Vehicle deviation suppression method and device, electronic equipment and storage medium

Abstract

The invention relates to a vehicle deviation restraining method and device, electronic equipment and a storage medium, and the method comprises the steps that whether a vehicle deviates or not is judged according to the driving state of the vehicle; under the condition that the vehicle deviates, deviation compensation torque is calculated; and controlling a rear wheel steering motor to work according to the deviation compensation torque so as to restrain deviation of the vehicle. According to the method, whether the vehicle deviates or not can be judged according to the running state of the vehicle, if the vehicle deviates, the deviation compensation torque is calculated, the rear wheel steering motor is controlled to work according to the deviation compensation torque, and therefore the force opposite to the lateral force causing deviation is provided through rear wheel steering; as the deviation compensation torque for restraining deviation is output through the rear wheel steering motor and does not conflict with steering assistance, a driver can control the vehicle more easily, the driving comfort is improved, and the driving experience is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle assistance technology, and in particular to a vehicle deviation suppression method, device, electronic device and storage medium. Background Art

[0002] When the driver is driving the vehicle, if the vehicle's own parameters are abnormal, such as inaccurate four-wheel alignment parameters, inconsistent left and right suspension stiffness, abnormal tire pressure on one side, or due to external environmental factors, such as strong crosswinds or continuously inclined roads, causing the vehicle itself to be subjected to lateral force, it will cause the vehicle to continue to deviate to one side. In order to keep the vehicle going straight, the driver needs to apply hand force to the steering wheel to maintain the vehicle's driving direction. Continuously applying hand force to the steering wheel can easily cause driver fatigue.

[0003] In some solutions, the front wheel electric power steering system (Electric Power Steering, referred to as EPS) motor often provides auxiliary torque to assist the driver to adjust the steering wheel so that the vehicle can keep driving straight again. However, after the vehicle deviates, if the EPS performs deviation compensation and steering assistance at the same time, the two assistance modes will have inconsistent assistance directions in some scenarios. For example, due to external factors or changes in its own structural characteristics, the vehicle deviates to the left. In order to maintain the straight state of the vehicle, the driver needs to exert hand force to control the steering wheel. At this time, the EPS deviation compensation function controls the power-assisted motor to apply a compensation torque to the right relative to the car in order to reduce the driver's hand force. However, in this state, when encountering a scene where you need to turn left, the power-assisted mode needs to apply a left-handed power-assisted torque to assist in turning left. Since the two torques (power-assisted torque and compensation torque) are in opposite directions and the same EPS motor is required to perform output at the same time, a conflict occurs in the direction of the torque. In order to give priority to steering assistance, the EPS motor must switch the torque direction. The switching caused by this conflict will cause the driver to feel uncomfortable when operating the steering wheel. Summary of the invention

[0004] In order to solve the technical problem of how to improve the driving experience when a vehicle deviates, the present application provides a vehicle deviation suppression method, device, electronic device and storage medium.

[0005] In a first aspect, the present application provides a method for preventing vehicle deviation, the method comprising:

[0006] According to the driving status of the vehicle, determine whether the vehicle is running off the track;

[0007] When the vehicle deviates, calculating a deviation compensation torque;

[0008] The rear wheel steering motor is controlled to operate according to the deviation compensation torque to suppress the deviation of the vehicle.

[0009] Optionally, judging whether the vehicle is running off the track according to the driving state of the vehicle includes:

[0010] Monitor the driving state of the vehicle to determine whether the vehicle is in a straight-line driving state;

[0011] When the vehicle is in a straight-line driving state, obtaining a hand torque applied to the steering wheel;

[0012] When the hand torque is greater than or equal to a preset hand torque threshold, and the duration of the hand torque is greater than or equal to a preset duration, determining that the vehicle is running off the track;

[0013] When the hand torque is less than the preset hand torque threshold, and / or the duration of the hand torque is less than the preset duration, it is determined that the vehicle does not deviate.

[0014] Optionally, monitoring the driving state of the vehicle to determine whether the vehicle is in a straight-line driving state includes:

[0015] Acquire first driving state information of the vehicle; wherein the first driving state information includes a steering wheel angle, a steering wheel speed, a yaw angular velocity, a current vehicle speed, and a vehicle speed change rate;

[0016] If the steering wheel angle is less than or equal to a preset angle threshold, the steering wheel speed is less than or equal to a preset speed threshold, the yaw angular velocity is less than or equal to a preset angular velocity threshold, the vehicle speed is greater than or equal to a preset vehicle speed threshold and the vehicle speed change rate is less than or equal to a preset change rate threshold, it is determined that the vehicle is in a straight-line driving state.

