Vehicle steering control method and device and vehicle

Abstract

The invention provides a vehicle steering control method and device and a vehicle, under the condition that obstacles exist around a target vehicle, whether a vehicle body is scratched at the next moment is judged based on a planned driving path, and if the vehicle body is scratched, each wheel of the target vehicle is adjusted to a set angle, so that the target vehicle is steered. The target vehicle is far away from the obstacle. And under the condition that the vehicle body is not scratched, whether the wheels are scratched at the next moment or not is judged, and if the wheels are scratched, the target angle is obtained through adjustment on the basis of the planned initial angle. Therefore, the wheels are controlled to run according to the target angle. According to the scheme, by detecting whether the vehicle body and the wheels are scratched or not, corresponding adjustment control is carried out, so that the vehicle body and the wheels are prevented from being scratched, and safe driving of the vehicle is guaranteed.

Description

Technical Field

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

[0002] With the continuous development of vehicle technology, users' requirements for vehicles in various aspects are also constantly increasing, with higher demands for driving comfort, safety, convenience, etc. When a vehicle is driving on a relatively narrow road, if the vehicle is not well controlled, obstacles in the surrounding environment can easily cause damage to the vehicle, leading to losses or even danger.

[0003] For example, many shopping malls' parking lots often have spiral roads in their entrances and exits. These narrow spiral roads can easily cause vehicles to scratch the walls on both sides. Therefore, how to control vehicles to drive safely in the presence of obstacles in the surrounding environment is a very important technical problem in the field of vehicle automatic control technology. Summary of the invention

[0004] The purpose of the embodiments of the present invention is to provide a vehicle steering control method, device and vehicle, so as to avoid scratches on the vehicle body and wheels and ensure safe driving of the vehicle.

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

[0006] When obstacles are detected around the target vehicle, judging whether the body of the target vehicle will be scratched at the next moment based on the planned driving path;

[0007] If it is determined that the vehicle body will be scratched at the next moment, each wheel of the target vehicle is adjusted to a set angle to make the target vehicle away from the obstacle;

[0008] If it is determined that the vehicle body will not be scratched at the next moment, then it is determined whether the wheels of the target vehicle will be scratched at the next moment;

[0009] When it is determined that a wheel will scratch at the next moment, a target angle is determined based on an initial angle of each wheel, and the steering angle of each wheel is adjusted to a corresponding target angle, wherein the initial angle is the angle of each wheel at the next moment obtained in advance based on the driving path planning.

[0010] In an optional embodiment, the step of determining the target angle based on the initial angle of each wheel includes:

[0011] Determine a first target wheel that will cause a scratch at a next moment, and determine a target angle of the first target wheel based on an initial angle of the first target wheel;

[0012] Based on the target angle of the first target wheel and initial angles of other wheels in the target vehicle except the first target wheel, target angles of the other wheels are determined.

[0013] In an optional embodiment, the step of determining the target angle of the first target wheel based on the initial angle thereof comprises:

[0014] Determining an allowable turning angle range of the first target wheel based on a distance between the first target wheel and the obstacle;

[0015] Determining whether the initial angle of the first target wheel is within the allowable turning angle range;

[0016] If the initial angle is not within the allowable turning angle range, the upper limit or lower limit of the allowable turning angle range is used as the target angle according to the turning direction;

[0017] If the initial angle is within the allowable rotation angle range, the initial angle is used as the target angle.

[0018] In an optional embodiment, the step of determining the target angle of each of the other wheels based on the target angle of the first target wheel and the initial angles of the other wheels in the target vehicle except the first target wheel includes:

[0019] Determine the target other wheel that is farthest from the first target wheel among the other wheels of the target vehicle except the first target wheel;

[0020] Determining a target angle of the other target wheels based on an initial angle of the other target wheels;

[0021] The target angles of the other wheels are determined according to the target angle of the first target wheel, the target angles of the other target wheels, and the turning radius.

