method for controlling oblique driving provided by an embodiment of the present invention;

[0058] Figure 4 A schematic diagram of the structure of an oblique driving control device provided by an embodiment of the present invention;

[0059] Figure 5 A schematic diagram of the structure of an oblique driving control device provided by an embodiment of the present invention;

[0060] Figure 6 A schematic structural diagram of a vehicle controller provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0061] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the specific embodiments of the present invention and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0062] In the description of one or more embodiments of the present invention, the term "including" and similar terms should be understood as open inclusion, that is, "including but not limited to". The term "based on" should be understood as "based at least in part on". The term "one embodiment" or "the embodiment" should be understood as "at least one embodiment". The terms "first", "second", etc. may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0063] See also Figure 1 , which is a flow chart of a method for controlling oblique driving provided by an embodiment of the present invention. The execution subject of the process may be a program for controlling oblique driving of a vehicle, or the execution subject of the process may also be a vehicle or a domain controller equipped with the above program, or other devices capable of communicating with a vehicle, a domain controller, etc., without specific limitation.

[0064] The following is for Figure 1 The process shown in the figure is described in detail, and the oblique driving control method may specifically include the following steps:

[0065] Step S102, in response to the oblique driving function being in the on state, obtaining the front wheel steering angle and the vehicle speed corresponding to the front wheels of the vehicle;

[0066] The vehicle's diagonal driving mode is a special vehicle driving mode. Through the coordinated steering of the four wheels, the vehicle can move laterally on special roads like a crab, giving the vehicle a more flexible driving trajectory. Different from the traditional vehicle turning method, the diagonal driving mode allows the rear wheels to deflect synchronously with the front wheels, allowing the vehicle to deal with narrow roads and sharp turns more calmly. This mode is achieved thanks to the rear wheel wire control technology, which greatly enhances the vehicle's controllability. When the vehicle's diagonal driving function is turned on, the vehicle enters the diagonal driving mode.

[0067] Specifically, after the oblique driving function is turned on and the vehicle enters the oblique driving mode, the front wheel steering angle corresponding to the front wheels of the vehicle and the vehicle speed are obtained in real time.

[0068] The front wheel steering angle is positively correlated with the steering wheel angle, so the front wheel steering angle of the vehicle can be changed by changing the steering wheel angle.

[0069] It should be noted that, in one or more embodiments of the present invention, before the vehicle enters the oblique driving mode, the vehicle's motion state should meet the prerequisites for enabling the oblique driving function, including but not limited to the vehicle speed being less than a preset speed threshold, the lateral acceleration being less than a preset acceleration threshold, the road slope being less than a preset slope threshold, and the current front wheel steering angle being less than the maximum rear wheel steering angle. That is, the oblique driving function can be enabled only when the vehicle meets the above prerequisites.

[0070] In a feasible implementation manner, when the vehicle speed is less than a preset speed threshold, the lateral acceleration is less than a preset acceleration threshold, the road slope is less than a preset slope threshold and the current front wheel steering angle is less than the maximum rear wheel steering angle, the diagonal driving function is turned on in response to the driver's turn-on instruction for the diagonal driving function control.

[0071] Step S104, calculating a first vehicle body yaw angular velocity generated by the front wheel steering of the vehicle based on the front wheel steering angle and the vehicle speed;

[0072] Specifically, after obtaining the real-time front wheel steering angle and vehicle speed, the first vehicle body yaw rate generated by the vehicle front wheel steering is calculated based on the front wheel steering angle and vehicle speed, wherein the first vehicle body yaw rate is the yaw rate caused by the front wheel steering.

[0073] Optionally, based on the front wheel steering angle and the vehicle speed, the vehicle body yaw angular velocity generated by the front wheel steering of the vehicle is calculated using the Ackerman equation.

[0074] In one embodiment, based on the front wheel steering angle and the vehicle speed, the vehicle body yaw rate generated by the front wheel steering of the vehicle is calculated using the Ackerman equation, which may be:

[0075]

[0076] Among them, the ψ fa_act is the first vehicle body yaw angular velocity, the δ fa The front wheel steering angle, v is the vehicle speed, l is the vehicle wheelbase, and vch is the vehicle characteristic speed.

