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

Abstract

The application provides a diagonal driving control method, device, program, vehicle controller and vehicle. The diagonal driving control method provided by the application comprises the following steps: when a vehicle diagonal driving function is in an open state and the vehicle diagonal driving is controlled, a front wheel steering angle corresponding to a front wheel of the vehicle and a vehicle speed are acquired first; then a 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; then a rear wheel steering angle corresponding to a rear wheel of the vehicle is determined based on the first vehicle body yaw rate; and finally the vehicle diagonal driving is controlled based on the rear wheel steering angle, so as to improve the stability of the vehicle during the diagonal driving.

Description

Technical Field

[0001] This invention relates to the field of vehicle control technology, and in particular to a method, device, program, vehicle controller, and vehicle for oblique driving control. Background Technology

[0002] The angled driving mode is a special vehicle driving mode that allows the vehicle to move diagonally on special road surfaces, much like a crab, through the coordinated steering of all four wheels, thus giving the vehicle a more flexible driving trajectory. Unlike traditional vehicle turning methods, the angled driving mode causes the rear wheels to turn in sync with the front wheels, allowing the vehicle to handle narrow roads and sharp turns with greater ease. This mode is achieved thanks to rear-wheel steering technology, which greatly enhances the vehicle's handling.

[0003] In related technologies, when a vehicle is in an angled driving mode, the steering angle of the rear wheels is usually the same as that of the front wheels. However, when the road surface is uneven, the same steering angle of the front and rear wheels may cause the vehicle to generate unexpected yaw rates, resulting in 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 this diagonal driving control method, when the vehicle's diagonal driving function is activated and the vehicle is controlled to drive diagonally, a first body yaw rate is calculated based on the front wheel steering angle, and the rear wheel steering angle is adjusted in real time based on the first body yaw rate, thereby ensuring the vehicle's driving stability in diagonal driving mode.

[0005] On one hand, the present invention provides a method for oblique driving control, the method comprising:

[0006] In response to the diagonal driving function being activated, the front wheel steering angle and vehicle speed corresponding to the front wheels of the vehicle are obtained;

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

[0008] The rear wheel steering angle corresponding to the rear wheel of the vehicle is determined based on the first vehicle body yaw rate.

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

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

[0011] Based on the front wheel steering angle and the vehicle speed, the vehicle body yaw rate generated by the front wheel steering is calculated using the Ackermann 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 rate includes:

[0013] Based on the first vehicle body yaw rate, a second vehicle body yaw rate corresponding to the rear wheel is determined. The second vehicle body yaw rate is used to counteract the first vehicle body yaw rate so that the vehicle body yaw rate approaches 0.

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

[0015] Furthermore, in some embodiments, determining the second vehicle body yaw rate corresponding to the rear wheels based on the first vehicle body yaw rate includes:

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

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

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

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

[0020] Based on the steering delay duration, the rear wheel steering angle is compensated for a delay, and the compensated rear wheel steering angle is calculated.

[0021] The method of controlling the vehicle's oblique driving based on the rear wheel steering angle includes:

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

[0023] Furthermore, in some embodiments, the step of performing time-delay compensation on the rear wheel steering angle based on the steering delay duration to calculate the compensated rear wheel steering angle includes:

[0024] The angle compensation amount is determined based on the steering delay duration, angle calculation cycle, rear wheel steering angle calculated in the current cycle, and 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 the delayed rear wheel steering angle.

[0026] Furthermore, in some embodiments, the step of calculating the first vehicle body yaw rate generated by the front wheel steering angle and the vehicle speed using the Ackermann equation includes:

[0027]

[0028] Wherein, the ψ fa_act Let δ be the yaw rate of the first vehicle body. 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 rate includes:

[0030]

[0031] Wherein, the δ ra_tar The rear wheel steering angle, ψ fa_act Let ψ be the first vehicle body yaw rate. correction The value is the yaw rate correction value, where v is the vehicle speed, l is the vehicle wheelbase, and vch is the vehicle characteristic speed.

[0032] Furthermore, in some embodiments, the step of performing time-delay compensation on the rear wheel steering angle based on the steering delay duration to calculate the compensated rear wheel steering angle includes:

[0033]

[0034] Wherein, the δ ra_set To compensate for the rear wheel steering angle, the δ ra_tar The rear wheel steering angle calculated for the current cycle, δ RaRawLastCycle The t represents the rear wheel steering angle calculated in the previous cycle. lead The turning delay duration is t. cycle The period is calculated for the angle.