[0022] In an optional embodiment, the method further comprises:

[0023] When it is determined that the wheel will not be scratched at the next moment, determining the wheel closest to the obstacle;

[0024] Determine a second target wheel that is coaxial with the wheel closest to the obstacle, and obtain an initial angle of the second target wheel;

[0025] determining a target angle of the second target wheel based on an initial angle of the second target wheel;

[0026] The target angles of other wheels are determined according to the target angle and turning radius of the second target wheel.

[0027] In an optional embodiment, the method further comprises:

[0028] Detecting whether the steering condition is satisfied when each wheel is at a corresponding target angle;

[0029] If the turning condition is not met, the turning angles of the other wheels except the first target wheel are adjusted until the turning condition is met.

[0030] In an optional embodiment, the step of detecting whether the steering condition is satisfied when each wheel is at a corresponding target angle comprises:

[0031] When each of the wheels is at a corresponding target angle, constructing a vertical line perpendicular to the wheel plane of each of the wheels;

[0032] It is detected whether the vertical lines corresponding to all wheels intersect at the same point. If so, it is determined that the turning condition is met; otherwise, it is determined that the turning condition is not met.

[0033] In an optional embodiment, the step of adjusting each wheel of the target vehicle to a set angle includes:

[0034] Determine the position point where the scratch occurs on the vehicle body at the next moment, and determine the relative position of the obstacle with respect to the vehicle body according to the position point;

[0035] The set angle of each wheel is determined according to the relative orientation, so that after each wheel is adjusted to the set angle, the target vehicle is away from the obstacle at the next moment.

[0036] In a second aspect, the present invention provides a vehicle steering control device, the device comprising:

[0037] The first judgment module is used to judge whether the body of the target vehicle will be scratched at the next moment based on the planned driving path when obstacles are detected around the target vehicle;

[0038] The first adjustment module is used to adjust each wheel of the target vehicle to a set angle if it is determined that the vehicle body will be scratched at the next moment, so as to make the target vehicle stay away from the obstacle;

[0039] The second judgment module is used to judge whether the wheels of the target vehicle will be scratched at the next moment if it is determined that the vehicle body will not be scratched at the next moment;

[0040] The second adjustment module is used to determine the target angle based on the initial angle of each wheel and adjust the steering angle of each wheel to the corresponding target angle when it is determined that the wheel will scratch at the next moment, wherein the initial angle is the angle of each wheel at the next moment obtained in advance based on the driving path planning.

[0041] In a third aspect, the present invention provides a vehicle, the vehicle comprising:

[0042] A memory for storing executable program codes;

[0043] 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.

[0044] The vehicle steering control method, device and vehicle provided by the present invention, when obstacles are detected around the target vehicle, determine whether the vehicle body will be scratched at the next moment based on the planned driving path. If the vehicle body will be scratched, adjust each wheel of the target vehicle to a set angle to keep the target vehicle away from the obstacle. When the vehicle body will not be scratched, determine whether the wheel will be scratched at the next moment. If the wheel will be scratched, adjust the target angle based on the planned initial angle. In this way, the wheel is controlled to travel at the target angle. In this solution, by detecting whether the vehicle body and wheels will be scratched, corresponding adjustments and controls are made to avoid scratches on the vehicle body and wheels, thereby ensuring safe driving of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] 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.

[0046] Figure 1 A flow chart of a vehicle steering control method provided by an embodiment of the present invention;

[0047] Figure 2 Schematic diagram of various steering modes in an embodiment of the present invention;

[0048] Figure 3 for Figure 1 A flowchart of the sub-steps included in S12;

[0049] Figure 4 One of the schematic diagrams of a vehicle and an obstacle in an embodiment of the present invention;

[0050] Figure 5This is a second schematic diagram of a vehicle and an obstacle in an embodiment of the present invention;

[0051] Figure 6 for Figure 1 A flowchart of the sub-steps included in S14;

[0052] Figure 7 for Figure 6 A flowchart of the sub-steps included in S141;

[0053] Figure 8 for Figure 6 A flowchart of the sub-steps included in S142;

[0054] Fig. 9 A flow chart of a detection method in a vehicle steering control method provided by an embodiment of the present invention;

[0055] Fig.10 for Fig. 9 A flowchart of the sub-steps included in S21;

[0056] Fig.11 Schematic diagram of various steering states in an embodiment of the present invention;

[0057] Fig.12 Another flow chart of the vehicle steering control method provided by an embodiment of the present invention;

[0058] Fig.13 A functional module block diagram of a vehicle steering control device provided by an embodiment of the present invention;

[0059] Fig.14 A structural block diagram of a vehicle provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0060] 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.