[0017] Optionally, monitoring the driving state of the vehicle to determine whether the vehicle is in a straight-line driving state includes:

[0018] Acquire second driving state information of the vehicle; wherein the second driving state information includes the vehicle lateral offset, yaw angular velocity, current vehicle speed and vehicle speed change rate;

[0019] If the lateral offset of the vehicle is less than or equal to a preset offset threshold, the yaw angular velocity is less than or equal to a preset angular velocity threshold, the vehicle speed is greater than or equal to a preset vehicle speed threshold, and the vehicle speed change rate is less than or equal to a preset change rate threshold, it is determined that the vehicle is in a straight-line driving state.

[0020] Optionally, when the vehicle deviates, calculating the deviation compensation torque includes:

[0021] In the case where the vehicle deviates, a short-term compensation torque and a long-term compensation torque are calculated; wherein the short-term compensation torque is used to compensate for the short-term deviation of the vehicle, and the long-term compensation torque is used to compensate for the long-term deviation of the vehicle;

[0022] Get the current speed of the vehicle;

[0023] Determining a vehicle speed gain value according to the current vehicle speed;

[0024] The deviation compensation torque is determined according to the vehicle speed gain value, the short-term compensation torque and the long-term compensation torque.

[0025] Optionally, calculating the short-time compensation torque and the long-time compensation torque includes:

[0026] Obtain the current target hand torque, the previous short-time compensation torque, and the short-time compensation iteration coefficient;

[0027] Determine the short-time compensation torque at the current moment according to the short-time compensation torque at the previous moment, the target hand torque and the short-time compensation iteration coefficient;

[0028] Obtain the long-term compensation torque and long-term compensation iteration coefficient at the previous moment;

[0029] The long-term compensation torque at the current moment is determined according to the target hand torque, the short-term compensation torque at the current moment, the long-term compensation torque at the previous moment and the long-term compensation iteration coefficient.

[0030] Optionally, before monitoring the driving state of the vehicle and determining whether the vehicle is in a straight-line driving state, the method further includes:

[0031] Determining whether the rear wheel steering deviation suppression function is enabled; wherein, when the rear wheel steering deviation suppression function is enabled, the rear wheel steering motor is enabled;

[0032] Accordingly, the rear wheel steering motor is controlled to work according to the deviation compensation torque to suppress the deviation of the vehicle, including:

[0033] Acquire a running deviation compensation torque request generated based on the running deviation compensation torque;

[0034] The rear wheel steering motor enabled according to the deviation compensation torque request is controlled to operate according to the deviation compensation torque to suppress the vehicle from deviation.

[0035] In a second aspect, the present application provides a vehicle deviation suppression device, the device comprising:

[0036] A judgment module is used to judge whether the vehicle is running off the track according to the driving state of the vehicle;

[0037] A calculation module, used for calculating a deviation compensation torque when the vehicle deviates;

[0038] The suppression module is used to control the operation of the rear wheel steering motor according to the deviation compensation torque to suppress the deviation of the vehicle.

[0039] In a third aspect, the present application provides an electronic device, including a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other via the communication bus;

[0040] Memory, used to store computer programs;

[0041] The processor is used to implement the steps of the vehicle deviation suppression method described in any embodiment of the first aspect when executing the program stored in the memory.

[0042] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the vehicle deviation suppression method as described in any embodiment of the first aspect are implemented.

[0043] Beneficial effects of this application:

[0044] The method provided in the embodiment of the present application determines whether the vehicle is running off the track according to the driving state of the vehicle; when the vehicle is running off the track, calculates the running off compensation torque; and controls the rear wheel steering motor to work according to the running off compensation torque to suppress the vehicle from running off. The method can determine whether the vehicle is running off the track according to the driving state of the vehicle; if the vehicle is running off the track, calculates the running off compensation torque, and controls the rear wheel steering motor to work according to the running off compensation torque, thereby providing a force opposite to the lateral force causing the running off through the rear wheel steering, thereby suppressing the vehicle from running off and maintaining the driving direction of the vehicle. Since the running off compensation torque for suppressing the running off is output through the rear wheel steering motor, it will not conflict with the steering assist, which can make it easier for the driver to control the vehicle, improve driving comfort, and improve driving experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0046] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0047] Figure 1A system architecture diagram of a vehicle deviation suppression method provided in one embodiment of the present application;

[0048] Figure 2 A schematic diagram of a process flow of a vehicle deviation suppression method provided by an embodiment of the present application;

[0049] Figure 3 A schematic diagram of a vehicle deviation suppression method provided by an embodiment of the present application;

[0050] Figure 4 A flow chart of a vehicle deviation suppression method provided in one embodiment of the present application;

[0051] Figure 5 A flowchart of a vehicle deviation suppression method provided in one embodiment of the present application;

[0052] Figure 6 A structural diagram of a vehicle deviation suppression system provided in one embodiment of the present application;

[0053] Figure 7 A schematic diagram of the structure of a vehicle deviation suppression device provided in one embodiment of the present application;

[0054] Figure 8 A schematic diagram of the structure of an electronic device provided in accordance with an embodiment of the present application. DETAILED DESCRIPTION

[0055] The following will describe the implementation methods of the present application with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. The present application can also be implemented or applied through other different specific implementation methods, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be understood that the preferred embodiments are only for illustrating the present application, not for limiting the scope of protection of the present application.