[0077] Step S106, determining a rear wheel steering angle corresponding to the rear wheels of the vehicle based on the first vehicle body yaw angular velocity;

[0078] Specifically, after the first vehicle body yaw angular velocity caused by the front wheel steering is calculated, the rear wheel steering angle corresponding to the rear wheels of the vehicle is determined according to the first vehicle body yaw angular velocity.

[0079] Step S108, controlling the vehicle to travel diagonally based on the rear wheel steering angle.

[0080] It can be understood that in the oblique driving mode, the front wheel steering of the vehicle generates a first body yaw angular velocity, and the first body yaw angular velocity will make the vehicle unstable during driving. At this time, the rear wheel steering angle is determined according to the first body yaw angular velocity, so as to control the rear wheel steering according to the rear wheel steering angle, and the second body yaw angular velocity generated by the rear wheel steering offsets the first body yaw angular velocity, so that the body yaw angular velocity approaches 0, thereby ensuring the stability of the vehicle in the oblique driving mode.

[0081] In one embodiment, see Figure 2 , step S106, determining the rear wheel steering angle corresponding to the rear wheel of the vehicle based on the first vehicle body yaw angular velocity, which may specifically include the following steps;

[0082] Step S1061, determining a second body yaw rate corresponding to the rear wheels of the vehicle based on the first body yaw rate, the second body yaw rate being used to offset the first body yaw rate so that the body yaw rate approaches 0;

[0083] Step S1062, determining a rear wheel steering angle corresponding to the second vehicle body yaw angular velocity.

[0084] In this embodiment, a second body yaw velocity for offsetting the first body yaw velocity is determined according to the first body yaw velocity, and then a rear wheel steering angle that can generate the second body yaw velocity is determined according to the calculated rear wheel yaw velocity, so that the rear wheel steering is controlled according to the rear wheel steering angle to improve the body stability.

[0085] In one embodiment, in step S1061, the second body yaw rate corresponding to the rear wheel of the vehicle is determined based on the first body yaw rate, which may be specifically: obtaining the actual body yaw rate measured by the inertial sensor, then determining the angular velocity correction value based on the actual body yaw rate and the first body yaw rate, and determining the second body yaw rate based on the first body yaw rate and the angular velocity correction value. Finally, the rear wheel steering angle corresponding to the second body yaw rate is determined according to the second body yaw rate.

[0086] The second vehicle body yaw angular velocity refers to the vehicle body yaw angular velocity generated by the rear wheel steering.

[0087] It should be noted that the actual vehicle body yaw rate is the actual vehicle body yaw rate measured in real time based on the inertial sensor, and the first vehicle body yaw rate is the yaw rate calculated based on the front wheel steering angle and the vehicle speed, and the calculation of the first vehicle body yaw rate may not be accurate. In this embodiment, the angular velocity correction value for the first vehicle body yaw rate is determined based on the vehicle body yaw rate measured by the inertial sensor, and then the second vehicle body yaw rate is determined based on the first vehicle body yaw rate and the angular velocity correction value, so as to improve the calculation accuracy of the second vehicle body yaw rate, thereby calculating the rear wheel steering angle based on the second vehicle body yaw rate, and further improving the vehicle body stability.

[0088] In a feasible implementation manner, the rear wheel steering angle corresponding to the rear wheel of the vehicle is determined based on the first vehicle body yaw angular velocity, which may be specifically:

[0089]

[0090] Among them, the δ ra_tar is the rear wheel steering angle, the fa_act is the first vehicle body yaw angular velocity, the ψ correction is the angular velocity correction value, v is the vehicle speed, l is the vehicle wheelbase, and vch is the vehicle characteristic speed. It should be noted that the vehicle characteristic speed is a parameter used to characterize the understeering amount of the vehicle.

[0091] In one embodiment, see Figure 3 , is a flow chart of a method for controlling oblique driving provided by an embodiment of the present invention. Figure 3 As shown, the oblique driving control method includes the following steps:

[0092] Step S202, in response to the oblique driving function being in the on state, obtaining the front wheel steering angle and the vehicle speed corresponding to the front wheels of the vehicle;

[0093] Specifically, for step S202, please refer to the detailed description of step S102 in another embodiment of the present invention, which will not be repeated here.

