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

Abstract

The application relates to a vehicle deviation suppression method and device, electronic equipment and a storage medium. The method comprises the following steps: judging whether the vehicle deviates according to the driving state of the vehicle; calculating a deviation compensation torque when the vehicle deviates; and controlling the rear wheel steering motor to work according to the deviation compensation torque, so as to suppress the deviation of the vehicle. The method can judge whether the vehicle deviates according to the driving state of the vehicle. If the vehicle deviates, the deviation compensation torque is calculated, and the rear wheel steering motor is controlled to work according to the deviation compensation torque, so that a force opposite to the lateral force causing the deviation is provided through rear wheel steering, thereby suppressing the deviation of the vehicle and keeping the driving direction of the vehicle. Since the deviation compensation torque for suppressing the deviation is output through the rear wheel steering motor and does not conflict with the steering assistance, the driver can more easily control the vehicle, the driving comfort is improved, and the driving experience is improved.

Description

TECHNICAL FIELD

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

[0002] During driving, if the vehicle parameters are abnormal, such as misalignment of four-wheel positioning parameters, inconsistency of left and right suspension stiffness, abnormal tire pressure on one side, or due to external environmental factors, for example, encountering strong crosswind weather or a continuously inclined road, the vehicle is subjected to a lateral force, which causes the vehicle to continuously deviate to one side. In order to keep the vehicle continue to drive straight, the driver needs to apply a hand force to the steering wheel to maintain the driving direction of the vehicle, and the continuous application of the hand force to the steering wheel is easy to cause the driver to be tired.

[0003] In some solutions, an auxiliary torque is often provided by an electric power steering (EPS) motor of the front wheel to assist the driver in adjusting the steering wheel, so that the vehicle can maintain straight driving. However, in the scenario where the vehicle needs to be steered after deviation, if the EPS simultaneously performs deviation compensation and steering assistance, the two assistance modes may be inconsistent in some scenarios. For example, the vehicle deviates to the left due to external factors or changes in its own structural characteristics, and the driver needs to apply a hand force to control the steering wheel to maintain the straight driving state of the vehicle. At this time, the EPS deviation compensation function controls the assistance motor to apply a compensation torque to the right of the vehicle to reduce the hand force of the driver. However, in this state, if a left turn is needed, the assistance mode needs to apply a left assistance torque to assist the left turn. Since the two torques (the assistance torque and the compensation torque) are in opposite directions, and the same EPS motor needs to be used to output them, the torque directions conflict. In order to prioritize steering assistance, the EPS motor must switch the torque direction. The switching caused by this conflict will cause the driver to feel uncomfortable when steering the steering wheel. SUMMARY

[0004] To solve the technical problem of how to improve the driving experience when the 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 vehicle deviation suppression method, which comprises:

[0006] According to the driving state of the vehicle, it is judged whether the vehicle deviates;

[0007] In the case where the vehicle deviates, a deviation compensation torque is calculated;

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

[0009] Optionally, the deviation of the vehicle is determined according to the driving state of the vehicle, comprising:

[0010] The driving state of the vehicle is monitored to determine whether the vehicle is in a straight driving state.

[0011] In the case that the vehicle is in a straight driving state, a hand torque applied to the steering wheel is obtained.

[0012] In the case that 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, it is determined that the vehicle deviates.

[0013] In the case that 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, the driving state of the vehicle is monitored to determine whether the vehicle is in a straight driving state, comprising:

[0015] Obtaining first driving state information of the vehicle; wherein the first driving state information comprises a steering wheel angle, a steering wheel speed, a yaw rate, 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 rate is less than or equal to a preset angle speed threshold, the vehicle speed is greater than or equal to a preset 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 driving state.

[0017] Optionally, the driving state of the vehicle is monitored to determine whether the vehicle is in a straight driving state, comprising:

[0018] Obtaining second driving state information of the vehicle; wherein the second driving state information comprises a vehicle lateral offset, a yaw rate, a current vehicle speed and a vehicle speed change rate.