[0056] The first embodiment of the present application provides a method for preventing vehicle deviation. The method can be applied to Figure 1 The system architecture shown in the figure includes at least a control module 101 and a rear wheel steering motor 102, and the control module 101 establishes a communication connection with the rear wheel steering motor 102. Specifically, the system architecture can be a vehicle, wherein the type of vehicle is not limited, for example, it can be a fuel vehicle, a pure electric vehicle, a hybrid vehicle or a fuel cell vehicle, etc. It should be noted that the vehicle needs to have a rear wheel steering function, for example, the vehicle is a four-wheel steering vehicle.

[0057] To facilitate understanding of the technical solutions of the embodiments of the present application, the relevant technologies are first briefly described. In some solutions for suppressing vehicle deviation, the front wheel electric power steering system (Electric Power Steering, referred to as EPS) motor often provides auxiliary torque to assist the driver in adjusting the steering wheel so that the vehicle can keep driving in a straight line again. However, after the vehicle deviates, in the scenario where the vehicle needs to be steered at the same time, if EPS performs deviation compensation and steering assistance at the same time, these two power-assisting modes may have inconsistent power-assisting directions in some scenarios. For example, due to external factors or changes in its own structural characteristics, the vehicle deviates to the left. In order to maintain the straight state of the vehicle, the driver needs to apply hand force to control the steering wheel. At this time, the EPS deviation compensation function controls the power-assisting motor to apply a compensation torque to the right relative to the car in order to reduce the driver's hand force. However, in this state, if a scene where a left turn is required is encountered, the power-assisting mode needs to apply a left-hand power-assisting torque to assist in turning left. Since the two torques (assist torque and compensation torque) are in opposite directions and require the same EPS motor to output them simultaneously, there is a conflict in the direction of the torques. In order to give priority to steering assistance, the EPS motor must switch the direction of the torques. The switching caused by this conflict will make the driver feel uncomfortable when operating the steering wheel.

[0058] In order to resolve this conflict and prevent the EPS system from generating unexpected assistance and affecting the driver's control of the vehicle, the current main control scheme is that when steering assistance is required, the system first exits the deviation compensation control. In the current deviation compensation function control, when the vehicle turns, the deviation compensation exits and switches to the steering assist, especially when the steering assist direction is inconsistent with the deviation compensation assist direction, in order to reduce the driver's uncomfortable feeling during the switching process, on the one hand, the switching rate is controlled to reduce the feedback to the steering wheel, and on the other hand, the maximum torque of the EPS deviation compensation is limited to reduce the switching time when there is a conflict with the steering assist. However, this treatment measure can only alleviate the discomfort of the driver to a certain extent, and cannot solve the conflict between the two working modes from the source. Moreover, this method also leads to the limited compensation torque provided by the deviation compensation function, and the ability of the deviation compensation function cannot be fully exerted.

[0059] In response to the above problems, the vehicle deviation suppression method proposed in this application monitors the deviation state of the vehicle during driving, controls the rear wheel steering to actively intervene after deviation occurs, and offsets the deviation torque through the yaw torque provided by the rear wheel steering, effectively suppressing the vehicle deviation, ensuring that the vehicle drives stably according to the driver's intention, and improving driving safety. This application implements the deviation compensation function through the rear wheel steering system. The rear wheel steering system has no direct mechanical connection with the steering wheel, which can solve the conflict problem between conventional deviation compensation and steering assistance, allowing the driver to control the vehicle more easily, improving driving comfort, improving driving experience, and improving the driving quality of the vehicle.

[0060] Next, based on the system architecture, the vehicle deviation suppression method is described in detail, such as Figure 2 , methods include:

[0061] Step 201, judging whether the vehicle is running off the track according to the driving state of the vehicle.

[0062] In this embodiment, the principle diagram of the vehicle deviation suppression method is as follows: Figure 3 , for example, the vehicle is subjected to an unexpected rightward force F Fy Function, F Fy A clockwise moment T is generated on the center of mass of the vehicle Fy , causing the vehicle to veer to the right. This can be achieved by applying a rightward force F to the rear wheels. Ry , a counterclockwise moment T is generated relative to the vehicle's center of mass Ry , T Fy With T Ry The effects cancel each other out, thus achieving the effect of suppressing the vehicle from running off the track.