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

[0036] In response to the diagonal driving function being activated, the front wheel steering angle is changed in real time according to the steering wheel angle.

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

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

[0039] The preset steering angle threshold is determined based on the maximum steering angle of the vehicle's rear wheels.

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

[0041] When the vehicle speed is less than a preset speed threshold, the lateral acceleration is less than a preset acceleration threshold, the road surface 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 activated in response to the driver's command to activate the diagonal driving function control.

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

[0043] When the predefined function exit conditions are met, the diagonal driving function will automatically exit.

[0044] The function exit conditions include any one of the following: vehicle speed greater than or equal to a preset speed threshold, lateral acceleration greater than or equal to a preset acceleration threshold, and road surface slope greater than or equal to a preset slope threshold.

[0045] On the other hand, the present invention provides a diagonal driving control device, comprising:

[0046] The front wheel angle acquisition module is used to acquire the front wheel steering angle and vehicle speed in response to the diagonal driving function being activated.

[0047] The front wheel angular velocity calculation module is used to calculate the first body yaw rate generated by the steering of the front wheels of the vehicle based on the front wheel steering angle and the vehicle speed.

[0048] The rear wheel angle determination module is used to determine the rear wheel steering angle corresponding to the rear wheel of the vehicle based on the first vehicle body yaw rate.

[0049] An oblique driving control module is used to control the vehicle's oblique driving 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 that, when executed, implements the above-described method steps.

[0051] On the other hand, the present invention also provides a vehicle controller, comprising: a processor and a memory; wherein the memory stores computer-readable instructions adapted to be loaded by the processor and to execute the steps of the method described above.

[0052] On the other hand, the present invention also provides a vehicle including the above-described oblique driving control device or vehicle controller.

[0053] According to the oblique driving control method provided by the present invention, when the vehicle oblique driving function is activated and the vehicle is controlled to drive obliquely, the front wheel steering angle and vehicle speed corresponding to the front wheels are first obtained. Then, the first body yaw rate corresponding to the front wheels is calculated based on the front wheel steering angle and vehicle speed. Subsequently, the rear wheel steering angle corresponding to the rear wheels is determined based on the first body yaw rate. Finally, the vehicle is controlled to drive obliquely based on the rear wheel steering angle. This oblique driving control method adjusts the rear wheel steering angle in real time according to the first body yaw rate corresponding to different front wheel steering angles, so that the overall body yaw rate approaches 0 after adjusting the rear wheel steering angle, avoiding unexpected yaw rates during oblique driving and ensuring the driving stability of the vehicle in oblique driving mode.

[0054] It should be understood that the description in the Summary of the Invention is not intended to limit the key or essential features of the embodiments of the present invention, nor is it intended to restrict the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0055] Figure 1 A flowchart illustrating a diagonal driving control method provided in an embodiment of the present invention;

[0056] Figure 2 A flowchart illustrating a diagonal driving control method provided in an embodiment of the present invention;

[0057] Figure 3 A flowchart illustrating a diagonal driving control method provided in an embodiment of the present invention;

[0058] Figure 4 This is a schematic diagram of the structure of a diagonal driving control device provided in an embodiment of the present invention;

[0059] Figure 5 This is a schematic diagram of the structure of a diagonal driving control device provided in an embodiment of the present invention;

[0060] Figure 6 This is a schematic diagram of the structure of a vehicle controller provided in an embodiment of the present invention. Detailed Implementation

[0061] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0062] In the description of one or more embodiments of the present invention, the term "comprising" and similar terms should be understood as open-ended inclusion, i.e., "including but not limited to". The term "based on" should be understood as "at least partially based 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] Please see Figure 1 This is a flowchart illustrating a diagonal driving control method provided in an embodiment of the present invention. The executing entity of this process can be a program for vehicle diagonal driving control, or the executing entity can be a vehicle or domain controller equipped with the above program, or other devices capable of communicating with the vehicle, domain controller, etc., without specific limitations.

