Ramp steering control method and vehicle

Abstract

The invention provides a ramp steering control method and a vehicle, and the method comprises the steps: obtaining a current pitch angle of a target vehicle, and judging whether the target vehicle is on a ramp according to the current pitch angle; and under the condition that the target vehicle is located on the ramp, a target wheel in the target vehicle is determined, and the target wheel is the wheel with the maximum load. Adjusting the turning angle of the target wheel to the target turning angle to reduce the wear degree of the target wheel, and correspondingly adjusting the turning angles of other wheels in the target vehicle based on the adjusted turning angle of the target wheel. According to the scheme, when the vehicle runs on the ramp, the turning angle of the target wheel is preferentially adjusted to relieve the abrasion condition of the target wheel, then the turning angles of other wheels are adjusted to conduct steering compensation, abrasion to the wheels during running on the ramp can be reduced, and it is guaranteed that the vehicle is in a good vehicle condition.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicles, and in particular to a slope steering control method and a vehicle. Background Art

[0002] With the continuous development of vehicle technology, users' requirements for vehicles in various aspects are also constantly improving, with higher demands on driving comfort, safety, convenience, etc. When a vehicle is driving on different road conditions, the impact of road conditions on vehicle performance is also different.

[0003] For example, when driving on a relatively flat road, the power demand for the vehicle is relatively stable, the engine load is smaller, and the handling and vehicle stability are better, and steering and braking are easier to control. It can be seen that driving on a slope has higher performance requirements for all aspects of the vehicle. Therefore, how to ensure that the vehicle maintains stable performance and good condition when driving on a slope is very important for vehicle control technology. Summary of the invention

[0004] The purpose of the embodiments of the present invention is to provide a hill steering control method and a vehicle, so as to reduce the wear on the wheels when driving on a slope and ensure that the vehicle is in good condition.

[0005] In a first aspect, the present invention provides a hill steering control method, the method comprising:

[0006] Acquire a current pitch angle of the target vehicle, and determine whether the target vehicle is on a slope according to the current pitch angle;

[0007] When the target vehicle is on a slope, determining a target wheel in the target vehicle, the target wheel being the wheel with the largest load;

[0008] Adjusting the turning angle of the target wheel to a target turning angle to reduce the degree of wear of the target wheel;

[0009] Based on the adjusted turning angle of the target wheel, the turning angles of other wheels of the target vehicle except the target wheel are adjusted accordingly.

[0010] In an optional embodiment, the method further comprises:

[0011] Detecting and obtaining environmental information around the target vehicle;

[0012] Obtaining a planned route based on the environmental information;

[0013] According to the current vehicle state, current position point and the position point at the next moment in the planned route of the target vehicle, the initial turning angle of each wheel of the target vehicle is planned, wherein the turning angle adjustment of each wheel is adjusted based on the initial turning angle.

[0014] In an optional embodiment, the step of adjusting the turning angle of the target wheel to the target turning angle comprises:

[0015] Obtaining the slope of the road on which the target vehicle is located;

[0016] When the slope is less than a preset slope, determining a turning angle coefficient of the target wheel based on the slope;

[0017] A target turning angle is determined based on the turning angle coefficient and the initial turning angle of the target wheel, and the turning angle of the target wheel is adjusted to the target turning angle.

[0018] In an optional implementation, the step of determining the turning angle coefficient of the target wheel based on the slope includes:

[0019] Determining a target slope range to which the slope belongs among a plurality of preset slope ranges, wherein each of the preset slope ranges corresponds to a turning angle coefficient;

[0020] A target turning angle coefficient corresponding to the target slope range is determined as the turning angle coefficient of the target wheel.

[0021] In an optional embodiment, the step of adjusting the turning angle of the target wheel to the target turning angle further includes:

[0022] When the slope is greater than or equal to the preset slope, the current turning angle of the target wheel is used as the target turning angle, and the turning angle of the target wheel is maintained as the current turning angle.

[0023] In an optional embodiment, the step of correspondingly adjusting the steering angles of other wheels of the target vehicle except the target wheel based on the adjusted steering angle of the target wheel comprises:

[0024] Calculating the turning angles of other wheels of the target vehicle except the target wheel according to the adjusted turning angle and turning radius of the target wheel;

[0025] Determining whether the turning angles of the four wheels of the target vehicle meet the turning condition;

[0026] When the steering condition is met, the steering angles of the other wheels are adjusted to the calculated steering angles.