[0061] See also Figure 1 , is a flow chart of a vehicle steering control method provided by an embodiment of the present invention, the vehicle steering control method is applied to a vehicle steering control device, the vehicle steering 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 vehicle steering control method are described as follows.

[0062] S11, when obstacles are detected around the target vehicle, whether the body of the target vehicle will be scratched at the next moment is determined based on the planned driving path.

[0063] S12: If it is determined that the vehicle body will be scratched at the next moment, each wheel of the target vehicle is adjusted to a set angle to keep the target vehicle away from the obstacle.

[0064] S13, if it is determined that the vehicle body will not be scratched at the next moment, then it is determined whether the wheels of the target vehicle will be scratched at the next moment.

[0065] S14, when it is determined that the wheels will scratch at the next moment, determine the target angle based on the initial angle of each wheel, and adjust the steering angle of each wheel to the corresponding target angle, wherein the initial angle is the angle of each wheel at the next moment obtained in advance based on the driving path planning.

[0066] 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.

[0067] 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.

[0068] The vehicle steering 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, when driving on a narrow road, the intelligent control system can be triggered to perform automatic control.

[0069] The target vehicle referred to in this embodiment is any vehicle on which the vehicle steering control method can be implemented. The detection device on the target vehicle can detect whether there are obstacles around the target vehicle, for example, an ultrasonic sensor on the target vehicle can emit ultrasonic pulses and measure the reflected sound waves to detect whether there are obstacles around, and the distance to the obstacles can be measured.

[0070] Alternatively, a laser pulse can be emitted by a lidar on the target vehicle and the time it takes for the reflected light to return can be measured, thereby using the speed of light to determine whether there are obstacles around and calculate the distance to the obstacle.

[0071] Alternatively, the surrounding image information can be collected by the camera on the target vehicle, and image recognition technology can be used to perform image analysis and recognition to determine whether there are obstacles around and the distance to the obstacles.

[0072] When it is determined that there are obstacles around the target vehicle and the distance to the obstacles is small, automatic control can be triggered. In this case, the driving path can be planned based on the detected environmental information around the target vehicle.

[0073] Specifically, the environmental information around the target vehicle can be obtained through detection equipment such as radar and on-board cameras on the target vehicle, including road surface information, wall information, and other obstacle information. The driving path is planned based on the detected environmental information. For example, the path 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 path, so as to obtain the final driving path.

[0074] At each decision moment, the target vehicle's next position can be obtained based on the planned driving path. Combined with the surrounding environmental information, it can be predicted whether the target vehicle will collide with an obstacle at the next moment, that is, whether the target vehicle will be scratched, and corresponding adjustments and controls can be made.

[0075] Considering that a scratch on the vehicle body will cause serious damage to the vehicle, in this embodiment, it is first determined whether the vehicle body of the target vehicle will be scratched at the next moment. For example, the distance between each position point of the target vehicle body and the obstacle can be calculated based on the width and length of the target vehicle body, combined with the position point of the target vehicle at the next moment and the position point of the obstacle at the next moment, so as to determine whether the vehicle body will be scratched at the next moment.

[0076] If it is determined that the vehicle body will be scratched, each wheel of the target vehicle can be adjusted to a set angle so that when the target vehicle moves at each wheel at the set angle, the target vehicle can stay away from obstacles, thereby ensuring that the target vehicle will not be scratched at the next moment.