[0064] The following is about Figure 1 The process shown will be described in detail. The oblique driving control method may specifically include the following steps:

[0065] Step S102: In response to the diagonal driving function being activated, obtain the front wheel steering angle and vehicle speed corresponding to the front wheels of the vehicle.

[0066] The vehicle's angled driving mode is a special driving mode that allows the vehicle to move laterally on special road surfaces, much like a crab, through coordinated steering of all four wheels, thus giving the vehicle a more flexible driving trajectory. Unlike traditional vehicle turning, angled driving mode causes the rear wheels to turn in sync with the front wheels, allowing the vehicle to handle narrow roads and sharp turns with greater ease. This mode is achieved thanks to rear-wheel steering technology, which greatly enhances the vehicle's handling. When the vehicle's angled driving function is activated, the vehicle enters angled driving mode.

[0067] Specifically, after the diagonal driving function is activated and the vehicle enters diagonal driving mode, the front wheel steering angle and vehicle speed are obtained in real time.

[0068] The front wheel steering angle and the steering wheel angle are positively correlated. This means that the front wheel steering angle can be changed by altering the steering wheel angle.

[0069] It should be noted that, in one or more embodiments of the present invention, before the vehicle enters the diagonal driving mode, the vehicle's motion state should meet the prerequisites for activating the diagonal driving function. These prerequisites include, but are 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 surface 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 diagonal driving function can only be activated if the vehicle meets the above prerequisites.

[0070] In one feasible implementation, when the vehicle speed is less than a preset speed threshold, the lateral acceleration is less than a preset acceleration threshold, the road surface 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 activated in response to the driver's activation command to the diagonal driving function control.

[0071] Step S104: Calculate the first body yaw rate generated by the steering of the front wheels of the vehicle based on the front wheel steering angle and vehicle speed;

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

[0073] Optionally, the vehicle body yaw rate generated by the steering of the front wheels is calculated based on the front wheel steering angle, the vehicle speed, and the Ackermann equation.

[0074] In one embodiment, the vehicle yaw rate generated by the front wheel steering is calculated based on the front wheel steering angle, the vehicle speed, and the Ackermann equation. Specifically, this can be done as follows:

[0075]

[0076] Wherein, the ψ fa_act Let δ be the first vehicle body yaw rate. fa The front wheel steering angle, where v is the vehicle speed, l is the vehicle wheelbase, and vch is the vehicle characteristic speed.

[0077] Step S106: Determine the rear wheel steering angle corresponding to the rear wheel of the vehicle based on the first vehicle body yaw rate;

[0078] Specifically, after calculating the first yaw rate of the vehicle body caused by the front wheel steering, the corresponding rear wheel steering angle of the vehicle's rear wheels is determined based on the first yaw rate.

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

[0080] Understandably, in the angled driving mode, the steering of the front wheels generates a first body yaw rate, which can cause instability in the vehicle during driving. At this time, the rear wheel steering angle is determined based on the first body yaw rate, and the rear wheel steering is controlled according to the rear wheel steering angle. The second body yaw rate generated by the rear wheel steering cancels out the first body yaw rate, so that the body yaw rate approaches 0, ensuring the stability of the vehicle in the angled driving mode.

[0081] In one embodiment, please refer to 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 rate, may specifically include the following steps;

[0082] Step S1061: Determine the second body yaw rate corresponding to the rear wheel of the vehicle based on the first body yaw rate. The second body yaw rate is used to counteract the first body yaw rate so that the body yaw rate approaches 0.

[0083] Step S1062: Determine the rear wheel steering angle corresponding to the second vehicle body yaw rate.

[0084] In this embodiment, a second vehicle body yaw rate is determined based on the first vehicle body yaw rate to counteract the first vehicle body yaw rate. Then, a rear wheel steering angle that can generate the second vehicle body yaw rate is determined based on the calculated rear wheel yaw rate. The rear wheel steering is then controlled based on the rear wheel steering angle to improve vehicle body stability.

[0085] In one embodiment, step S1061, determining the second vehicle body yaw rate corresponding to the rear wheels based on the first vehicle body yaw rate, can specifically involve: acquiring the actual vehicle body yaw rate measured by an inertial sensor; then determining an angular velocity correction value based on the actual vehicle body yaw rate and the first vehicle body yaw rate; and finally determining the second vehicle body yaw rate based on the first vehicle body yaw rate and the angular velocity correction value. Finally, the corresponding rear wheel steering angle is determined based on the second vehicle body yaw rate.