[0027] In an optional embodiment, the step of correspondingly adjusting the steering angles of other wheels of the target vehicle except the target wheel based on the adjusted steering angle of the target wheel further includes:

[0028] When the turning condition is not met, adjusting the turning angle of the target wheel again;

[0029] Based on the re-adjusted turning angle of the target wheel, the turning angles of the other wheels are calculated, and when the turning condition is met, the turning angles of the other wheels are adjusted to the calculated turning angles.

[0030] In an optional embodiment, the method further comprises:

[0031] When the target vehicle is not on a slope, the turning angle of each wheel of the target vehicle is adjusted to a corresponding initial turning angle.

[0032] In an optional implementation, the step of determining whether the target vehicle is on a slope according to the current pitch angle includes:

[0033] When the absolute value of the current pitch angle is greater than or equal to a preset angle, determining that the target vehicle is on a slope;

[0034] When the absolute value of the current pitch angle is smaller than the preset angle, it is determined that the target vehicle is not on a slope.

[0035] In a second aspect, the present invention provides a vehicle, the vehicle comprising:

[0036] A memory for storing executable program codes;

[0037] A processor is used to call and run the executable program code from the memory so that the vehicle executes the method described in any one of the aforementioned embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments of the present invention are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0039] Figure 1 A flowchart of a hill steering control method provided by an embodiment of the present invention;

[0040] Figure 2 Schematic diagram of various steering states in an embodiment of the present invention;

[0041] Figure 3 A flowchart of a planning method in a ramp steering control method provided by an embodiment of the present invention;

[0042] Figure 4 for Figure 1 A flowchart of the sub-steps included in S13;

[0043] Figure 5 for Figure 4 A flowchart of the sub-steps included in S132;

[0044] Figure 6 for Figure 1 Another flow chart of the sub-steps included in S13;

[0045] Figure 7 for Figure 1 A flowchart of the sub-steps included in S14;

[0046] Figure 8 Schematic diagram of various steering controls in an embodiment of the present invention;

[0047] Fig. 9 for Figure 1 Another flow chart of the sub-steps included in S14;

[0048] Fig.10 A functional module block diagram of a hill turn control device provided by an embodiment of the present invention;

[0049] Fig.11 A structural block diagram of a vehicle provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0050] The technical solutions in the embodiments of the present invention will be described below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0051] See also Figure 1 , is a flow chart of a hill turning control method provided by an embodiment of the present invention, the hill turning control method is applied to a hill turning control device, the hill turning control device can be implemented by software and / or hardware, and can be configured in an electronic device, the electronic device can be a controller on a vehicle. The detailed steps of the hill turning control method are introduced as follows.

[0052] S11, obtaining the current pitch angle of the target vehicle, and determining whether the target vehicle is on a slope according to the current pitch angle.

[0053] S12, when the target vehicle is on a slope, determining a target wheel in the target vehicle, where the target wheel is the wheel with the largest load.

[0054] S13, adjusting the turning angle of the target wheel to the target turning angle to reduce the wear degree of the target wheel.

[0055] S14, based on the adjusted turning angle of the target wheel, correspondingly adjusting the turning angles of other wheels of the target vehicle except the target wheel.

[0056] With the development of vehicle technology, four-wheel steering technology is increasingly used. Four-wheel steering technology can change the steering angle of the front and rear wheels according to different scenarios. Compared with traditional front-wheel steering technology, four-wheel steering technology can effectively improve the vehicle's steering maneuverability at low speeds and handling stability at high speeds.

[0057] like Figure 2 As shown in , each wheel in the four-wheel steering technology can be controlled individually, and a variety of different steering modes can be achieved, such as Figure 2 It includes front-wheel steering, rear-wheel steering, four-wheel steering in the same direction, four-wheel steering in different directions, wedge steering, sideways steering, and on-the-spot steering.

[0058] The hill turn control method provided in this embodiment can be automatically implemented by the intelligent control system on the vehicle. For example, when the driver determines that the vehicle needs to be switched to automatic control by the intelligent control system, the driver can trigger the start of the intelligent control system by pressing a relevant button on the vehicle, performing a touch operation on the touch screen of the vehicle, etc. For example, the intelligent control system can be triggered to start when driving on a slope and turning is required.

[0059] In this embodiment, the so-called target vehicle may be any vehicle that can execute the hill-turning control method. The current pitch angle of the target vehicle, that is, the pitch angle at the current moment, may be obtained.