[0063] In one embodiment, judging whether the vehicle is swerving is performed based on the driving state of the vehicle, including: monitoring the driving state of the vehicle to judge whether the vehicle is in a straight-line driving state; when the vehicle is in a straight-line driving state, obtaining the hand torque applied to the steering wheel; when the hand torque is greater than or equal to a preset hand torque threshold, and the duration of the hand torque is greater than or equal to a preset duration, determining that the vehicle is swerving; when the hand torque is less than a preset hand torque threshold, and / or the duration of the hand torque is less than a preset duration, determining that the vehicle is not swerving.

[0064] In this embodiment, the vehicle's driving state monitoring can determine whether the vehicle is in a straight-line driving state. When the vehicle is in a straight-line driving state, if the driver still needs to apply hand force to the steering wheel to control the vehicle, it can be determined that the vehicle is running off the track. For example, when the vehicle is in a straight-line driving state, the hand torque applied to the steering wheel is obtained. When the hand torque is greater than or equal to the preset hand torque threshold T h0If the hand torque is less than the preset hand torque threshold T h0 Or if the duration of the hand torque is less than the preset duration t0, it can be determined that the vehicle has not deviated.

[0065] It should be noted that in a turning scenario, the normal hand torque range applied to the steering wheel by the driver can be determined based on the current steering wheel angle. If the hand torque is not in the normal hand torque range and the duration exceeds the preset duration, it can be determined that the vehicle has deviated during the turning process. Specifically, if the hand torque is less than the minimum value of the normal hand torque range, it can be determined that the vehicle has deviated in the steering direction. If the hand torque is greater than the maximum value of the normal hand torque range, it can be determined that the vehicle has deviated in the opposite direction of the steering.

[0066] There are two ways to determine whether the vehicle is in a straight-line driving state:

[0067] The first method: obtaining the first driving state information of the vehicle; wherein the first driving state information includes the steering wheel angle, the steering wheel speed, the yaw angular velocity, the current vehicle speed and the vehicle speed change rate; if the steering wheel angle is less than or equal to the preset angle threshold, the steering wheel speed is less than or equal to the preset speed threshold, the yaw angular velocity is less than or equal to the preset angular velocity threshold, the current vehicle speed is greater than or equal to the preset vehicle speed threshold and the vehicle speed change rate is less than or equal to the preset change rate threshold, then it is determined that the vehicle is in a straight driving state.

[0068] In this embodiment, the first driving state information can be monitored to determine whether the vehicle is in a straight driving state according to the first driving state. The first driving state information may include a steering wheel angle, a steering wheel speed, a yaw angular velocity, a current vehicle speed, and a vehicle speed change rate. If the steering wheel angle is ≤ a preset angle threshold θ0, the steering wheel speed is ≤ a preset speed threshold μ0, the yaw angular velocity is ≤ a preset angular velocity threshold ω0, the current vehicle speed is ≥ a preset vehicle speed threshold v0, and the vehicle speed change rate is ≤ a preset change rate threshold α0, then it is determined that the vehicle is in a straight driving state.

[0069] The second method: obtaining the second driving state information of the vehicle; wherein the second driving state information includes the vehicle's lateral offset, yaw angular velocity, current vehicle speed and vehicle speed change rate; if the vehicle's lateral offset is less than or equal to a preset offset threshold, the yaw angular velocity is less than or equal to a preset angular velocity threshold, the vehicle speed is greater than or equal to a preset vehicle speed threshold and the vehicle speed change rate is less than or equal to a preset change rate threshold, then it is determined that the vehicle is in a straight-line driving state.

[0070] In this embodiment, the second driving state information can be monitored to determine whether the vehicle is in a straight driving state according to the second driving state. The second driving state information may include the vehicle lateral offset, yaw rate, current vehicle speed and vehicle speed change rate. If the vehicle lateral offset is less than or equal to the preset offset threshold δ x0 , yaw angular velocity ≤ preset angular velocity threshold ω0, current vehicle speed ≥ preset vehicle speed threshold v0 and vehicle speed change rate ≤ preset change rate threshold α0, then it is determined that the vehicle is in a straight-line driving state.

[0071] Step 202: When the vehicle deviates, calculate the deviation compensation torque.

[0072] In one embodiment, when a vehicle veers off course, a deviation compensation torque is calculated, including: when the vehicle veers off course, a short-time compensation torque and a long-time compensation torque are calculated; wherein the short-time compensation torque is used to compensate for short-time deviation of the vehicle, and the long-time compensation torque is used to compensate for long-time deviation of the vehicle; obtaining the current speed of the vehicle; determining a speed gain value according to the current speed; and determining the deviation compensation torque according to the speed gain value, the short-time compensation torque, and the long-time compensation torque.