[0094] Step S204, calculating a first vehicle body yaw angular velocity generated by the front wheel steering of the vehicle based on the front wheel steering angle and the vehicle speed;

[0095] Specifically, for step S204, please refer to the detailed description of step S104 in another embodiment of the present invention, which will not be repeated here.

[0096] Step S206, obtaining the actual vehicle body yaw angular velocity measured by the inertial sensor;

[0097] Step S208, determining an angular velocity correction value for the first body yaw angular velocity based on the body yaw angular velocity, and determining a second body yaw angular velocity based on the first body yaw angular velocity and the angular velocity correction value;

[0098] Step S210, calculating a rear wheel steering angle corresponding to a second vehicle body yaw angular velocity;

[0099] It should be specifically explained in step S206-step S210 that the vehicle body yaw rate is the actual vehicle body yaw rate measured by the inertial sensor, the first vehicle body yaw rate is the yaw rate calculated according to the front wheel steering angle and the vehicle speed, and the calculation of the first vehicle body yaw rate may not be accurate. In this embodiment, the angular velocity correction value for the first vehicle body yaw rate is determined according to the vehicle body yaw rate measured by the inertial sensor, and then the second vehicle body yaw rate is determined based on the first vehicle body yaw rate and the angular velocity correction value, so as to improve the calculation accuracy of the second vehicle body yaw rate, so as to calculate the rear wheel steering angle according to the second vehicle body yaw rate, so as to further improve the vehicle body stability.

[0100] Step S212, obtaining a steering delay duration corresponding to the rear wheel steering actuator, performing delay compensation on the rear wheel steering angle based on the steering delay duration, and calculating a compensated rear wheel steering angle;

[0101] Specifically, considering the delay problem of the rear-wheel steering actuator when executing the rear-wheel steering, after the rear-wheel steering angle is calculated according to the second vehicle body yaw angular velocity, the rear-wheel steering angle calculated in the current cycle is delayed compensated according to the steering delay length, and the rear-wheel steering angle after delay compensation is calculated.

[0102] The steering delay time is based on the steering actuator delay time calibrated according to the actual situation.

[0103] In a feasible implementation manner, delay compensation is performed on the rear wheel steering angle based on the steering delay duration, specifically: the angle compensation amount is determined based on the steering delay duration, the angle calculation period, the rear wheel steering angle calculated in the current period, and the rear wheel steering angle calculated in the previous period; the rear wheel steering angle calculated in the current period is compensated based on the angle compensation amount to obtain the rear wheel steering angle after delay compensation.

[0104] Among them, the steering delay duration is based on the steering actuator delay time calibrated according to the actual situation, the angle calculation cycle is the software update cycle used to calculate the rear wheel steering angle, the rear wheel steering angle calculated in the current cycle is the rear wheel steering angle calculated in step S210, and the rear wheel steering angle calculated in the previous cycle is the rear wheel steering angle calculated in the cycle before the current cycle.

[0105] In a feasible implementation manner, step S212 may specifically calculate the rear wheel steering angle after delay compensation by the following formula:

[0106]

[0107] Among them, the δ ra_set is the rear wheel steering angle after compensation, the δ ra_tar The rear wheel steering angle calculated for the current cycle, the δ RaRawLastCycle is the rear wheel steering angle calculated in the previous cycle, and t lead is the steering delay time, and t cycle The period is calculated for the angle.

[0108] Step S214, controlling the vehicle to travel diagonally based on the compensated rear wheel steering angle.

[0109] In an embodiment of the present invention, after the rear-wheel steering angle is calculated according to the second vehicle body yaw angular velocity, delay compensation is performed on the rear-wheel steering angle calculated in the current cycle according to the steering delay duration, the angle calculation cycle, the rear-wheel steering angle calculated in the current cycle and the rear-wheel steering angle calculated in the previous cycle, and the rear-wheel steering angle after delay compensation is calculated, which can further improve the calculation accuracy of the rear-wheel steering angle to further improve the vehicle body stability.