[0060] The current pitch angle is obtained by detecting the detection equipment on the target vehicle. For example, the gyroscope on the target vehicle can be used to detect the angle change of the target vehicle on the pitch axis to determine the pitch angle. Alternatively, the accelerometer on the target vehicle can be used to measure the acceleration, gravity acceleration and other data of the target vehicle in various directions, and then the pitch angle of the vehicle relative to the horizontal plane can be calculated based on these data. Alternatively, the radar or laser scanner on the target vehicle can be used to measure the distance change between the vehicle and the surrounding environment, thereby inferring the pitch angle of the target vehicle.

[0061] Based on the current pitch angle obtained, it can be determined whether the target vehicle is on a slope. Considering the driving direction relative to the vehicle, the slope may be uphill or downhill. If the pitch angle in the uphill state is set to a positive number, the pitch angle in the downhill state is correspondingly negative.

[0062] Based on this, when judging whether the target vehicle is on a ramp according to the current pitch angle, if the absolute value of the current pitch angle is greater than or equal to the preset angle, it is determined that the target vehicle is on a ramp. If the absolute value of the current pitch angle is less than the preset angle, it is determined that the target vehicle is not on a ramp.

[0063] When it is determined that the target vehicle is on a slope, it can also be determined whether it is on an uphill road or a downhill road based on the positive or negative situation of the current pitch angle. For example, taking the above as an example, if the current pitch angle is a positive degree, the target vehicle is on an uphill road, and if the current pitch angle is a negative degree, the target vehicle is on a downhill road.

[0064] On this basis, when it is determined that the target vehicle is on a slope, the wheel with the largest load in the target vehicle can be determined as the target wheel. If the target vehicle is on an uphill road, the wheel with the largest load is the rear wheel, and when the target vehicle is on a downhill road, the wheel with the largest load is the front wheel.

[0065] Furthermore, if the turning direction of the target vehicle is taken into consideration, when the target vehicle is on an uphill road and turns left, the wheel with the largest load is the left rear wheel, and when the target vehicle is on an uphill road and turns right, the wheel with the largest load is the right rear wheel. When the target vehicle is on a downhill road and turns left, the wheel with the largest load is the left front wheel, and when the target vehicle is on a downhill road and turns right, the wheel with the largest load is the right front wheel.

[0066] Since the load conditions of each wheel of the vehicle on the ramp are different, in order to avoid the problem of excessive wear of the wheel with a larger load when turning, the steering angle of the target wheel with the largest load is preferentially adjusted. In the present embodiment, the turning angle of the target wheel is adjusted to the target turning angle to reduce the degree of wear of the target wheel. Wherein, the target turning angle can be an angle less than a set angle, so as to ensure that the target wheel turns at a smaller turning angle when the load is large, thereby alleviating the wear of the target wheel.

[0067] On this basis, after determining the turning angle of the target wheel, the turning angles of other wheels are adjusted, so as to use the turning angles of other wheels to compensate for the turning angle of the target wheel, so as to achieve the purpose of meeting the steering requirements.

[0068] The hill steering control method provided in this embodiment preferentially adjusts the steering angle of the target wheel when the vehicle is driving on a slope, thereby alleviating the wear of the target wheel with a larger load during steering, and then adjusts the steering angles of other wheels for steering compensation, thereby reducing the wear on the wheels when driving on a slope and ensuring that the vehicle is in good condition.

[0069] When adjusting the steering angle of each wheel, it is necessary to ensure that the vehicle can travel along the specified path by turning according to the adjusted steering angle. Therefore, in this embodiment, path planning is required in advance. Figure 3 , which can be achieved through the following steps:

[0070] S01, detecting and obtaining the environmental information around the target vehicle.

[0071] S02, obtaining a planned route based on environmental information.

[0072] S03, planning the initial turning angle of each wheel of the target vehicle according to the current vehicle state, current position point and the position point of the next moment in the planned route of the target vehicle, wherein the turning angle adjustment of each wheel is adjusted based on the initial turning angle.

[0073] In this embodiment, the environmental information around the target vehicle can be obtained through detection equipment such as radar and vehicle-mounted camera on the target vehicle, including road surface information, wall information, other obstacle information, etc. The planned route is obtained based on the detected environmental information. For example, the route along the road surface is planned mainly based on the road surface information. On this basis, the surrounding walls and other obstacles are considered to avoid the existence of these obstacles in the forward direction of the planned route, so as to obtain the final planned route.

[0074] The planning of the route is real-time, so at every moment, the route information for the next moment or the next few moments can be planned in advance. That is, the planned route includes the location point at the next moment.