[0073] In this embodiment, the short-term compensation calculation can be based on the short-term deviation of the vehicle caused by factors such as short-term side wind or short-term road inclination, and the long-term compensation calculation can be based on the long-term deviation of the vehicle caused by factors such as inconsistent tire pressure on both sides of the vehicle, inconsistent left and right suspension stiffness, inaccurate four-wheel alignment parameters, etc. The vehicle speed gain value K can be determined based on the current vehicle speed, and the deviation compensation torque can be determined based on the vehicle speed gain value K, the short-term compensation torque and the long-term compensation torque. The deviation compensation torque is calculated step by step through iteration until the driver's hand torque approaches 0, so as to provide the driver with a comfortable deviation suppression process after the vehicle deviates, thereby improving the driving experience.

[0074] In one embodiment, the short-time compensation torque and the long-time compensation torque are calculated, including: obtaining the target hand torque at the current moment, the short-time compensation torque at the previous moment, and the short-time compensation iteration coefficient; determining the short-time compensation torque at the current moment according to the short-time compensation torque, the target hand torque, and the short-time compensation iteration coefficient at the previous moment; obtaining the long-time compensation torque and the long-time compensation iteration coefficient at the previous moment; determining the long-time compensation torque at the current moment according to the target hand torque, the short-time compensation torque at the current moment, the long-time compensation torque at the previous moment, and the long-time compensation iteration coefficient.

[0075] In this embodiment, the short-time compensation torque calculation method is as follows:

[0076]

[0077] Among them, T Rs (t) represents the short-term compensation torque at the current moment, Th (t) represents the target hand torque of the driver at the current moment, T Rs (t-1) represents the short-time compensation torque at the previous moment, and Cs represents the short-time compensation iteration coefficient. By controlling the size of Cs, the iteration step size of each short-time compensation torque calculation can be controlled.

[0078] The long-term compensation torque calculation method is as follows:

[0079]

[0080] Among them, T RL (t) represents the long-term compensation torque at the current moment, T RL (t-1) represents the long-term compensation torque at the previous moment, C L Represents the long-term compensation iteration coefficient. By controlling C L The size of can control the iterative step size of each long-term compensation torque calculation.

[0081] After the short-term compensation torque and the long-term compensation torque are calculated, the speed gain value K can be obtained by looking up the table based on the current vehicle speed, and then the total deviation compensation torque can be calculated:

[0082] T R (t) = K × (T Rs (t)+T RL (t))

[0083] The above compensation torque calculation formula is used to iterate the calculation step by step until the driver's hand torque approaches 0.

[0084] Step 203, controlling the rear wheel steering motor to operate according to the deviation compensation torque to suppress the vehicle from deviation.

[0085] This method can determine whether the vehicle is running off the track according to the driving state of the vehicle. If the vehicle is running off the track, the running compensation torque is calculated, and the rear-wheel steering motor is controlled to operate according to the running compensation torque, so that a force opposite to the lateral force causing the running off is provided through the rear-wheel steering, thereby suppressing the vehicle from running off and maintaining the driving direction of the vehicle. Since the running compensation torque for suppressing the running off is output through the rear-wheel steering motor and does not conflict with the steering assist, the driver can control the vehicle more easily, thereby improving driving comfort and driving experience.

[0086] In one embodiment, before monitoring the driving state of the vehicle and determining whether the vehicle is in a straight-line driving state, the method further includes: determining whether a rear-wheel steering deviation suppression function is enabled; wherein, when the rear-wheel steering deviation suppression function is enabled, the rear-wheel steering motor is enabled.

[0087] Accordingly, the rear-wheel steering motor is controlled to operate according to the deviation compensation torque to suppress the vehicle from deviation, including: obtaining a deviation compensation torque request generated based on the deviation compensation torque; and controlling the enabled rear-wheel steering motor to operate according to the deviation compensation torque according to the deviation compensation torque request to suppress the vehicle from deviation.

[0088] In this embodiment, it is first necessary to ensure that the rear-wheel steering deviation suppression function is enabled, that is, the rear-wheel steering motor can work normally, so that after obtaining the deviation compensation torque request generated based on the deviation compensation torque, the enabled rear-wheel steering motor can be controlled according to the deviation compensation torque request to work according to the deviation compensation torque, so as to achieve the effect of suppressing the vehicle from deviation.