[0110] In one embodiment, when the diagonal driving function is turned on, the front wheel steering angle is changed in real time according to the steering wheel angle. To ensure driving stability, the front wheel steering angle should be less than the maximum steering angle of the rear wheels of the vehicle. For example, if the maximum steering angle of the rear wheels of a vehicle is 15°, the front wheel steering angle of the vehicle should not exceed 15° in the diagonal driving mode.

[0111] In a feasible implementation, the vehicle steering system may be a combination of a steer-by-wire steering wheel and a front-wheel decoupling steering gear. When the vehicle steering system is a combination of a steer-by-wire steering wheel and a front-wheel decoupling steering gear, due to the delay problem between the steer-by-wire steering wheel and the front-wheel decoupling steering gear, when the steering wheel angle reaches a preset rear wheel angle threshold, an additional angle control offset is added to the actual front wheel angle so that the actual front wheel angle corresponds to the steering wheel angle.

[0112] In a feasible implementation manner, in the oblique driving mode, when the front wheel steering angle of the vehicle's front wheels is greater than or equal to the maximum steering angle of the vehicle's rear wheels, the oblique driving mode is exited to ensure vehicle stability and driving safety.

[0113] In one embodiment, when the steering wheel angle reaches a preset angle threshold, an additional resistance torque is applied to the steering wheel hand torque; wherein the preset angle threshold is determined based on the maximum steering angle of the rear wheels of the vehicle.

[0114] That is, the preset turning angle threshold is the steering wheel angle value that makes the steering angle of the front wheels of the vehicle reach the maximum steering angle of the rear wheels of the vehicle. In this embodiment, by setting the preset turning angle threshold, in the oblique driving mode, the steering wheel angle change is monitored, and when the steering wheel angle reaches the preset turning angle threshold, an additional resistance torque is applied to the steering wheel hand torque to remind the driver to reach the maximum steering angle, guide the driver not to continue turning the steering wheel, so as to avoid automatically exiting the oblique driving mode when the front wheel steering angle is greater than or equal to the maximum steering angle of the rear wheels of the vehicle, and to keep the vehicle stable in oblique driving.

[0115] Optionally, the additional resistance torque applied to the steering wheel may begin to gradually increase when the steering wheel angle approaches a preset angle threshold, and increase to a maximum value when the steering wheel angle is equal to the preset angle threshold.

[0116] In one embodiment, when the vehicle is in the oblique driving mode, if the vehicle motion state satisfies a predefined function exit condition, the oblique driving function is automatically exited, wherein the function exit condition includes any one of the vehicle speed being greater than or equal to a preset speed threshold, the lateral acceleration being greater than or equal to a preset acceleration threshold, and the road slope being greater than or equal to a preset slope threshold.

[0117] It is not difficult to understand that when the vehicle's motion state meets the function exit conditions, continuing to drive diagonally may cause unexpected risks of vehicle loss of control. To ensure driving safety, the diagonal driving function is automatically exited when the vehicle's motion state meets the function exit conditions.

[0118] Preferably, the preset speed threshold may be 20 kilometers per hour, and the preset acceleration threshold may be 2 m / s 2 , the preset slope threshold can be 15°.

[0119] See also Figure 4 , is a schematic diagram of the structure of an oblique driving control device provided by an embodiment of the present invention. Figure 4 As shown, the oblique driving control device 01 can be implemented as all or part of the vehicle controller through software, hardware or a combination of both. According to some embodiments, the oblique driving control device 01 may include a front wheel angle acquisition module 11, a front wheel angular velocity calculation module 12, a rear wheel angle determination module 13 and an oblique driving control module 14, specifically including:

[0120] A front wheel angle acquisition module, for acquiring a front wheel steering angle and a vehicle speed corresponding to the front wheels of the vehicle in response to the oblique driving function being in an on state;

[0121] a front wheel angular velocity calculation module, configured to calculate a first vehicle body yaw angular velocity generated by the front wheel steering of the vehicle based on the front wheel steering angle and the vehicle speed;

[0122] a rear wheel angle determination module, configured to determine a rear wheel steering angle corresponding to a rear wheel of the vehicle based on the first vehicle body yaw angular velocity;

[0123] The oblique driving control module is used to control the oblique driving of the vehicle based on the rear wheel steering angle.