[0077] When driving on narrow roads, especially when turning, the wheels may rub against surrounding obstacles. Therefore, if it is determined that the vehicle body will not be scratched, it is also necessary to determine whether the wheels will be scratched at the next moment.

[0078] In this embodiment, based on the pre-planned driving path, combined with the vehicle state information of the target vehicle and the current position of the vehicle, the initial angle of each wheel can be planned. The vehicle state information includes vehicle speed, acceleration, heading angle, etc.

[0079] Specifically, the position of the target vehicle at the next moment can be determined based on the driving path, and the turning route from the position at the current moment to the position at the next moment can be determined based on the position at the next moment and the position at the current moment. After the turning route is determined, the initial angle of each wheel can be determined in combination with the speed, acceleration, heading angle, etc. of the target vehicle, that is, each wheel can be turned from the current position to the position at the next moment by turning according to the initial angle.

[0080] Although the steering of each wheel according to the initial angle can meet the planned driving path, it does not consider whether each wheel will scratch the surrounding obstacles. Therefore, in this embodiment, it can be detected and judged whether each wheel of the target vehicle will scratch at the next moment. If scratches will occur, it is necessary to adjust the initial angle of each wheel to the target angle, and then control each wheel to steer according to the target angle, so as to avoid scratches between each wheel and obstacles when turning.

[0081] The vehicle steering control method provided in this embodiment detects whether the vehicle body will scratch an obstacle during steering. If it is determined that the vehicle body may scratch, each wheel is adjusted to a set angle to move the vehicle away from the obstacle. Secondly, it detects whether the wheel will scratch an obstacle. If it is determined that the wheel may scratch, it adjusts the target angle based on the initial angle obtained in advance, controls each wheel to turn according to the target angle, and avoids the wheel from scratching. This solution detects whether the vehicle body and wheels will scratch, and then makes corresponding adjustments and controls to avoid the vehicle body and wheels from scratching, thereby ensuring safe driving of the vehicle.

[0082] In this embodiment, when it is determined that the body of the target vehicle will be scratched, the step of adjusting each wheel of the target vehicle to a set angle can be achieved by the following method. Figure 3 :

[0083] S121, determining the position point where the scratch occurs on the vehicle body at the next moment, and determining the relative position of the obstacle with respect to the vehicle body according to the position point.

[0084] S122, determining a set angle of each wheel according to the relative orientation, so that after each wheel is adjusted to the set angle, the target vehicle is away from the obstacle at the next moment.

[0085] In this embodiment, the position of the target vehicle at the next moment can be determined based on the obtained driving path, and the position of the obstacle closest to the target vehicle at the next moment can be determined. Combined with the body width and body length of the target vehicle, the position of the obstacle closest to the target vehicle colliding with the body of the target vehicle can be determined, for example, the left rear body, the left front body, the right rear body, the right front body, etc.

[0086] On this basis, the relative position of the obstacle with respect to the vehicle body can be determined. For example, the relative position may be the left rear side, the right rear side, etc. In this way, the set angle of each wheel can be determined based on the relative position, and the driving direction of the vehicle at the set angle is the opposite direction to the relative position. For example, if the relative position is the left rear side, the driving direction of the vehicle at the set angle is the right front side. For another example, if the relative position is the right rear side, the driving direction of the vehicle at the set angle is the left front side.

[0087] When each wheel is moving at a set angle, the target vehicle is in the following Figure 2 The wedge-shaped steering mode in the vehicle is the oblique straight-line driving mode. In this way, it can be ensured that each wheel is at a set angle, and the target vehicle can stay away from obstacles at the next moment to avoid scratches.

[0088] For example, Figure 4 As shown in , if the right rear side of the target vehicle is determined to be the location point of the scratch, that is, the obstacle is located on the right rear side of the vehicle. In this case, the setting angles of each wheel are as follows Figure 4 The target vehicle can then move away from the obstacle.

[0089] For example, Figure 5 As shown in , if the left rear side of the target vehicle is determined to be the location point of the scratch, that is, the obstacle is located on the left rear side of the vehicle body. In this case, the setting angles of each wheel are as follows Figure 5 The target vehicle can then move away from the obstacle.