[0089] In a specific embodiment, a vehicle deviation suppression method is as follows: Figure 4 ,include:

[0090] Step S110, vehicle driving state monitoring. The vehicle driving state is monitored, for example, by collecting vehicle steering wheel angle, steering wheel speed, steering wheel torque, yaw angular velocity, and wheel speed sensor signals.

[0091] Step S120, judging the straight-line driving state of the vehicle. The collected vehicle driving state information is used to judge the straight-line driving state of the vehicle. If the straight-line driving state condition is met, step S130 is executed; if the straight-line driving state condition is not met, the process returns to step S110.

[0092] The conditions for satisfying the straight-line driving state include:

[0093] Steering wheel angle ≤θ0;

[0094] Steering wheel speed ≤μ0;

[0095] Yaw angular velocity ≤ ω0;

[0096] Vehicle speed ≥ v0;

[0097] Vehicle speed change rate ≤α0.

[0098] When all the above five conditions are met, the vehicle is judged to be in a straight-line driving state. θ0 represents the preset steering wheel angle threshold, μ0 represents the preset steering wheel speed threshold, ω0 represents the preset yaw rate threshold, v0 represents the preset vehicle speed threshold, and α0 represents the preset vehicle speed change rate threshold.

[0099] Step S130, determining whether the rear wheel steering deviation suppression function is enabled.

[0100] If the rear wheel steering deviation suppression function is enabled, step S140 is executed; if not enabled, the process returns to step S110.

[0101] Step S130 The following conditions must be met to enable the rear wheel steering deviation suppression function:

[0102] Driver's hand torque ≥ T h0 ;

[0103] The driver's hand torque application time ≥ t0;

[0104] After it is determined in S120 that the vehicle is in a straight-line driving state and the above two conditions are met at the same time, the rear-wheel steering deviation suppression function starts to be enabled. h0 represents the preset driver hand torque threshold, and t0 represents the preset driver hand torque application time threshold.

[0105] Step S140, rear wheel deviation compensation torque calculation.

[0106] After receiving the enable signal, the rear-wheel steering deviation suppression module calculates the deviation compensation torque based on the current driver's hand torque, the last calculated compensation torque and the current vehicle speed, and outputs a deviation compensation torque request. Through iterative calculation of the compensation torque, the driver's hand torque is gradually reduced until the driver's hand torque approaches 0.

[0107] The calculation of the deviation compensation torque includes: short-time compensation calculation and long-time compensation calculation. The short-time compensation calculation is a compensation calculation based on short-time vehicle deviation caused by factors such as short-time side wind or short-time road inclination; the long-time compensation calculation is a compensation calculation based on long-time vehicle deviation caused by factors such as inconsistent tire pressure on both sides of the vehicle, inconsistent left and right suspension stiffness, inaccurate four-wheel alignment parameters, etc.

[0108] The short-time compensation torque calculation method is as follows:

[0109]

[0110] Among them, T Rs (t) represents the short-term compensation torque at the current moment, T h (t) represents the target hand torque of the driver at the current moment, T Rs (t-1) represents the short-time compensation torque at the previous moment, and Cs represents the short-time compensation iteration coefficient. By controlling the size of Cs, the iteration step size of each short-time compensation torque calculation can be controlled.

[0111] The long-term compensation torque calculation method is as follows:

[0112]

[0113] Among them, T RL (t) represents the long-term compensation torque at the current moment, T RL (t-1) represents the long-term compensation torque at the previous moment, C LRepresents the long-term compensation iteration coefficient. By controlling C L The size of can control the iterative step size of each long-term compensation torque calculation.

[0114] After the short-term compensation torque and the long-term compensation torque are calculated, the speed gain value K can be obtained by looking up the table based on the current vehicle speed, and then the total deviation compensation torque can be calculated:

[0115] T R (t) = K × (T Rs (t)+T RL (t))

[0116] The above compensation torque calculation formula is used to iterate the calculation step by step until the driver's hand torque approaches 0.

[0117] Step S150, the rear wheel steering motor performs output according to the compensation torque to suppress the vehicle from running off. After receiving the torque request from the running off compensation module, the rear wheel steering motor performs motor output according to the torque request to suppress the vehicle from running off.

[0118] In this embodiment, the working flow chart of the vehicle deviation suppression method can be as follows: Figure 5 The vehicle deviation suppression method is applied to a steering control device, including a rear wheel steering deviation state enabling judgment module, a short-time compensation calculation module, a long-time compensation calculation module and a vehicle speed gain module.

[0119] Among them, the rear wheel steering deviation status enable judgment module: judges whether the rear wheel steering deviation compensation function is enabled according to the collected hand torque, yaw angular velocity, steering wheel angle, steering wheel speed, and vehicle speed signals, and outputs the deviation compensation enable signal.