[0124] Optionally, the front wheel angular velocity calculation module 12 is specifically used for:

[0125] The vehicle body yaw angular velocity generated by the front wheel steering of the vehicle is calculated based on the front wheel steering angle and the vehicle speed by using the Ackerman equation.

[0126] Optionally, the rear wheel angle determination module 13 includes:

[0127] a rear wheel angular velocity determination unit, configured to determine a second body yaw angular velocity corresponding to a rear wheel of the vehicle based on the first body yaw angular velocity, wherein the second body yaw angular velocity is used to offset the first body yaw angular velocity so that the body yaw angular velocity approaches 0;

[0128] The rear wheel angle calculation unit is used to determine a rear wheel steering angle corresponding to the second vehicle body yaw angular velocity.

[0129] Optionally, the rear wheel angle determination module 13 is further used for:

[0130] Obtain the actual vehicle body yaw angular velocity measured by inertial sensors;

[0131] An angular velocity correction value is determined based on the actual body yaw velocity and the first body yaw velocity, and the second body yaw velocity is determined based on the first body yaw velocity and the angular velocity correction value.

[0132] Optionally, after executing the step of determining the rear wheel steering angle corresponding to the rear wheels of the vehicle based on the first vehicle body yaw angular velocity, the rear wheel angle determination module 13 is further configured to:

[0133] Obtain the steering delay duration corresponding to the rear wheel steering actuator;

[0134] Performing delay compensation on the rear wheel steering angle based on the steering delay time, and calculating the compensated rear wheel steering angle;

[0135] The oblique travel control module 14 is specifically used for:

[0136] The vehicle is controlled to travel diagonally based on the compensated rear wheel steering angle.

[0137] Optionally, when the rear wheel angle determination module 13 performs the delay compensation on the rear wheel steering angle based on the steering delay duration and calculates the compensated rear wheel steering angle, it is specifically used to:

[0138] Determining an angle compensation amount based on the steering delay duration, the angle calculation cycle, the rear wheel steering angle calculated in the current cycle, and the rear wheel steering angle calculated in the previous cycle;

[0139] The rear wheel steering angle calculated in the current cycle is compensated based on the angle compensation amount to obtain a rear wheel steering angle after delay compensation.

[0140] Optionally, when the front wheel angular velocity calculation module 12 calculates the first vehicle body yaw angular velocity generated by the front wheel steering of the vehicle based on the front wheel steering angle and the vehicle speed and adopts the Ackerman equation, it is specifically used to:

[0141]

[0142] Among them, the ψ fa_act is the first vehicle body yaw angular velocity, the δ fa The front wheel steering angle, v is the vehicle speed, l is the vehicle wheelbase, and vch is the vehicle characteristic speed.

[0143] Optionally, when the rear wheel angle determination module 13 determines the rear wheel steering angle corresponding to the rear wheel of the vehicle based on the first vehicle body yaw angular velocity, it is specifically used to:

[0144]

[0145] Among them, the δ ra_tar is the rear wheel steering angle, the fa_act is the first vehicle body yaw angular velocity, the ψ correction is the yaw rate correction value, v is the vehicle speed, l is the vehicle wheelbase, and vch is the vehicle characteristic speed.

[0146] Optionally, when the rear wheel angle determination module 13 performs the delay compensation on the rear wheel steering angle based on the steering delay duration and calculates the compensated rear wheel steering angle, it is specifically used to:

[0147]

[0148] Among them, the δ ra_set is the rear wheel steering angle after compensation, the δ ra_tar The rear wheel steering angle calculated for the current cycle, the δ RaRawLastCycle is the rear wheel steering angle calculated in the previous cycle, and t leadis the steering delay time, and t cycle The period is calculated for the angle.

[0149] Optional, see Figure 5 The device further comprises a steering control module 15, which is used to:

[0150] In response to the oblique driving function being in an on state, the front wheel steering angle is changed in real time according to the change of the steering wheel angle.

[0151] Optionally, the steering control module 15 is further used for:

[0152] When the steering wheel angle reaches a preset angle threshold, applying an additional resistance torque to the steering wheel hand torque;

[0153] Wherein, the preset turning angle threshold is determined based on the maximum steering angle of the rear wheels of the vehicle.