[0075] At each moment, the current position of the target vehicle at the current moment can be obtained. When performing steering control, it is necessary to clarify the required turning route from the current position to the position at the next moment. On the basis of determining the turning route, combined with the current vehicle state of the target vehicle, it can be determined at what angle each wheel of the target vehicle turns to meet the turning route. The turning angle of each wheel obtained in this way is used as the initial turning angle.

[0076] Among them, the current vehicle state of the target vehicle includes parameters such as vehicle speed, vehicle acceleration, and wheelbase.

[0077] The initial turning angle of each wheel is the turning angle determined without considering the influence of the slope on the wheel. That is, when the target vehicle is on a slope, each wheel turns according to the initial turning angle. Although it can meet the turning route, it may cause greater wear on the wheels with heavier loads, thereby affecting the vehicle condition.

[0078] Based on this, in this embodiment, after determining the initial turning angle of each wheel, it is necessary to adjust the initial turning angle to obtain the final turning angle of each wheel. That is, the turning angle adjustment of each wheel is adjusted based on the initial turning angle.

[0079] In addition, when the target vehicle is not on a slope, the turning angle of each wheel of the target vehicle may be adjusted to a corresponding initial turning angle.

[0080] Because when the target vehicle is not on a slope, there is no need to consider the problem of the slope causing a large load on some wheels, which in turn causes excessive wear, and it is only necessary to ensure that the vehicle moves along the turning route. Therefore, in this case, controlling each wheel to turn according to the planned initial turning angle can ensure that the vehicle moves along the specified turning route.

[0081] When the target vehicle is on a slope, considering that the slope of the road will affect the degree of wheel wear, the target turning angle of the target wheel can also be determined accordingly based on the specific conditions of the road slope. Figure 4 As a possible implementation method, the step of adjusting the turning angle of the target wheel to the target turning angle can be implemented by:

[0082] S131, obtaining the slope of the road where the target vehicle is located.

[0083] S132: When the slope is less than a preset slope, determine the turning angle coefficient of the target wheel based on the slope.

[0084] S133, determining a target turning angle based on the turning angle coefficient and the initial turning angle of the target wheel, and adjusting the turning angle of the target wheel to the target turning angle.

[0085] It should be understood that the target vehicle is on a slope, and its pitch angle can be detected by the detection equipment on the target vehicle. In theory, the pitch angle of the current vehicle can reflect the slope of the road, but because the wheels of the vehicle are elastic, the compression degree of each wheel is different under different loads. Therefore, the pitch angle of the target vehicle cannot accurately reflect the slope of the road.

[0086] Based on this, it is also necessary to detect and obtain the slope of the road where the target vehicle is located. In this embodiment, the slope can be detected by a detection device on the target vehicle.

[0087] For example, the acceleration of the vehicle in various directions, including the acceleration of gravity, can be measured by an accelerometer, and the slope can be calculated by analyzing the components of the accelerometer in the vertical and horizontal directions and using relevant calculation formulas.

[0088] Alternatively, the vehicle's rotation rate about the pitch and roll axes can be measured using a gyroscope, and the slope of the road can be inferred from the changes in angles about these axes.

[0089] Alternatively, the image of the road can be captured by an on-board camera on the vehicle, and the lines and features of the road can be identified through image analysis. The slope of the road can be estimated by analyzing the inclination of these lines.

[0090] In addition, in this embodiment, a preset slope is pre-set, for example, it can be 10 degrees, 15 degrees, etc. It is detected whether the detected slope is less than the preset slope. If it is less than the preset slope, it indicates that the ramp is relatively gentle, and it also indicates that the load of the target wheel with the largest load in this case is relatively small. In this case, the adjustment force can be smaller based on the calculated initial angle, that is, the steering compensation force can be smaller.

[0091] In this embodiment, the turning angle coefficient of the target wheel can be determined based on the slope. The turning angle coefficient can be understood as a coefficient assigned to the initial angle, that is, the final turning angle can be obtained by multiplying the initial angle by the turning angle coefficient.

[0092] Each wheel has an initial turning angle coefficient, and the initial turning angle coefficients of each wheel are the same, for example, 100%. It can be understood that when the initial turning angle coefficient is 100%, for each wheel, the final turning angle is obtained by multiplying its initial angle by 100%, and the final turning angle is consistent with the initial turning angle.

[0093] When on a slope, the turning coefficient of the target wheel needs to be adjusted first. Specifically, the turning coefficient of the target wheel can be obtained by reducing the initial turning coefficient of the target wheel. For example, the turning coefficient obtained can be 50%, 70%, etc.