[0120] Short-time compensation calculation module: calculates the short-time deviation compensation torque based on the deviation compensation enable signal and hand torque.

[0121] Long-term compensation calculation module: calculates the long-term deviation compensation torque based on the deviation compensation enable signal and hand torque.

[0122] Vehicle speed gain module: Based on the calculated initial value of the total compensation torque and the current vehicle speed, the vehicle speed gain table is looked up to obtain the final compensation torque.

[0123] In this embodiment, the vehicle deviation suppression method can be applied to Figure 6A vehicle deviation suppression system, the vehicle deviation suppression system comprises: a yaw angular velocity sensor, a wheel speed sensor, a steering wheel angle sensor, a steering wheel torque sensor, an electronic control unit (ECU), and a rear-wheel steering motor. The ECU comprises a rear-wheel steering deviation compensation calculation module and a rear-wheel steering motor controller. The rear-wheel steering deviation compensation torque can be obtained by calculation according to the information collected by the sensors as described above. The rear-wheel steering motor controller calculates the corresponding motor current and voltage according to the obtained rear-wheel steering deviation compensation torque, and controls the rear-wheel steering motor to provide assistance to the steering system.

[0124] In this embodiment, by monitoring the deviation state of the vehicle during driving, the rear-wheel steering actively intervenes when deviation occurs, and the yaw torque provided by the rear-wheel steering offsets the deviation torque, effectively suppressing the vehicle from deviation, ensuring that the vehicle travels stably as intended by the driver, and improving driving safety.

[0125] Based on the same technical concept, the second embodiment of the present application provides a vehicle deviation suppression device, such as Figure 7 , the device comprises:

[0126] The judgment module 701 is used to judge whether the vehicle is running off the track according to the driving state of the vehicle;

[0127] A calculation module 702, configured to calculate a deviation compensation torque when the vehicle deviates;

[0128] The suppression module 703 is used to control the operation of the rear wheel steering motor according to the deviation compensation torque to suppress the deviation of the vehicle.

[0129] The device can determine whether the vehicle is running off the track according to the driving state of the vehicle. If the vehicle is running off the track, the device calculates the running off compensation torque and controls the operation of the rear-wheel steering motor according to the running off compensation torque, thereby providing a force opposite to the lateral force causing the running off through the rear-wheel steering, thereby suppressing the vehicle from running off and maintaining the driving direction of the vehicle. Since the running off compensation torque for suppressing the running off is output through the rear-wheel steering motor and does not conflict with the steering assist, the driver can control the vehicle more easily, thereby improving driving comfort and driving experience.

[0130] like Figure 8 As shown, the third embodiment of the present application provides an electronic device, including a processor 111, a communication interface 112, a memory 113 and a communication bus 114, wherein the processor 111, the communication interface 112, and the memory 113 communicate with each other through the communication bus 114.

[0131] Memory 113, used for storing computer programs;

[0132] In one embodiment, the processor 111 is configured to implement the vehicle deviation suppression method provided by any one of the aforementioned method embodiments when executing the program stored in the memory 113 .

[0133] The memory and processor in the above electronic device communicate through the communication bus and the communication interface. The communication bus can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The communication bus can be divided into an address bus, a data bus, a control bus, etc.

[0134] The memory may include a random access memory (RAM) or a non-volatile memory, such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0135] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0136] A fourth embodiment of the present application provides a computer-readable medium having a non-volatile program code executable by a processor.

[0137] Optionally, in an embodiment of the present application, a computer-readable medium is configured to store program code for a processor to execute the above method.

[0138] Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments, and this embodiment will not be described in detail here.

[0139] When the embodiments of the present application are specifically implemented, reference may be made to the above-mentioned embodiments, which have corresponding technical effects.

[0140] It is understood that the embodiments described herein may be implemented in hardware, software, firmware, middleware, microcode, or a combination thereof. For hardware implementation, the processing unit may be implemented in one or more application specific integrated circuits (ASIC), digital signal processors (DSP), digital signal processing devices (DSPD), programmable logic devices (PLD), field programmable gate arrays (FPGA), general purpose processors, controllers, microcontrollers, microprocessors, other electronic units for performing the functions of the present application, or a combination thereof.

[0141] For software implementation, the technology of this article can be implemented by a unit that performs the functions of this article. The software code can be stored in a memory and executed by a processor. The memory can be implemented in the processor or outside the processor.

[0142] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0143] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0144] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of modules is only a logical function division. There may be other division methods in actual implementation, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0145] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0146] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0147] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard drives, ROM, RAM, magnetic disks, or optical disks.

[0148] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0149] The above embodiments are only preferred embodiments for fully illustrating the present application, and the protection scope of the present application is not limited thereto. Any equivalent substitution or change made by a person skilled in the art based on the present application is within the protection scope of the present application.