[0090] Through the above method, when the vehicle body may be scratched, the vehicle can be controlled to move in the direction away from the obstacle first, and then the subsequent turning can be performed when it is away from the obstacle and there is a certain gap between it and the obstacle. In this way, the vehicle body can be avoided from being scratched during turning.

[0091] After ensuring that the vehicle body will not be scratched, if the wheels may be scratched during steering, it is necessary to adjust the target angle based on the pre-planned initial angles of each wheel. Please refer to Figure 6 In this embodiment, this step can be implemented in the following way:

[0092] S141, determining the first target wheel that will cause scratches at the next moment, and determining the target angle of the first target wheel based on the initial angle of the first target wheel.

[0093] S142, determining the target angles of the other wheels based on the target angle of the first target wheel and the initial angles of the other wheels in the target vehicle except the first target wheel.

[0094] Considering that when there are obstacles around the vehicle, not all wheels may scratch when turning. Often, the wheel closest to the obstacle may scratch. Therefore, it is necessary to first ensure that the wheel closest to the obstacle does not scratch, and then adjust the angles of other wheels accordingly.

[0095] In this embodiment, the wheel among the four wheels that may cause a scratch at the next moment is first determined, which is named as the first target wheel. The initial angle of the first target wheel planned in advance is obtained, and the target angle of the first target wheel is obtained based on the initial angle.

[0096] When each wheel is turned according to the planned initial angle, the required turning route can be met. After the angle of the first target wheel is adjusted, the angles of other wheels need to be adjusted accordingly to perform steering compensation.

[0097] See also Figure 7 In this embodiment, in the step of determining the target angle of the first target wheel based on its initial angle, it can be achieved by:

[0098] S1411: Determine an allowable turning angle range of the first target wheel based on the distance between the first target wheel and the obstacle.

[0099] S1412, determine whether the initial angle of the first target wheel is within the allowable turning angle range. If the initial angle is not within the allowable turning angle range, execute the following S1413; if the initial angle is within the allowable turning angle range, execute S1414.

[0100] S1413: According to the turning direction, the upper limit or lower limit of the allowable turning angle range is used as the target angle.

[0101] S1414, taking the initial angle as the target angle.

[0102] In this embodiment, the initial angle of the first target wheel planned based on the driving path is planned without considering the scratch situation. In the actual scene, due to the existence of surrounding obstacles, the first target wheel is very close to the obstacle, and the turning angle range it can achieve when turning is limited.

[0103] The angle range that the first target wheel itself can reach is 360 degrees in theory, that is, it can be understood that when respectively to the left and right sides, -180 degrees to +180 degrees can be reached. However, due to the existence of obstacles, the angle range of the first target wheel is limited, for example, may only reach -60 degrees to +60 degrees, and this scope is the allowed angle range. If it exceeds this allowed angle range, the first target wheel will collide with the obstacle.

[0104] On the basis of determining the allowable turning angle range, whether the initial angle of the planned first target wheel is within the allowable turning angle range is detected. If the initial angle is within the allowable turning angle range, it indicates that if the first target wheel turns according to the initial angle, the first target wheel will not rub against the obstacle. Therefore, in this case, the initial angle can be used as the target angle of the first target wheel.

[0105] For example, taking the above example, if the allowable turning angle range is -60 degrees to +60 degrees, and the calculated initial angle is +45 degrees, the initial angle +45 degrees can be used as the target angle of the first target wheel.

[0106] Correspondingly, if the first target wheel maintains its initial angle, the other wheels can also maintain their initial angles, thereby ensuring turning according to the planned corner route.

[0107] In addition, if the initial angle of the first target wheel is not within the allowable turning angle range, it indicates that if the first target wheel turns according to its initial angle, it will scratch the obstacle. In order to avoid this phenomenon, the allowable turning angle range can be used as the boundary, and the upper limit or lower limit of the allowable turning angle range can be used as the target angle according to the turning direction.