[0094] Thus, the target turning angle of the target wheel is obtained by multiplying the initial turning angle of the target wheel by the obtained turning angle coefficient. For example, if the initial turning angle of the target wheel is 90 degrees, and the turning angle coefficient of the target wheel after adjustment is 50%, the target turning angle of the target wheel obtained is 45 degrees.

[0095] After the turning angle coefficient of the target wheel is readjusted, the turning angle coefficients of other wheels need to be adjusted accordingly, so that the steering that the target wheel has not achieved can be compensated by adjusting the turning angles of other wheels.

[0096] In order to further make the control more granular, in this embodiment, when the slope is less than the preset slope, the turning angle coefficient of the target wheel can be further determined more accurately based on the specific size of the slope, thereby making the control more precise.

[0097] Based on this, in this embodiment, in the above step of determining the turning angle coefficient of the target wheel based on the slope, it can be achieved in the following way, in combination with reference to Figure 5 :

[0098] S1321, determining a target slope range to which the slope belongs among a plurality of preset slope ranges, wherein each preset slope range corresponds to a turning angle coefficient.

[0099] S1322, determining a target turning angle coefficient corresponding to the target slope range as the turning angle coefficient of the target wheel.

[0100] In this embodiment, multiple preset slope ranges can be pre-set, and the multiple preset slope ranges are all ranges smaller than the preset slope. For example, if the preset slope is 10 degrees, assuming that two preset slope ranges are set, the two preset slope ranges can be 5 degrees to 7.5 degrees and 7.5 degrees to 10 degrees.

[0101] In addition, the turning angle coefficients corresponding to each preset slope range can be set in advance. For example, when the preset slope range is 5 degrees to 7.5 degrees, the corresponding turning angle coefficient is 75%, and when the preset slope range is 7.5 degrees to 10 degrees, the corresponding turning angle coefficient is 50%.

[0102] It should be noted that the above is only an example and is not limited to this. The specific settings can be made according to actual needs.

[0103] After the slope is detected and obtained, the preset slope range to which the slope belongs is determined as the target slope range, and then the target turning angle coefficient can be determined.

[0104] For example, if the detected slope is 8 degrees, the target slope range to which the slope belongs is 7.5 degrees to 10 degrees, and accordingly, the target turning angle coefficient can be determined to be 50%.

[0105] In this embodiment, multiple slope ranges can be divided by the above method, and corresponding turning angle coefficients can be set. In this way, the slope range to which the slope belongs can be accurately determined, and then the target turning angle can be determined based on the corresponding turning angle coefficient, so that the control granularity is smaller and the accuracy is higher.

[0106] The above is a solution for determining the target turning angle of the target wheel when the slope is less than the preset slope. In addition, if the slope is greater than or equal to the preset slope, it means that the slope is relatively steep. In this case, the load on the target wheel with the largest load is relatively large. Therefore, the control goal should be how to minimize the wear that may be caused to the target wheel.

[0107] Based on this, see Figure 6 The hill-turn control method provided in this embodiment may further include the following steps:

[0108] S134, when the slope is greater than or equal to the preset slope, taking the current turning angle of the target wheel as the target turning angle, and maintaining the turning angle of the target wheel as the current turning angle.

[0109] It should be understood that before the steering adjustment is performed, the current angle of the target wheel in the target vehicle has a very small amplitude, because the steering has not yet been performed. If the current angle with a very small amplitude is kept to perform subsequent steering, the wear and tear on the target wheel can be greatly reduced when steering.

[0110] Therefore, if the slope is greater than or equal to the preset slope, the current turning angle of the target wheel can be maintained, that is, the determined target turning angle is the current turning angle.

[0111] The above are different implementation schemes for determining the target turning angle of the target wheel in different situations. On the basis of determining the target turning angle of the target wheel, the turning angles of other wheels need to be determined to achieve steering compensation.

[0112] See also Figure 7 In this embodiment, the step of correspondingly adjusting the steering angles of the wheels other than the target wheel of the target vehicle based on the adjusted steering angle of the target wheel can be achieved by:

[0113] S141, calculating the turning angles of other wheels of the target vehicle except the target wheel according to the adjusted turning angle and turning radius of the target wheel.

[0114] S142: When the turning condition is met, adjusting the turning angles of other wheels to the calculated turning angles.

[0115] In this embodiment, the turning radius can be calculated based on the target turning angle of the target wheel, the wheelbase, and the width of the target vehicle. On this basis, the turning angles of other wheels are calculated in combination with the target turning angle and the turning radius of the target wheel. The calculation formula can adopt the existing calculation formula, which will not be described in detail in this embodiment.