[0086] The second body yaw rate refers to the body yaw rate generated by the steering of the rear wheels.

[0087] It should be noted that the actual vehicle yaw rate is the real-time yaw rate measured by an inertial sensor. The first vehicle yaw rate is calculated based on the front wheel steering angle and vehicle speed, and this calculation may not be accurate. In this embodiment, an angular velocity correction value is determined based on the vehicle yaw rate measured by the inertial sensor for the first vehicle yaw rate. Then, a second vehicle yaw rate is determined based on the first vehicle yaw rate and the angular velocity correction value to improve the calculation accuracy of the second vehicle yaw rate. This allows the rear wheel steering angle to be calculated based on the second vehicle yaw rate, further enhancing vehicle stability.

[0088] In one feasible implementation, the rear wheel steering angle corresponding to the rear wheels of the vehicle is determined based on the first vehicle body yaw rate, specifically as follows:

[0089]

[0090] Wherein, the δ ra_tar The rear wheel steering angle, ψ fa_act Let ψ be the first vehicle body yaw rate. correction Here, v is the angular velocity correction value, l is the vehicle speed, and vch is the vehicle wheelbase. It should be noted that the vehicle characteristic speed is a parameter used to characterize the vehicle's understeer.

[0091] In one embodiment, please refer to Figure 3 This is a flowchart illustrating a diagonal driving control method provided in 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 diagonal driving function being activated, obtain the front wheel steering angle and 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: Calculate the first body yaw rate generated by the steering of the front wheels based on the front wheel steering angle and 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: Obtain the actual vehicle body yaw rate measured by the inertial sensor;

[0097] Step S208: Determine the angular velocity correction value for the first vehicle body yaw rate based on the vehicle body yaw rate, and determine the second vehicle body yaw rate based on the first vehicle body yaw rate and the angular velocity correction value.

[0098] Step S210: Calculate the rear wheel steering angle corresponding to the second vehicle body yaw rate;

[0099] Steps S206-S210 require specific explanation. The vehicle yaw rate is the actual vehicle yaw rate measured by an inertial sensor. The first vehicle yaw rate is calculated based on the front wheel steering angle and vehicle speed, and this calculation may not be accurate. In this embodiment, an angular velocity correction value is determined based on the vehicle yaw rate measured by the inertial sensor for the first vehicle yaw rate. Then, a second vehicle yaw rate is determined based on the first vehicle yaw rate and the angular velocity correction value to improve the calculation accuracy of the second vehicle yaw rate. The rear wheel steering angle is then calculated based on the second vehicle yaw rate to further enhance vehicle stability.

[0100] Step S212: Obtain the steering delay duration corresponding to the rear wheel steering actuator, perform delay compensation on the rear wheel steering angle based on the steering delay duration, and calculate the compensated rear wheel steering angle.

[0101] Specifically, considering the delay issue of the rear wheel steering actuator when performing rear wheel steering, after calculating the rear wheel steering angle based on the second vehicle body yaw rate, the rear wheel steering angle calculated in the current cycle is compensated for the delay based on the steering delay duration, and the rear wheel steering angle after delay compensation is calculated.

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

[0103] In one feasible implementation, the rear wheel steering angle is compensated for a delay based on the steering delay duration. Specifically, the angle compensation amount is determined 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 the rear wheel steering angle after delay compensation.

[0104] Among them, the steering delay time is 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 previous cycle of the current cycle.

[0105] In one feasible implementation, step S212 can specifically calculate the rear wheel steering angle after delay compensation using the following formula:

[0106]

[0107] Wherein, the δ ra_set To compensate for the rear wheel steering angle, the δ ra_tar The rear wheel steering angle calculated for the current cycle, δ RaRawLastCycle The t represents the rear wheel steering angle calculated in the previous cycle. lead The turning delay duration is t. cycle The period is calculated for the angle.

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

[0109] In this embodiment of the invention, after calculating the rear wheel steering angle based on the second vehicle body yaw rate, the rear wheel steering angle calculated in the current cycle is delayed and compensated based on the steering delay duration, 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 delayed and compensated rear wheel steering angle is then calculated, which can further improve the calculation accuracy of the rear wheel steering angle and thus further improve vehicle body stability.