[0108] If the turning direction is to the left, the lower limit of the allowable turning angle range can be used as the target angle. If the turning direction is to the right, the upper limit of the allowable turning angle range can be used as the target angle.

[0109] For instance, taking the above as an example, if the allowable turning angle range is -60 degrees to +60 degrees, the calculated initial angle is +70 degrees, and the turning direction is to the right, the upper limit value of the allowable turning angle range +60 degrees can be used as the target angle of the first target wheel.

[0110] In this embodiment, through the above method, based on the actual allowable angle range of the wheel while avoiding scratches, combined with the calculated initial angle to determine the final target angle, the angle can be adjusted with minimal adjustment force while ensuring that scratches are avoided, thereby improving the adjustment efficiency while ensuring safe driving.

[0111] The above is a method for adjusting the angle of the first target wheel that may cause scratches. On this basis, it is necessary to determine the target angles of the other wheels based on the target angle of the first target wheel and the initial angles of the other wheels. Figure 8 In this embodiment, the angle adjustment of other wheels can be achieved by the following methods:

[0112] S1421, determining the target other wheel that is farthest from the first target wheel among the other wheels of the target vehicle except the first target wheel.

[0113] S1422, determining a target angle of the other target wheels based on the initial angle of the other target wheels.

[0114] S1423, determining the target angles of the other wheels according to the target angle of the first target wheel, the target angles of the other target wheels, and the turning radius.

[0115] In this embodiment, when adjusting the angle of the first target wheel, the angle adjustment of other wheels is required to achieve steering compensation. The compensation effect of the other wheels farthest from the first target wheel is the most effective. Therefore, the adjustment idea for the angles of other wheels can be to first adjust the angles of the other wheels farthest from the first target wheel, and then adjust the angles of the remaining other wheels.

[0116] In the present embodiment, the other wheels farthest from the first target wheel are called target other wheels. If the first target wheel is the left rear wheel, the wheel farthest from the first target wheel is the right front wheel, and if the first target wheel is the right rear wheel, the wheel farthest from the first target wheel is the left front wheel.

[0117] When determining the target angles of the other target wheels, they can be determined based on their initial angles. For example, if the target angle of the first target wheel is reduced by a certain angle relative to its initial angle, the target angles of the other target wheels can be increased by a certain angle based on their initial angles. The adjustment amount can be determined based on the previous expert knowledge, and it is also necessary to ensure that the steering conditions can be met later. Therefore, the angle adjustment of the other target wheels may involve multiple adjustments, and the adjustment amount can be increased gradually each time.

[0118] On this basis, the angles of the remaining other wheels are adjusted, and the target angles of the other wheels can be calculated according to the target angle of the first target wheel, the target angles of the other target wheels, and the turning radius determined based on the driving path and according to the calculation formula. Among them, the calculation formula can adopt the existing calculation formula, which is not described in detail in this embodiment.

[0119] After the angles of each wheel in the target vehicle are determined, it is necessary to check whether the steering conditions are met. Fig. 9 The vehicle steering control method provided in this embodiment may further include the following steps:

[0120] S21, detect whether the steering condition is met when each wheel is at the corresponding target angle. If the steering condition is not met, execute the following S22. If it is met, end the adjustment process.

[0121] S22, adjusting the steering angles of the other wheels except the first target wheel until the steering condition is met.

[0122] 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.

[0123] Specifically, see Fig.10 , you can check whether the steering condition is met by the following methods:

[0124] S211: When each wheel is at a corresponding target angle, construct a vertical line perpendicular to the wheel plane of each wheel.

[0125] S212, detect whether the vertical lines corresponding to all wheels intersect at the same point, if so, execute the following S213, otherwise, execute the following S214.

[0126] S213, determining whether the turning condition is satisfied.

[0127] S214, determining that the turning condition is not satisfied.

[0128] In this embodiment, it can be judged 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.