[0154] Optional, see Figure 5 The device further comprises a function start-stop module 16, which is used to:

[0155] When the vehicle speed is less than a preset speed threshold, the lateral acceleration is less than a preset acceleration threshold, the road slope is less than a preset slope threshold and the current front wheel steering angle is less than the maximum rear wheel steering angle, the diagonal driving function is turned on in response to the driver's turn-on instruction for the diagonal driving function control.

[0156] Optionally, the function start / stop module 16 is further used for:

[0157] When the predefined function exit condition is met, the oblique driving function is automatically exited;

[0158] The function exit condition includes any one of a vehicle speed greater than or equal to a preset speed threshold, a lateral acceleration greater than or equal to a preset acceleration threshold, and a road slope greater than or equal to a preset slope threshold.

[0159] The above device embodiments correspond to the method embodiments. For specific descriptions, please refer to the description of the method embodiments, which will not be repeated here. The device embodiments are obtained based on the corresponding method embodiments and have the same technical effects as the corresponding method embodiments. For specific descriptions, please refer to the corresponding method embodiments.

[0160] The present invention also provides a computer program product, which can store a computer program. The computer program can be loaded and executed as in the above-mentioned embodiments of the oblique driving control method. The specific execution process can refer to the specific description of the above-mentioned embodiments, which will not be repeated here.

[0161] In one embodiment, the present invention also provides Figure 6 The structural diagram of the vehicle controller is shown in FIG. Figure 6 At the hardware level, the vehicle controller includes a processor 21, an internal bus 22, a network interface 23, a memory 24, and a non-volatile memory 25, and may also include hardware required for other services. The vehicle controller can be set in a vehicle, wherein the processor 21 reads the corresponding computer program from the non-volatile memory 25 into the memory and then runs it to implement the above-mentioned oblique driving control method.

[0162] In one embodiment, the present invention further provides a vehicle, which may include an oblique driving control device or a vehicle controller as described above, so as to control the driving torque of the vehicle by executing an oblique driving control method through the oblique driving control device or the vehicle controller.

[0163] Finally, the various embodiments of the present invention are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0164] The above description is only an embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A method for controlling oblique driving, comprising: In response to the oblique driving function being in an on state, obtaining a front wheel steering angle and a vehicle speed corresponding to the front wheels of the vehicle; Calculating a first vehicle body yaw rate generated by the front wheel steering of the vehicle based on the front wheel steering angle and the vehicle speed; determining a rear wheel steering angle corresponding to a rear wheel of the vehicle based on the first vehicle body yaw angular velocity; The vehicle is controlled to travel diagonally based on the rear wheel steering angle.

2. The method according to claim 1, wherein the first vehicle body yaw rate generated by the front wheel steering of the vehicle is calculated based on the front wheel steering angle and the vehicle speed, comprising: The vehicle body yaw angular velocity generated by the front wheel steering of the vehicle is calculated based on the front wheel steering angle and the vehicle speed by using the Ackerman equation.

3. The method according to claim 1, wherein determining the rear wheel steering angle corresponding to the rear wheels of the vehicle based on the first vehicle body yaw angular velocity comprises: determining a second body yaw rate corresponding to the rear wheels of the vehicle based on the first body yaw rate, wherein the second body yaw rate is used to offset the first body yaw rate so that the body yaw rate approaches 0; A rear wheel steering angle corresponding to the second vehicle body yaw rate is determined.

4. The method according to claim 3, wherein determining a second vehicle body yaw rate corresponding to a rear wheel of the vehicle based on the first vehicle body yaw rate comprises: Obtain the actual vehicle body yaw angular velocity measured by inertial sensors; An angular velocity correction value is determined based on the actual body yaw velocity and the first body yaw velocity, and the second body yaw velocity is determined based on the first body yaw velocity and the angular velocity correction value.

5. The method according to claim 1, after determining the rear wheel steering angle corresponding to the rear wheel of the vehicle based on the first vehicle body yaw angular velocity, further comprising: Obtain the steering delay duration corresponding to the rear wheel steering actuator; Performing delay compensation on the rear wheel steering angle based on the steering delay time, and calculating the compensated rear wheel steering angle; The controlling the vehicle to travel obliquely based on the rear wheel steering angle comprises: The vehicle is controlled to travel diagonally based on the compensated rear wheel steering angle.