[0019] If the vehicle lateral offset is less than or equal to a preset offset threshold, the yaw rate is less than or equal to a preset angle speed threshold, the vehicle speed is greater than or equal to a preset 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 driving state.

[0020] Optionally, in the case that the vehicle deviates, a deviation compensation torque is calculated, comprising:

[0021] In the case that the vehicle deviates, 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.

[0022] A current vehicle speed is obtained.

[0023] A vehicle speed gain value is determined according to the current vehicle speed.

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

[0025] Optionally, the calculation of the short-time compensation torque and the long-time compensation torque comprises:

[0026] A target hand torque at a current time, a short-time compensation torque at a previous time and a short-time compensation iteration coefficient are obtained.

[0027] The short-time compensation torque at the current time is determined according to the short-time compensation torque at the previous time, the target hand torque and the short-time compensation iteration coefficient.

[0028] A long-time compensation torque at the previous time and a long-time compensation iteration coefficient are obtained.

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

[0030] Optionally, the driving state of the vehicle is monitored, and before determining whether the vehicle is in a straight driving state, the method further comprises:

[0031] A rear wheel steering deviation suppression function is enabled; wherein in the case that the rear wheel steering deviation suppression function is enabled, the rear wheel steering motor is enabled.

[0032] Correspondingly, the rear wheel steering motor is controlled to work according to the deviation compensation torque, so as to suppress the deviation of the vehicle, comprising:

[0033] A deviation compensation torque request generated based on the deviation compensation torque is obtained.

[0034] The enabled rear wheel steering motor is controlled to work according to the deviation compensation torque request, so as to suppress the deviation of the vehicle.

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

[0036] A judging module is configured to determine whether the vehicle deviates according to the driving state of the vehicle.

[0037] a calculating module, configured to calculate a deviation compensation torque when the vehicle deviates;

[0038] a suppressing module, configured to control the rear wheel steering motor to work according to the deviation compensation torque, so as to suppress the deviation of the vehicle.

[0039] In a third aspect, the present application provides an electronic device, comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory complete mutual communication through the communication bus;

[0040] a memory, configured to store a computer program;

[0041] a processor, configured to execute the program stored on the memory, so as to realize the steps of the vehicle deviation suppressing method according to any one of the first aspect.

[0042] In a fourth aspect, the present application provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to realize the steps of the vehicle deviation suppressing method according to any one of the first aspect.

[0043] The present application has the following beneficial effects:

[0044] The method provided by the present application can determine whether the vehicle deviates according to the driving state of the vehicle, calculate a deviation compensation torque when the vehicle deviates, and control the rear wheel steering motor to work according to the deviation compensation torque, so as to provide a force opposite to the lateral force causing the deviation through the rear wheel steering, thereby suppressing the deviation of the vehicle and keeping the driving direction of the vehicle. Since the deviation compensation torque for suppressing the deviation is output by the rear wheel steering motor and does not conflict with the steering assistance, the driver can control the vehicle more easily, the driving comfort is improved, and the driving experience is improved. BRIEF DESCRIPTION OF DRAWINGS

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

[0046] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, for those skilled in the art, other drawings can also be obtained based on these drawings without creative labor.

[0047] Figure 1This application provides a system architecture diagram of a vehicle drift suppression method according to one embodiment.

[0048] Figure 2 This is a flowchart illustrating a vehicle drift suppression method provided in one embodiment of this application;

[0049] Figure 3 A schematic diagram of a vehicle drift suppression method provided in one embodiment of this application;

[0050] Figure 4 A flowchart illustrating a vehicle drift suppression method provided in one embodiment of this application;

[0051] Figure 5 A flowchart illustrating a vehicle drift suppression method provided in one embodiment of this application;

[0052] Figure 6 This application provides a structural diagram of a vehicle drift suppression system according to one embodiment.