[0116] After determining the turning angles of each wheel of the target vehicle, it is also necessary to ensure that the turning conditions are met under the turning angles of each wheel. The turning conditions require that each wheel rotates around the same turning center under the corresponding turning angles.

[0117] Specifically, it can be determined by detecting whether the vertical lines of the wheel planes of each wheel intersect at the same point. If they intersect at the same point, it can be determined that the turning condition is met. If they do not intersect at the same point, it is determined that the turning condition is not met. Figure 8 As shown, Figure 8 In the first and second figures, each wheel rotates around the same turning center (point P) at the corresponding turning angle, indicating that it meets the turning conditions. Figure 8The third figure indicates that the turning angles of each wheel are the same, and the vehicle can now move straight forward in the direction indicated by the arrow. Figure 8 The fourth figure shows that the vehicle rotates in place at the turning angles of each wheel.

[0118] When it is determined that the turning conditions are met, the turning angles of the other wheels can be adjusted to the calculated turning angles.

[0119] Also, see Fig. 9 The hill-turn control method provided in this embodiment may further include the following steps:

[0120] S144, when the steering condition is not met, the steering angle of the target wheel is adjusted again, and the steering angles of other wheels are calculated based on the re-adjusted steering angle of the target wheel, until the steering condition is met, and the steering angles of other wheels are adjusted to the calculated steering angles.

[0121] In this embodiment, if the calculated target turning angle of the target wheel and the turning angles of other wheels do not meet the steering condition, the turning angle of the target wheel can be readjusted. For example, a certain angle can be increased based on the adjusted turning angle of the target wheel, and then the turning angles of other wheels are recalculated and checked whether the steering condition is met.

[0122] Readjustment is performed in the above manner until it is determined that the turning condition is met, at which time the final turning angle of the target wheel and the turning angles of each other wheel can be determined.

[0123] In this embodiment, the steering angle of each wheel of the target vehicle that is finally determined is carried in a control signal, and the control signal is sent to the motor of the target vehicle so that the steering angle of each wheel is controlled by the motor, thereby achieving steering control of the target vehicle during movement.

[0124] The above is the automatic control process performed by the intelligent control system of the target vehicle. Under certain triggering events, the target vehicle can exit the automatic control mode of the intelligent control system. For example, it can automatically exit when it is detected that the target vehicle is in a straight-line driving state for more than a preset time, or exit when it is detected that the driver steps on the brake, or exit when it is detected that the driver presses the relevant exit button, etc.

[0125] The ramp steering control method provided in this embodiment obtains the current pitch angle of the target vehicle and determines whether the target vehicle is on a ramp based on the current pitch angle. When the target vehicle is on a ramp, the target wheel in the target vehicle is determined, and the target wheel is the wheel with the largest load. The turning angle of the target wheel is adjusted to the target turning angle to reduce the degree of wear of the target wheel, and the turning angles of other wheels in the target vehicle are adjusted accordingly based on the adjusted turning angle of the target wheel. In this solution, when the vehicle is driving on a ramp, the turning angle of the target wheel is adjusted first to reduce its load and alleviate its wear, and then the turning angles of other wheels are adjusted for steering compensation, which can reduce the wear on the wheels when driving on a ramp and ensure that the vehicle is in good condition.

[0126] Based on the same inventive concept, please refer to Fig.10 , an embodiment of the present invention further provides a functional module schematic diagram of a ramp steering control device. This embodiment can divide the functional modules of the ramp steering control device according to the above method embodiment. For example, each functional module can be divided according to each function, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware or in the form of software functional modules. It should be noted that the division of modules in the embodiment of the present invention is schematic and is only a logical functional division. There may be other division methods in actual implementation.

[0127] For example, when each functional module is divided into corresponding functional modules, Fig.10 The ramp steering control device shown is only a schematic diagram of the device, wherein the ramp steering control device may include a judgment module, a determination module and an adjustment module, and the functions of each functional module of the ramp steering control device are respectively described in detail below.

[0128] A judgment module is used to obtain the current pitch angle of the target vehicle and judge whether the target vehicle is on a slope according to the current pitch angle;

[0129] A determination module, used for determining a target wheel in the target vehicle when the target vehicle is on a slope, the target wheel being the wheel with the largest load;

[0130] An adjustment module, used for adjusting the turning angle of the target wheel to a target turning angle, so as to reduce the load size of the target wheel;

[0131] The adjustment module is further used to adjust the steering angles of other wheels of the target vehicle except the target wheel accordingly based on the adjusted steering angle of the target wheel.