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

[0111] In one feasible implementation, the vehicle steering system can be a combination of a steer-by-wire steering wheel and a front wheel decoupled steering gear. When the vehicle steering system is a combination of a steer-by-wire steering wheel and a front wheel decoupled steering gear, due to the time delay between the steer-by-wire steering wheel and the front wheel decoupled 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 one feasible implementation, in the diagonal driving mode, when the steering angle of the front wheels of the vehicle is greater than or equal to the maximum steering angle of the rear wheels, the diagonal driving mode is exited in order 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 vehicle's rear wheels.

[0114] That is, the preset steering angle threshold is the steering wheel angle value that makes the front wheel steering angle reach the maximum steering angle of the rear wheel. In this embodiment, by setting the preset steering angle threshold, the steering wheel angle change is monitored in the diagonal driving mode. When the steering wheel angle reaches the preset steering angle threshold, an additional resistance torque is applied to the steering wheel torque to remind the driver that the maximum steering angle has been reached, guiding the driver not to continue turning the steering wheel, so as to avoid automatically exiting the diagonal driving mode when the front wheel steering angle is greater than or equal to the maximum steering angle of the rear wheel, and to maintain the stability of the vehicle when driving diagonally.

[0115] Optionally, the additional resistance torque applied to the steering wheel can begin to gradually increase as the steering wheel angle approaches a preset angle threshold, and increase to its maximum value when the steering wheel angle equals the preset angle threshold.

[0116] In one embodiment, when the vehicle is in diagonal driving mode, the diagonal driving function is automatically deactivated if the vehicle's motion state meets predefined function exit conditions. These function exit conditions include any one of the following: vehicle speed greater than or equal to a preset speed threshold, lateral acceleration greater than or equal to a preset acceleration threshold, or road surface slope greater than or equal to a preset slope threshold.

[0117] It is easy to understand that when the vehicle's motion state meets the function's exit conditions, continuing to drive diagonally may cause unexpected risks such as loss of vehicle control. To ensure driving safety, the diagonal driving function is automatically disengaged when the vehicle's motion state meets the function's exit conditions.

[0118] Preferably, the preset speed threshold can be 20 km / h, and the preset acceleration threshold can be 2 m / s². 2 The preset slope threshold can be 15°.

[0119] Please see Figure 4 This is a schematic diagram of the structure of a diagonal driving control device provided in 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] The front wheel angle acquisition module is used to acquire the front wheel steering angle and vehicle speed in response to the diagonal driving function being activated.

[0121] The front wheel angular velocity calculation module is used to calculate the first body yaw rate generated by the steering of the front wheels of the vehicle based on the front wheel steering angle and the vehicle speed.

[0122] The rear wheel angle determination module is used to determine the rear wheel steering angle corresponding to the rear wheel of the vehicle based on the first vehicle body yaw rate.

[0123] An oblique driving control module is used to control the vehicle's oblique driving based on the rear wheel steering angle.

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

[0125] Based on the front wheel steering angle and the vehicle speed, the vehicle body yaw rate generated by the front wheel steering is calculated using the Ackermann equation.

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

[0127] The rear wheel angular velocity determination unit is used to determine a second vehicle yaw rate corresponding to the rear wheel of the vehicle based on the first vehicle yaw rate. The second vehicle yaw rate is used to counteract the first vehicle yaw rate so that the vehicle yaw rate approaches 0.

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

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

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

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

[0132] Optionally, after performing the step of determining the rear wheel steering angle corresponding to the rear wheels of the vehicle based on the first vehicle body yaw rate, 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] Based on the steering delay duration, the rear wheel steering angle is compensated for a delay, and the compensated rear wheel steering angle is calculated.

[0135] The oblique driving 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 of the rear wheel steering angle based on the steering delay duration and calculates the compensated rear wheel steering angle, it is specifically used for:

[0138] The angle compensation amount is determined based on the steering delay duration, angle calculation cycle, rear wheel steering angle calculated in the current cycle, and 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 the delayed rear wheel steering angle.