[0053] Figure 7 This is a schematic diagram of the structure of a vehicle drift suppression device provided in one embodiment of this application;

[0054] Figure 8 This is a schematic diagram of the structure of an electronic device provided in one embodiment of this application. Detailed Implementation

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

[0056] The first embodiment of this application provides a method for suppressing vehicle drift, which can be applied to, for example... Figure 1 The system architecture shown includes at least a control module 101 and a rear-wheel steering motor 102, which establish a communication connection. Specifically, this system architecture can be a vehicle, and the type of vehicle is not limited, such as a gasoline-powered vehicle, a pure electric vehicle, a hybrid vehicle, or a fuel cell vehicle, etc. It should be noted that the vehicle must have rear-wheel steering functionality, such as being a four-wheel steering vehicle.

[0057] For the convenience of understanding the technical solutions of the embodiments of the present application, first, a brief description of related art is given. In some solutions for inhibiting vehicle deviation, an auxiliary torque is often provided by an electric motor of an electric power steering (EPS) system of front wheels to assist the driver in adjusting the steering wheel, so that the vehicle can maintain straight driving. However, in the scenario where the vehicle needs to be steered after deviation, if the EPS simultaneously performs deviation compensation and steering assistance, the two assistance modes may have inconsistent assistance directions in some scenarios. For example, the vehicle deviates to the left due to external factors or changes in its own structural characteristics, and the driver needs to apply a hand force to control the steering wheel to maintain straight driving. At this time, the EPS deviation compensation function controls the assistance motor to apply a compensation torque to the right of the vehicle to reduce the driver's hand force. However, in this state, if the scenario of turning left is encountered, the assistance mode needs to apply a left assistance torque to assist left steering. Since the two torques (assistance torque and compensation torque) are in opposite directions and need to be output by the same EPS motor, the torque direction conflicts. The EPS motor must switch the torque direction to prioritize steering assistance. The switching caused by this conflict will cause the driver to feel uncomfortable when steering the steering wheel.

[0058] To solve this conflict and avoid unexpected assistance of the EPS system, which affects the driver's control of the vehicle, the current main control scheme is to first exit the deviation compensation control when steering assistance is needed. In the current deviation compensation function control, the deviation compensation is exited when the vehicle is steered, and the steering assistance is switched when the steering assistance direction is inconsistent with the deviation compensation assistance direction. In order to reduce the uncomfortable feeling of the driver during the switching process, on the one hand, the switching rate is controlled to reduce the hand feeling feedback to the steering wheel, and on the other hand, the maximum value of the EPS deviation compensation torque is limited to reduce the switching time when the steering assistance conflicts. However, this treatment measure can only reduce the uncomfortable feeling of the driver to a certain extent, and cannot solve the conflict between the two working modes from the source. Moreover, this method also limits the compensation torque provided by the deviation compensation function, which cannot fully exert the ability of the deviation compensation function.

[0059] To address the above issues, the vehicle drift suppression method proposed in this application monitors the vehicle's drift status during driving. Upon detection of drift, the rear-wheel steering actively intervenes, using the yaw moment provided by the rear-wheel steering to counteract the drifting moment, effectively suppressing vehicle drift and ensuring stable driving as intended by the driver, thus improving driving safety. This application implements the drift compensation function through the rear-wheel steering system, which is not mechanically directly connected to the steering wheel. This resolves the conflict between conventional drift compensation and steering assist, allowing the driver to control the vehicle more easily, improving driving comfort, enhancing the driving experience, and elevating the vehicle's driving quality.

[0060] Next, based on this system architecture, the method for suppressing vehicle deviation will be described in detail, such as... Figure 2 The methods include:

[0061] Step 201: Determine whether the vehicle is veering off course based on its driving status.

[0062] In this embodiment, the schematic diagram of the vehicle drift suppression method is as follows: Figure 3 For example, when a vehicle is subjected to an unexpected rightward force F Fy Function, F Fy A clockwise torque T is generated on the vehicle's center of gravity. Fy This causes the vehicle to veer to the right. This can be addressed by applying a rightward force F to the rear wheels. Ry A counterclockwise torque T is generated relative to the vehicle's center of gravity. Ry T Fy With T Ry The effects of these actions cancel each other out, thus achieving the effect of suppressing vehicle deviation.