[0132] It can be understood that the above-mentioned judgment module, determination module and adjustment module can be used to execute the above-mentioned S11 to S14. The detailed implementation of the judgment module, determination module and adjustment module can refer to the relevant contents of the above-mentioned S11 to S14.

[0133] In a possible implementation, the hill turn control device further includes a planning module, which can be used to:

[0134] Detect and obtain the environmental information around the target vehicle;

[0135] Get a planned route based on environmental information;

[0136] According to the current vehicle state, current position point and the position point at the next moment in the planned route of the target vehicle, the initial turning angle of each wheel of the target vehicle is planned, wherein the turning angle adjustment of each wheel is adjusted based on the initial turning angle.

[0137] In a possible implementation, the adjustment module may be used to:

[0138] Obtain the slope of the road where the target vehicle is located;

[0139] When the slope is less than a preset slope, determining a turning angle coefficient of the target wheel based on the slope;

[0140] A target turning angle is determined based on the turning angle coefficient and the initial turning angle of the target wheel, and the turning angle of the target wheel is adjusted to the target turning angle.

[0141] In a possible implementation, the adjustment module may be specifically used for:

[0142] Determining a target slope range to which the slope belongs among a plurality of preset slope ranges, wherein each preset slope range corresponds to a turning angle coefficient;

[0143] The target turning angle coefficient corresponding to the target slope range is determined as the turning angle coefficient of the target wheel.

[0144] In a possible implementation, the adjustment module may also be used to:

[0145] When the slope is greater than or equal to the preset slope, the current turning angle of the target wheel is used as the target turning angle, and the turning angle of the target wheel is maintained as the current turning angle.

[0146] In a possible implementation, the adjustment module may be used to:

[0147] Calculate the turning angles of other wheels of the target vehicle except the target wheel according to the adjusted turning angle and turning radius of the target wheel;

[0148] Determine whether the turning angles of the four wheels of the target vehicle meet the turning conditions;

[0149] When the steering conditions are met, the steering angles of other wheels are adjusted to the calculated steering angles.

[0150] In a possible implementation, the adjustment module may also be used to:

[0151] When the turning condition is not met, the turning angle of the target wheel is adjusted again;

[0152] Based on the re-adjusted turning angle of the target wheel, the turning angles of other wheels are calculated, and when the turning condition is met, the turning angles of other wheels are adjusted to the calculated turning angles.

[0153] In a possible implementation, the adjustment module may also be used to:

[0154] When the target vehicle is not on a slope, the turning angle of each wheel of the target vehicle is adjusted to a corresponding initial turning angle.

[0155] In a possible implementation, the above-mentioned determination module may be used to:

[0156] When the absolute value of the current pitch angle is greater than or equal to a preset angle, it is determined that the target vehicle is on a slope;

[0157] When the absolute value of the current pitch angle is less than the preset angle, it is determined that the target vehicle is not on a slope.

[0158] It should be noted that the hill steering control device provided in this embodiment has the same, similar, and corresponding technical features as the hill steering control method in the above embodiment, and can achieve the same, similar, and corresponding technical effects. For matters not detailed in this embodiment, please refer to the relevant description of the above embodiment, and this embodiment will not be repeated here.

[0159] Fig.11 It is a structural schematic diagram of a vehicle provided by an embodiment of the present invention.

[0160] For example, Fig.11 As shown, the vehicle includes: a memory and a processor, wherein the memory stores executable program code, and the processor is used to call and execute the executable program code to perform a hill steering control method.

[0161] In this embodiment, the functional modules of the vehicle can be divided according to the above method example. For example, each functional module can be corresponded, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0162] In the case of dividing each functional module according to each function, the vehicle may include: the above-mentioned multiple functional modules, etc. It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module, which will not be repeated here.

[0163] The vehicle provided in this embodiment is used to execute the above-mentioned hill steering control method, and thus can achieve the same effect as the above-mentioned implementation method.

[0164] In the case of an integrated unit, the vehicle may include a processing module and a storage module. The processing module may be used to control and manage the actions of the vehicle. The storage module may be used to support the vehicle to execute mutual program codes and data.

[0165] The processing module may be a processor or a controller, which may implement or execute various exemplary logic blocks, modules and circuits disclosed in conjunction with the present invention. The processor may also be a combination that implements a computing function, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module may be a memory.