6. The method according to claim 5, wherein delay compensation is performed on the rear wheel steering angle based on the steering delay time to calculate the compensated rear wheel steering angle, comprising: Determining an angle compensation amount based on the steering delay duration, the angle calculation cycle, the rear wheel steering angle calculated in the current cycle, and the rear wheel steering angle calculated in the previous cycle; The rear wheel steering angle calculated in the current cycle is compensated based on the angle compensation amount to obtain a rear wheel steering angle after delay compensation.

7. The method according to claim 2, wherein the first vehicle body yaw rate generated by the front wheel steering of the vehicle is calculated based on the front wheel steering angle and the vehicle speed and using the Ackerman equation, comprising: Among them, the ψ fa_act is the first vehicle body yaw angular velocity, the δ fa The front wheel steering angle, v is the vehicle speed, l is the vehicle wheelbase, and vch is the vehicle characteristic speed.

8. The method according to claim 4, wherein determining the rear wheel steering angle corresponding to the rear wheels of the vehicle based on the first vehicle body yaw angular velocity comprises: Among them, the δ ra_tar is the rear wheel steering angle, the fa_act is the first vehicle body yaw angular velocity, the ψ correction is the yaw rate correction value, v is the vehicle speed, l is the vehicle wheelbase, and vch is the vehicle characteristic speed.

9. The method according to claim 6, wherein delay compensation is performed on the rear wheel steering angle based on the steering delay time to calculate the compensated rear wheel steering angle, comprising: Among them, the δ ra_set is the rear wheel steering angle after compensation, the δ ra_tar The rear wheel steering angle calculated for the current cycle, the δ RaRawLastCycle is the rear wheel steering angle calculated in the previous cycle, and t lead is the steering delay time, and t cycle The period is calculated for the angle.

10. The method according to claim 1, further comprising: In response to the oblique driving function being in an on state, the front wheel steering angle is changed in real time according to the change of the steering wheel angle.

11. The method according to claim 10, further comprising: When the steering wheel angle reaches a preset angle threshold, applying an additional resistance torque to the steering wheel hand torque; Wherein, the preset turning angle threshold is determined based on the maximum steering angle of the rear wheels of the vehicle.

12. The method according to claim 1, further comprising: When the vehicle speed is less than a preset speed threshold, the lateral acceleration is less than a preset acceleration threshold, the road slope is less than a preset slope threshold and the current front wheel steering angle is less than the maximum rear wheel steering angle, the diagonal driving function is turned on in response to the driver's turn-on instruction for the diagonal driving function control.

13. The method according to claim 1, further comprising: When the predefined function exit condition is met, the oblique driving function is automatically exited; The function exit condition includes any one of a vehicle speed greater than or equal to a preset speed threshold, a lateral acceleration greater than or equal to a preset acceleration threshold, and a road slope greater than or equal to a preset slope threshold.

14. A device for controlling oblique travel, comprising: A front wheel angle acquisition module, for acquiring a front wheel steering angle and a vehicle speed corresponding to the front wheels of the vehicle in response to the oblique driving function being in an on state; a front wheel angular velocity calculation module, configured to calculate a first vehicle body yaw angular velocity generated by the front wheel steering of the vehicle based on the front wheel steering angle and the vehicle speed; a rear wheel angle determination module, configured to determine a rear wheel steering angle corresponding to a rear wheel of the vehicle based on the first vehicle body yaw angular velocity; The oblique driving control module is used to control the oblique driving of the vehicle based on the rear wheel steering angle.

15. A computer program product, comprising a computer program, wherein when the computer program is executed, the steps of the method according to any one of claims 1 to 13 are implemented.

16. A vehicle controller, comprising: A processor and a memory; wherein the memory stores computer-readable instructions, and the computer-readable instructions are suitable for being loaded by the processor and executing the steps of the method as claimed in any one of claims 1 to 13.

17. A vehicle comprising the oblique travel control device according to claim 14 or the vehicle controller according to claim 16.

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