[0063] In one embodiment, determining whether a vehicle is veering off course based on its driving state includes: monitoring the vehicle's driving state to determine whether the vehicle is traveling in a straight line; if the vehicle is traveling in a straight line, acquiring the hand torque applied to the steering wheel; if 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 veering off course; if 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, determining that the vehicle is not veering off course.

[0064] In this embodiment, monitoring the vehicle's driving status can determine whether the vehicle is traveling in a straight line. If the driver still needs to apply force to the steering wheel to control the vehicle while traveling in a straight line, it can be determined that the vehicle is veering off course. For example, when the vehicle is traveling in a straight line, the torque applied to the steering wheel is measured, and if the torque is greater than or equal to a preset torque threshold T... h0, and the duration of the hand torque is greater than or equal to the preset duration t0, it can be determined that the vehicle is in the condition of deviation. If the hand torque is less than the preset hand torque threshold T h0 or the duration of the hand torque is less than the preset duration t0, it can be determined that the vehicle is not in the condition of deviation.

[0065] It should be noted that, in the turning scene, the normal hand torque range applied by the driver to the steering wheel can be determined according to 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 deviates 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 deviation is in the direction of turning. If the hand torque is greater than the maximum value of the normal hand torque range, it can be determined that the deviation is in the opposite direction of turning.

[0066] To determine whether the vehicle is in a straight driving state, the following two methods can be used:

[0067] The first method: obtaining first driving state information of the vehicle; wherein the first driving state information includes steering wheel angle, steering wheel speed, yaw rate, current vehicle speed and 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 rate 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, 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 can include steering wheel angle, steering wheel speed, yaw rate, current vehicle speed and vehicle speed change rate. If the steering wheel angle is less than or equal to the preset angle threshold θ0, the steering wheel speed is less than or equal to the preset speed threshold μ0, the yaw rate is less than or equal to the preset angular velocity threshold ω0, the current vehicle speed is greater than or equal to the preset vehicle speed threshold v0 and the vehicle speed change rate is less than or equal to the preset change rate threshold α0, it is determined that the vehicle is in a straight driving state.

[0069] The second method: obtaining second driving state information of the vehicle; wherein the second driving state information includes 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, the yaw rate is less than or equal to the preset angular velocity threshold, the 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, it is determined that the vehicle is in a straight driving state.

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

[0071] Step 202, in the case of vehicle deviation, the deviation compensation torque is calculated.

[0072] In one embodiment, in the case of vehicle deviation, the deviation compensation torque is calculated, including: in the case of vehicle deviation, the short-time compensation torque and the long-time compensation torque are calculated; wherein the short-time compensation torque is used to compensate for the short-time deviation of the vehicle, and the long-time compensation torque is used to compensate for the long-time deviation of the vehicle; the current vehicle speed of the vehicle is obtained; the vehicle speed gain value is determined according to the current vehicle speed; the deviation compensation torque is determined according to the vehicle speed gain value, the short-time compensation torque and the long-time compensation torque.

[0073] In the embodiment, the short-time compensation calculation can be based on the short-time lateral wind or the short-time road inclination and other factors to compensate for the short-time deviation of the vehicle, and the long-time compensation calculation can be based on the inconsistent tire pressure on both sides of the vehicle, the inconsistent left and right suspension stiffness, the inaccurate four-wheel positioning parameters and other factors to compensate for the long-time deviation of the vehicle. The vehicle speed gain value K can be determined based on the current vehicle speed, and the deviation compensation torque can be determined according to the vehicle speed gain value K and the short-time compensation torque and the long-time compensation torque. Through the deviation compensation torque iterative calculation, the driver hand torque tends to 0, so as to provide a comfortable deviation suppression process for the driver after the vehicle deviation, and improve the driving experience.