[0140] Optionally, when the front wheel angular velocity calculation module 12 performs the calculation of the first vehicle body yaw rate generated by the front wheel steering based on the front wheel steering angle, the vehicle speed, and using the Ackermann equation, it is specifically used for:

[0141]

[0142] Wherein, the ψ fa_act Let δ be the yaw rate of the first vehicle body. 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 performs the step of determining the rear wheel steering angle corresponding to the vehicle's rear wheels based on the first vehicle body yaw rate, it is specifically used for:

[0144]

[0145] Wherein, the δ ra_tar The rear wheel steering angle, ψ fa_act Let ψ be the first vehicle body yaw rate. correction The value is the yaw rate correction value, where 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 of the rear wheel steering angle based on the steering delay duration and calculates the compensated rear wheel steering angle, it is specifically used for:

[0147]

[0148] Wherein, the δ ra_set To compensate for the rear wheel steering angle, the δ ra_tar The rear wheel steering angle calculated for the current cycle, δ RaRawLastCycle The t represents the rear wheel steering angle calculated in the previous cycle. leadThe turning delay duration is t. cycle The period is calculated for the angle.

[0149] Optional, please see Figure 5 The device also includes a steering control module 15, used for:

[0150] In response to the diagonal driving function being activated, the front wheel steering angle is changed in real time according to the steering wheel angle.

[0151] Optionally, the steering control module 15 is further configured to:

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

[0153] The preset steering angle threshold is determined based on the maximum steering angle of the vehicle's rear wheels.

[0154] Optional, please see Figure 5 The device further includes a function start / stop module 16, used for:

[0155] When the vehicle speed is less than a preset speed threshold, the lateral acceleration is less than a preset acceleration threshold, the road surface 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 activated in response to the driver's command to activate the diagonal driving function control.

[0156] Optionally, the function start / stop module 16 is further configured to:

[0157] When the predefined function exit conditions are met, the diagonal driving function will automatically exit.

[0158] The function exit conditions include any one of the following: vehicle speed greater than or equal to a preset speed threshold, lateral acceleration greater than or equal to a preset acceleration threshold, and road surface slope greater than or equal to a preset slope threshold.

[0159] The above-described apparatus embodiments correspond to the method embodiments, and detailed descriptions can be found in the description of the method embodiments section, which will not be repeated here. The apparatus embodiments are derived based on the corresponding method embodiments and have the same technical effects as the corresponding method embodiments; detailed descriptions can be found in the corresponding method embodiments.

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

[0161] In one embodiment, the present invention also provides Figure 6 The diagram shows the structure of the vehicle controller. Figure 6 At the hardware level, the vehicle controller includes a processor 21, an internal bus 22, a network interface 23, memory 24, and non-volatile memory 25, and may also include other hardware required for other operations. The vehicle controller can be installed in the vehicle, where the processor 21 reads the corresponding computer program from the non-volatile memory 25 into memory and then runs it to implement the aforementioned diagonal driving control method.

[0162] In one embodiment, the present invention also provides a vehicle that may include the diagonal driving control device or vehicle controller as described above, to control the driving torque of the vehicle by executing the diagonal driving control method through the diagonal driving control device or vehicle controller.

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

[0164] The above description is merely an embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of the present invention should be included within the scope of the claims of the present invention.

Claims

1. A method for controlling oblique driving, comprising: In response to the diagonal driving function being activated, the front wheel steering angle and vehicle speed corresponding to the front wheels of the vehicle are obtained; Calculate the first body yaw rate generated by the steering of the front wheels of the vehicle based on the front wheel steering angle and the vehicle speed; Based on the first vehicle body yaw rate, a second vehicle body yaw rate corresponding to the rear wheel is determined. The second vehicle body yaw rate is used to counteract the first vehicle body yaw rate so that the vehicle body yaw rate approaches 0. Determine the rear wheel steering angle corresponding to the second vehicle body yaw rate; The vehicle is controlled to travel diagonally based on the rear wheel steering angle.

2. The method according to claim 1, wherein calculating the first vehicle body yaw rate generated by the steering of the front wheels based on the front wheel steering angle and the vehicle speed comprises: Based on the front wheel steering angle and the vehicle speed, the vehicle body yaw rate generated by the front wheel steering is calculated using the Ackermann equation.