Claims

1. A method for suppressing vehicle deviation, characterized in that: The method comprises: According to the driving status of the vehicle, determine whether the vehicle is running off the track; When the vehicle deviates, calculating a deviation compensation torque; The rear wheel steering motor is controlled to operate according to the deviation compensation torque to suppress the deviation of the vehicle.

2. The method according to claim 1, characterized in that Determine whether the vehicle is running off the track based on the vehicle's driving status, including: Monitor the driving state of the vehicle to determine whether the vehicle is in a straight-line driving state; When the vehicle is in a straight-line driving state, obtaining a hand torque applied to the steering wheel; When the hand torque is greater than or equal to a preset hand torque threshold, and the duration of the hand torque is greater than or equal to a preset duration, determining that the vehicle is running off the track; When the hand torque is less than the preset hand torque threshold, and / or the duration of the hand torque is less than the preset duration, it is determined that the vehicle does not deviate.

3. The method according to claim 2, characterized in that Monitor the driving state of the vehicle to determine whether the vehicle is in a straight-line driving state, including: Acquire first driving state information of the vehicle; wherein the first driving state information includes a steering wheel angle, a steering wheel speed, a yaw angular velocity, a current vehicle speed, and a vehicle speed change rate; If the steering wheel angle is less than or equal to a preset angle threshold, the steering wheel speed is less than or equal to a preset speed threshold, the yaw angular velocity is less than or equal to a preset angular velocity threshold, the vehicle speed is greater than or equal to a preset vehicle speed threshold and the vehicle speed change rate is less than or equal to a preset change rate threshold, it is determined that the vehicle is in a straight-line driving state.

4. The method according to claim 2, characterized in that: Monitor the driving state of the vehicle to determine whether the vehicle is in a straight-line driving state, including: Acquire second driving state information of the vehicle; wherein the second driving state information includes the vehicle lateral offset, yaw angular velocity, current vehicle speed and vehicle speed change rate; If the lateral offset of the vehicle is less than or equal to a preset offset threshold, the yaw angular velocity is less than or equal to a preset angular velocity threshold, the vehicle speed is greater than or equal to a preset vehicle speed threshold, and the vehicle speed change rate is less than or equal to a preset change rate threshold, it is determined that the vehicle is in a straight-line driving state.

5. The method according to claim 2, characterized in that: When the vehicle deviates, calculating the deviation compensation torque includes: In the case where the vehicle deviates, a short-term compensation torque and a long-term compensation torque are calculated; wherein the short-term compensation torque is used to compensate for the short-term deviation of the vehicle, and the long-term compensation torque is used to compensate for the long-term deviation of the vehicle; Get the current speed of the vehicle; Determining a vehicle speed gain value according to the current vehicle speed; The deviation compensation torque is determined according to the vehicle speed gain value, the short-term compensation torque and the long-term compensation torque.

6. The method according to claim 5, characterized in that Calculate short-time compensation torque and long-time compensation torque, including: Obtain the current target hand torque, the previous short-time compensation torque, and the short-time compensation iteration coefficient; Determine the short-time compensation torque at the current moment according to the short-time compensation torque at the previous moment, the target hand torque and the short-time compensation iteration coefficient; Obtain the long-term compensation torque and long-term compensation iteration coefficient at the previous moment; The long-term compensation torque at the current moment is determined according to the target hand torque, the short-term compensation torque at the current moment, the long-term compensation torque at the previous moment and the long-term compensation iteration coefficient.

7. The method according to claim 2, characterized in that Before monitoring the driving state of the vehicle and determining whether the vehicle is in a straight-line driving state, the method further includes: Determining whether the rear wheel steering deviation suppression function is enabled; wherein, when the rear wheel steering deviation suppression function is enabled, the rear wheel steering motor is enabled; Accordingly, the rear wheel steering motor is controlled to work according to the deviation compensation torque to suppress the vehicle from deviation, including: Acquire a running deviation compensation torque request generated based on the running deviation compensation torque; The rear wheel steering motor enabled according to the deviation compensation torque request is controlled to operate according to the deviation compensation torque to suppress the vehicle from deviation.

8. A vehicle deviation suppression device, characterized in that: The device comprises: A judgment module is used to judge whether the vehicle is running off the track according to the driving state of the vehicle; A calculation module, used for calculating a deviation compensation torque when the vehicle deviates; The suppression module is used to control the operation of the rear wheel steering motor according to the deviation compensation torque to suppress the deviation of the vehicle.

9. An electronic device, characterized in that: It includes a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus; Memory, used to store computer programs; A processor, for implementing the method according to any one of claims 1 to 7 when executing a program stored in a memory.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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