[0074] In one embodiment, the short-time compensation torque and the long-time compensation torque are calculated, including: the target hand torque at the current time, the short-time compensation torque at the last time and the short-time compensation iteration coefficient are obtained; the short-time compensation torque at the current time is determined according to the short-time compensation torque at the last time, the target hand torque and the short-time compensation iteration coefficient; the long-time compensation torque at the last time and the long-time compensation iteration coefficient are obtained; the long-time compensation torque at the current time is determined according to the target hand torque, the short-time compensation torque at the current time, the long-time compensation torque at the last time and the long-time compensation iteration coefficient.

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

[0076]

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

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

[0079]

[0080] wherein T RL (t) represents the long-time compensation torque at the current time RL (t-1) represents the long-time compensation torque at the previous time, and C L represents the long-time compensation iteration coefficient. By controlling the size of C L , the iteration step length of each long-time compensation torque calculation can be controlled.

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

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

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

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

[0085] The method can determine whether the vehicle deviates according to the driving state of the vehicle. If the vehicle deviates, the deviation compensation torque is calculated, and the rear wheel steering motor is controlled to work according to the deviation compensation torque, so that a force opposite to the lateral force causing the deviation is provided through the rear wheel steering, thereby suppressing the vehicle deviation and keeping the driving direction of the vehicle. Since the deviation compensation torque for suppressing the deviation is output by the rear wheel steering motor and does not conflict with the steering assist, the driver can control the vehicle more easily, improve the driving comfort, and improve the driving experience.

[0086] In one embodiment, before determining whether the vehicle is in a straight driving state, the method further comprises: determining that the rear wheel steering deviation suppression function is enabled; and wherein the rear wheel steering motor is enabled in the case that the rear wheel steering deviation suppression function is enabled.

[0087] Correspondingly, the rear wheel steering motor is controlled to work according to the deviation compensation torque to suppress vehicle deviation, including: obtaining a deviation compensation torque request generated based on the deviation compensation torque; and controlling the enabled rear wheel steering motor to work according to the deviation compensation torque according to the deviation compensation torque request to suppress vehicle 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 to work according to the deviation compensation torque according to the deviation compensation torque request, so as to achieve the effect of suppressing vehicle deviation.

[0089] In one specific embodiment, a vehicle deviation suppression method, such as Figure 4 , includes:

[0090] Step S110, vehicle driving state monitoring. The vehicle driving state is monitored, such as by collecting vehicle steering wheel angle, steering wheel speed, steering wheel torque, yaw rate, and wheel speed sensor signals to monitor the vehicle driving state.

[0091] Step S120, vehicle straight driving state judgment. The collected vehicle driving state information is judged to determine the straight driving state of the vehicle, and if the straight driving state condition is met, step S130 is executed; if the straight driving state condition is not met, step S110 is returned.

[0092] The straight driving state condition includes:

[0093] steering wheel angle ≤ θ0;

[0094] steering wheel speed ≤ μ0;

[0095] yaw rate ≤ ω0;

[0096] vehicle speed ≥ v0;

[0097] vehicle speed change rate ≤ α0.

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

[0099] Step S130, rear wheel steering deviation suppression function enablement judgment.

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

[0101] Step S130 rear wheel steering run-off inhibition function enablement needs to meet the following conditions:

[0102] Driver hand torque ≥ T h0 ;

[0103] Driver hand torque application time ≥ t0;

[0104] Based on S120 to determine that the vehicle is in a straight-line driving state, and at the same time meet the above two conditions, the rear wheel steering run-off inhibition function is enabled. Wherein T h0 represents a preset driver hand torque threshold, t0 represents a preset driver hand torque application time threshold.

[0105] Step S140, rear wheel run-off compensation torque calculation.

[0106] The rear wheel steering run-off inhibition module receives the enablement signal, and then performs run-off compensation torque calculation based on the current driver hand torque, the last calculated compensation torque and the current vehicle speed, and outputs the run-off 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 run-off compensation torque calculation includes short-time compensation calculation and long-time compensation calculation, wherein the short-time compensation calculation is based on short-time lateral wind or short-time road inclination and other factors to cause the vehicle to run off for a short time. Compensation calculation; long-time compensation calculation is based on factors such as inconsistent tire pressure on both sides of the vehicle, inconsistent left and right suspension stiffness, and inaccurate four-wheel alignment parameters to cause the vehicle to run off for a long time.