3. The method according to claim 1, wherein determining the second vehicle body yaw rate corresponding to the rear wheel based on the first vehicle body yaw rate comprises: Obtain the actual vehicle body yaw rate measured by inertial sensors; An angular velocity correction value is determined based on the actual vehicle body yaw rate and the first vehicle body yaw rate, and a second vehicle body yaw rate is determined based on the first vehicle body yaw rate and the angular velocity correction value.

4. The method according to claim 1, further comprising, after determining the rear wheel steering angle corresponding to the rear wheel of the vehicle based on the first vehicle body yaw rate: Obtain the steering delay duration corresponding to the rear wheel steering actuator; Based on the steering delay duration, the rear wheel steering angle is compensated for a delay, and the compensated rear wheel steering angle is calculated. The method of controlling the vehicle's oblique driving based on the rear wheel steering angle includes: The vehicle is controlled to travel diagonally based on the compensated rear wheel steering angle.

5. The method according to claim 4, wherein the step of performing time delay compensation on the rear wheel steering angle based on the steering delay duration to calculate the compensated rear wheel steering angle includes: The angle compensation amount is determined based on the steering delay duration, angle calculation cycle, rear wheel steering angle calculated in the current cycle, and 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 the delayed rear wheel steering angle.

6. The method according to claim 2, wherein the step of calculating the first vehicle body yaw rate generated by the steering of the front wheels of the vehicle based on the front wheel steering angle, the vehicle speed, and using the Ackermann equation comprises: Among them, the The first vehicle body yaw rate, the The front wheel steering angle, the For the speed of the vehicle, the The wheelbase of the vehicle, This represents the characteristic speed of the vehicle.

7. The method according to claim 3, wherein determining the rear wheel steering angle corresponding to the rear wheel of the vehicle based on the first vehicle body yaw rate comprises: Among them, the The rear wheel steering angle, the The first vehicle body yaw rate, the The yaw rate correction value, the For vehicle speed, the The wheelbase of the vehicle, This represents the characteristic speed of the vehicle.

8. The method according to claim 5, wherein the step of performing time delay compensation on the rear wheel steering angle based on the steering delay duration to calculate the compensated rear wheel steering angle includes: Among them, the To compensate for the rear wheel steering angle, the The rear wheel steering angle calculated for the current cycle, The rear wheel steering angle calculated in the previous cycle, the The steering delay duration, the The period is calculated for the angle.

9. The method according to claim 1, further comprising: In response to the diagonal driving function being activated, the front wheel steering angle is changed in real time according to the steering wheel angle.

10. The method according to claim 9, further comprising: When the steering wheel angle reaches a preset angle threshold, an additional resistance torque is applied to the steering wheel hand torque; The preset steering angle threshold is determined based on the maximum steering angle of the vehicle's rear wheels.

11. 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 surface 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 activated in response to the driver's command to activate the diagonal driving function control.

12. The method according to claim 1, further comprising: The diagonal driving function will automatically exit when the predefined exit conditions are met. The function exit conditions include any one of the following: vehicle speed greater than or equal to a preset speed threshold, lateral acceleration greater than or equal to a preset acceleration threshold, and road surface slope greater than or equal to a preset slope threshold.

13. A diagonal driving control device, comprising: The front wheel angle acquisition module is used to acquire the front wheel steering angle and vehicle speed in response to the diagonal driving function being activated. The front wheel angular velocity calculation module is used to calculate the first body yaw rate generated by the steering of the front wheels of the vehicle based on the front wheel steering angle and the vehicle speed. The rear wheel angle determination module is used to determine a second vehicle body yaw rate corresponding to the rear wheel based on the first vehicle body yaw rate. The second vehicle body yaw rate is used to counteract the first vehicle body yaw rate so that the vehicle body yaw rate approaches 0, and to determine the rear wheel steering angle corresponding to the second vehicle body yaw rate. An oblique driving control module is used to control the vehicle's oblique driving based on the rear wheel steering angle.

14. A computer program product comprising a computer program that, when executed, performs the steps of the method according to any one of claims 1 to 12.

15. A vehicle controller, comprising: A processor and a memory; wherein the memory stores computer-readable instructions adapted to be loaded by the processor and to perform the steps of the method as claimed in any one of claims 1 to 12.

16. A vehicle comprising the oblique driving control device as claimed in claim 13 or the vehicle controller as claimed in claim 15.

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