[0166] This embodiment also provides a computer-readable storage medium, in which a computer program code is stored. When the computer program code is executed on a computer, the computer executes the above-mentioned related method steps to implement a ramp steering control method in the above-mentioned embodiment.

[0167] This embodiment further provides a computer program product. When the computer program product is run on a computer, the computer is caused to execute the above-mentioned related steps to implement a ramp steering control method in the above-mentioned embodiment.

[0168] In addition, the vehicle provided by the embodiment of the present invention may include a connected processor and memory; wherein the memory is used to store instructions, and when the vehicle is running, the processor can call and execute the instructions so that the chip executes a hill steering control method in the above embodiment.

[0169] Among them, the vehicle, computer-readable storage medium, computer program product or chip provided in this embodiment are all used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods provided above and will not be repeated here.

[0170] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0171] In the embodiments provided by the present invention, 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 or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, 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 through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0172] The above contents are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A ramp steering control method, characterized in that: The method comprises: Acquire a current pitch angle of the target vehicle, and determine whether the target vehicle is on a slope according to the current pitch angle; When the target vehicle is on a slope, determining a target wheel in the target vehicle, the target wheel being the wheel with the largest load; Adjusting the turning angle of the target wheel to a target turning angle to reduce the degree of wear of the target wheel; Based on the adjusted turning angle of the target wheel, the turning angles of other wheels of the target vehicle except the target wheel are adjusted accordingly.

2. The hill turn control method according to claim 1, characterized in that: The method further comprises: Detecting and obtaining environmental information around the target vehicle; Obtaining a planned route based on the environmental information; According to the current vehicle state, current position point and the position point at the next moment in the planned route of the target vehicle, the initial turning angle of each wheel of the target vehicle is planned, wherein the turning angle adjustment of each wheel is adjusted based on the initial turning angle.

3. The hill turn control method according to claim 2, characterized in that: The step of adjusting the turning angle of the target wheel to the target turning angle comprises: Obtaining the slope of the road on which the target vehicle is located; When the slope is less than a preset slope, determining a turning angle coefficient of the target wheel based on the slope; A target turning angle is determined based on the turning angle coefficient and the initial turning angle of the target wheel, and the turning angle of the target wheel is adjusted to the target turning angle.

4. The hill turn control method according to claim 3, characterized in that: The step of determining the turning angle coefficient of the target wheel based on the slope comprises: Determining a target slope range to which the slope belongs among a plurality of preset slope ranges, wherein each of the preset slope ranges corresponds to a turning angle coefficient; A target turning angle coefficient corresponding to the target slope range is determined as the turning angle coefficient of the target wheel.

5. The hill turn control method according to claim 3, characterized in that: The step of adjusting the turning angle of the target wheel to the target turning angle further includes: When the slope is greater than or equal to the preset slope, the current turning angle of the target wheel is used as the target turning angle, and the turning angle of the target wheel is maintained as the current turning angle.

6. The hill turn control method according to claim 1, characterized in that: The step of correspondingly adjusting the turning angles of other wheels of the target vehicle except the target wheel based on the adjusted turning angle of the target wheel comprises: Calculating the turning angles of other wheels of the target vehicle except the target wheel according to the adjusted turning angle and turning radius of the target wheel; Determining whether the turning angles of the four wheels of the target vehicle meet the turning condition; When the steering condition is met, the steering angles of the other wheels are adjusted to the calculated steering angles.

7. The hill turn control method according to claim 6, characterized in that: The step of correspondingly adjusting the turning angles of other wheels of the target vehicle except the target wheel based on the adjusted turning angle of the target wheel further includes: When the turning condition is not met, adjusting the turning angle of the target wheel again; Based on the re-adjusted turning angle of the target wheel, the turning angles of the other wheels are calculated, and when the turning condition is met, the turning angles of the other wheels are adjusted to the calculated turning angles.

8. The hill turn control method according to claim 2, characterized in that: The method further comprises: When the target vehicle is not on a slope, the turning angle of each wheel of the target vehicle is adjusted to a corresponding initial turning angle.

9. The hill turn control method according to claim 1, characterized in that: The step of judging whether the target vehicle is on a slope according to the current pitch angle comprises: When the absolute value of the current pitch angle is greater than or equal to a preset angle, determining that the target vehicle is on a slope; When the absolute value of the current pitch angle is smaller than the preset angle, it is determined that the target vehicle is not on a slope.

10. A vehicle, characterized in that: The vehicle comprises: A memory for storing executable program codes; A processor, configured to call and run the executable program code from the memory so that the vehicle executes the method according to any one of claims 1 to 9.

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