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

[0109]

[0110] Wherein, T Rs (t) represents the current moment short-time compensation torque, T h (t) represents the target hand torque of the driver at the current moment, T Rs (t-1) represents the last moment short-time compensation torque, 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-time compensation torque calculation method is as follows:

[0112]

[0113] Wherein, T RL (t) represents the current moment long-time compensation torque, T RL (t-1) represents the last moment long-time compensation torque, and C Lrepresents the long-time compensation iteration coefficient. By controlling the size of C L , the iteration step size of each long-time compensation moment calculation can be controlled.

[0114] After the short-time compensation moment and the long-time compensation moment are calculated, the vehicle speed gain value K can be obtained based on the current vehicle speed, and then the total deviation compensation moment is calculated:

[0115] T R (t)=K×(T Rs (t)+T RL (t))

[0116] The above compensation moment calculation formula is iteratively calculated step by step until the driver hand moment approaches 0.

[0117] Step S150, the rear wheel steering motor executes output according to the compensation moment, and the vehicle deviation is suppressed. After receiving the moment request of the deviation compensation module, the rear wheel steering motor executes motor output according to the moment requirement, and the vehicle deviation is suppressed.

[0118] In this embodiment, the working flow chart of the vehicle deviation suppression method can be as Figure 5 The vehicle deviation suppression method is applied to a steering control device, which includes 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] The rear wheel steering deviation state enabling judgment module: according to the collected hand moment, yaw rate, steering wheel angle, steering wheel speed, vehicle speed signal, judges whether the rear wheel steering deviation compensation function is enabled, and outputs a deviation compensation enabling signal.

[0120] The short-time compensation calculation module: based on the deviation compensation enabling signal and the hand moment, calculates the short-time deviation compensation moment.

[0121] The long-time compensation calculation module: based on the deviation compensation enabling signal and the hand moment, calculates the long-time deviation compensation moment.

[0122] The vehicle speed gain module: based on the calculated total compensation moment initial value, combined with the current vehicle speed, performs vehicle speed gain table lookup to obtain the final compensation moment.

[0123] In this embodiment, the vehicle deviation suppression method can be applied to, for example Figure 6The vehicle deviation suppression system comprises a yaw rate sensor, a wheel speed sensor, a steering wheel angle sensor, a steering wheel torque sensor, an electronic control unit (ECU), a rear wheel steering motor, a rear wheel steering deviation compensation calculation module and a rear wheel steering motor controller in the ECU, a rear wheel steering deviation compensation torque is obtained through calculation according to information collected by the sensors, the rear wheel steering motor controller calculates corresponding motor current and voltage according to the obtained rear wheel steering deviation compensation torque, and the rear wheel steering motor provides power assistance for the steering system.

[0124] In the embodiment, the deviation state of the vehicle during driving is monitored, the rear wheel steering actively intervenes after the deviation occurs, the yaw moment provided by the rear wheel steering is used to offset the deviation moment, the deviation of the vehicle is effectively suppressed, the vehicle is ensured to stably drive according to the intention of the driver, and the driving safety is improved.

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

[0126] The judgment module 701 is configured to determine whether the vehicle deviates according to the driving state of the vehicle.

[0127] The calculation module 702 is configured to calculate a deviation compensation moment when the vehicle deviates.

[0128] The suppression module 703 is configured to control the rear wheel steering motor to work according to the deviation compensation moment, so as to suppress the deviation of the vehicle.

[0129] The device can determine whether the vehicle deviates according to the driving state of the vehicle, calculate a deviation compensation moment when the vehicle deviates, and control the rear wheel steering motor to work according to the deviation compensation moment, so as to provide a force opposite to the lateral force causing the deviation through the rear wheel steering, thereby suppressing the deviation of the vehicle and keeping the driving direction of the vehicle. Since the deviation compensation moment for suppressing the deviation is output through the rear wheel steering motor and does not conflict with the steering assistance, the driver can more easily control the vehicle, the driving comfort is improved, and the driving experience is improved.

[0130] As shown in Figure 8 , the third embodiment of the present application provides an electronic device, which comprises 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 complete mutual communication through the communication bus 114,

[0131] The memory 113 is configured to store a computer program.

[0132] In one embodiment, the processor 111, when executing the program stored in the memory 113, implements the vehicle deviation suppression method provided by any one of the foregoing method embodiments.

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

[0134] The memory can include a Random Access Memory (RAM) and can also include a non-volatile memory, such as at least one disk memory. Optionally, the memory can also be at least one storage device located away from the processor.

[0135] The processor described above can be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component.

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

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

[0138] Optionally, the specific examples in the embodiments of the present application can refer to the examples described in the above embodiments, and the embodiments of the present application will not be described here.

[0139] When the embodiments of the present application are implemented, reference can be made to the above various embodiments, and have corresponding technical effects.

[0140] It can be understood that the embodiments described herein can be implemented in hardware, software, firmware, middleware, microcode, or a combination thereof. For hardware implementation, the processing units can be implemented within one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSP Devices), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), general purpose processors, controllers, micro-controllers, microprocessors, other electronic units designed to perform the functions described herein, or a combination thereof.

[0141] For software implementation, the techniques described herein can be implemented with a processing unit that executes software. The software code can be stored in a memory and executed by a processor. The memory can be implemented within the processor or external to the processor.

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

[0143] Those of ordinary skill in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described system, device and unit can refer to the corresponding processes in the foregoing method embodiments, which will not be described here.

[0144] In the embodiments provided by the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. For example, the apparatus embodiments described above are merely schematic, for example, the division of the modules is only a logical function division, and actual implementation can have another division manner, for example, a plurality of modules or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the displayed or discussed ones can be indirect coupling or communication connection through some interfaces, devices or units, and can be electrical, mechanical or other forms.

[0145] The units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, i.e., may be located in one place, or may be distributed on multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment of the present application.

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

[0147] If the functions are realized in the form of software functional units and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the embodiments of the present application essentially or the parts that contribute to the prior art or parts of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods of the embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, ROM, RAM, magnetic disk or optical disk, and various program codes that can be stored in the medium.

[0148] It should be noted that, in this paper, 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 that there is any such actual relationship or order between the entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the processes, methods, articles or devices including a series of elements not only include those elements, but also include other elements not explicitly listed or inherent to such processes, methods, articles or devices. Without more limitations, the element defined by the statement "including a" does not exclude the presence of other identical elements in the process, method, article or device including the element.

[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 replacement or transformation of the present application 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 includes: Determine whether the vehicle is veering off course based on its driving status; When the vehicle veers to one side, calculate the veergence compensation torque. The rear wheel steering motor is controlled to operate according to the aforementioned deviation compensation torque in order to suppress vehicle deviation; In the event that the vehicle veers to one side, the calculation of the veergence compensation torque includes: When the vehicle veers to one side, a short-term compensation torque and a long-term compensation torque are calculated; wherein, the short-term compensation torque is used to compensate for short-term vehicle veergence, and the long-term compensation torque is used to compensate for long-term vehicle veergence. Get the vehicle's current speed; Determine the vehicle speed gain value based on the current vehicle speed; The deviation compensation torque is determined based on the vehicle speed gain value, the short-time compensation torque, and the long-time compensation torque; The calculation of short-time compensation torque and long-time compensation torque includes: Obtain the target hand torque at the current moment, the short-time compensation torque at the previous moment, and the short-time compensation iteration coefficient; The short-time compensation torque at the current moment is determined based on the short-time compensation torque at the previous moment, the target hand torque, and the short-time compensation iteration coefficient. ;in, This indicates the short-time compensation torque at the current moment. This indicates the driver's target hand torque at the current moment. This indicates the short-time compensation torque at the previous moment. Represents the short-time compensation iteration coefficients; Obtain the long-term compensation torque and long-term compensation iteration coefficients from the previous moment; The long-term compensation torque at the current moment is determined based on 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. ;in, This indicates the long-term compensation torque at the current moment. This indicates the long-term compensation torque at the previous moment. Represents the long-term compensation iteration coefficient; Determining the deviation compensation torque based on the vehicle speed gain value, the short-time compensation torque, and the long-time compensation torque includes: The vehicle speed gain value is obtained by looking up the table based on the current vehicle speed; The total deviation compensation torque is calculated based on the short-time compensation torque, the long-time compensation torque, and the vehicle speed gain value: ;in, K is the vehicle speed gain value, which is the torque used to compensate for vehicle deviation.

2. The method according to claim 1, characterized in that, Based on the vehicle's driving status, determine whether the vehicle is veering to one side, including: Monitor the vehicle's driving status to determine whether the vehicle is traveling in a straight line; When the vehicle is traveling in a straight line, the hand torque applied to the steering wheel is obtained; If 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, it is determined that the vehicle has veered off course. If the hand torque is less than the preset hand torque threshold, or the duration of the hand torque is less than the preset duration, it is determined that the vehicle has not veered off course.

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

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

5. The method according to claim 2, characterized in that, Before monitoring the vehicle's driving status and determining whether the vehicle is traveling in a straight line, the method further includes: 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 operate according to the stated deviation compensation torque to suppress vehicle deviation, including: Obtain the deviation compensation torque request generated based on the deviation compensation torque; The rear wheel steering motor, controlled by the requested misalignment compensation torque, operates according to the misalignment compensation torque to suppress vehicle misalignment.

6. A vehicle drift suppression device, characterized in that, The device includes: The judgment module is used to determine whether the vehicle is veering off course based on its driving status. A calculation module is used to calculate a deviation compensation torque when the vehicle veers off course. Calculating the deviation compensation torque when the vehicle veers off course includes: calculating a short-term compensation torque and a long-term compensation torque; wherein the short-term compensation torque is used to compensate for short-term vehicle deviation, and the long-term compensation torque is used to compensate for long-term vehicle deviation; obtaining the vehicle's current speed; determining a speed gain value based on the current speed; and determining the deviation compensation torque based on the speed gain value, the short-term compensation torque, and the long-term compensation torque. Calculating the short-term and long-term compensation torques includes: obtaining the target hand torque at the current moment, the short-term compensation torque at the previous moment, and the short-term compensation iteration coefficient; and determining the short-term compensation torque at the current moment based on the short-term compensation torque at the previous moment, the target hand torque, and the short-term compensation iteration coefficient. ;in, This indicates the short-time compensation torque at the current moment. This indicates the driver's target hand torque at the current moment. This indicates the short-time compensation torque at the previous moment. Represents the short-time compensation iteration coefficient; obtains the long-time compensation torque and long-time compensation iteration coefficient of the previous moment; determines the long-time compensation torque of the current moment based on the target hand torque, the short-time compensation torque of the current moment, the long-time compensation torque of the previous moment, and the long-time compensation iteration coefficient; ;in, This indicates the long-term compensation torque at the current moment. This indicates the long-term compensation torque at the previous moment. This represents the long-term compensation iteration coefficient; determining the deviation compensation torque based on the vehicle speed gain value, the short-term compensation torque, and the long-term compensation torque includes: obtaining the vehicle speed gain value by looking up a table based on the current vehicle speed; and calculating the total deviation compensation torque based on the short-term compensation torque, the long-term compensation torque, and the vehicle speed gain value. ;in, K is the vehicle speed gain value, which is the torque used to compensate for vehicle deviation. The suppression module is used to control the operation of the rear wheel steering motor according to the deviation compensation torque, so as to suppress the vehicle deviation.

7. 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, when executing a program stored in memory, implements the method described in any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the method described in any one of claims 1-5.

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