[0129] like Fig.11 As shown, Fig.11 In the first and second figures, vertical lines perpendicular to the wheel planes of the wheels are constructed respectively, such as vertical lines passing through the center of the wheel and perpendicular to the wheel planes. As shown in the figure, the vertical lines intersect at the same point (point P), indicating that the wheels rotate around the same turning center (point P) at the corresponding turning angles. Therefore, it can be determined that the turning condition is met.

[0130] also, Fig.11 The 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. Fig.11The fourth figure shows that the vehicle rotates in place at the turning angles of each wheel.

[0131] When it is determined that the turning conditions are met, the turning angles of the other wheels can be adjusted to the calculated target angles.

[0132] The above is an adjustment method when it is determined that the wheels of the target vehicle may be scratched at the next moment. Fig.12 As shown, the method provided in this embodiment may also include the following steps:

[0133] S15, when it is determined that the wheel will not be scratched at the next moment, determine the wheel closest to the obstacle, determine a second target wheel coaxial with the wheel closest to the obstacle, and obtain an initial angle of the second target wheel.

[0134] S16, determining a target angle of the second target wheel based on the initial angle of the second target wheel, and determining target angles of other wheels according to the target angle of the second target wheel and the turning radius.

[0135] Considering that if the wheels do not scrape against obstacles during steering, adjusting the angle of the coaxial wheel closest to the obstacle first is the most effective adjustment effect for steering control.

[0136] Based on this, in this embodiment, the wheel closest to the obstacle is first determined, and then the wheel coaxial with the wheel is determined, and the wheel is named the second target wheel.

[0137] Assuming that the wheel closest to the obstacle is the right rear wheel, the second target wheel is the left rear wheel.

[0138] First, the angle of the second target wheel is adjusted, which may be to increase a certain angle based on its initial angle, so as to ensure effective steering.

[0139] On this basis, the angles of other wheels are adjusted accordingly. Similarly, after determining the angles of each wheel, it is necessary to detect whether it meets the turning condition. If it does not meet the turning condition, it returns to perform the angle adjustment of each wheel until the turning condition is met.

[0140] 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.

[0141] The vehicle steering control method provided in this embodiment detects whether the vehicle body and wheels will be scratched, and then makes corresponding adjustments and controls to avoid scratches on the vehicle body and wheels, thereby ensuring safe driving of the vehicle.

[0142] Based on the same inventive concept, please refer to Fig.13 , an embodiment of the present invention further provides a functional module schematic diagram of a vehicle steering control device. This embodiment can divide the functional modules of the vehicle 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, which is only a logical function division, and there may be other division methods in actual implementation.

[0143] For example, when each functional module is divided into corresponding functional modules, Fig.13 The vehicle steering control device shown is only a schematic diagram of the device. The vehicle steering control device may include a first judgment module, a first adjustment module, a second judgment module and a second adjustment module. The functions of each functional module of the vehicle steering control device are described in detail below.

[0144] The first judgment module is used to judge whether the body of the target vehicle will be scratched at the next moment based on the planned driving path when obstacles are detected around the target vehicle;

[0145] The first adjustment module is used to adjust each wheel of the target vehicle to a set angle if it is determined that the vehicle body will be scratched at the next moment, so as to keep the target vehicle away from the obstacle;

[0146] The second judgment module is used to judge whether the wheels of the target vehicle will be scratched at the next moment if it is determined that the vehicle body will not be scratched at the next moment;

[0147] The second adjustment module is used to determine the target angle based on the initial angle of each wheel and adjust the steering angle of each wheel to the corresponding target angle when it is determined that the wheel will scratch at the next moment, wherein the initial angle is the angle of each wheel at the next moment obtained in advance based on the driving path planning.

[0148] It can be understood that the above-mentioned first judgment module, first adjustment module, second judgment module and second adjustment module can be used to execute the above-mentioned S11 to S14. The detailed implementation method of the first judgment module, the first adjustment module, the second judgment module and the second adjustment module can refer to the relevant contents of the above-mentioned S11 to S14.

[0149] In a possible implementation, the second adjustment module may be used to:

[0150] Determine a first target wheel that will cause a scratch at a next moment, and determine a target angle of the first target wheel based on an initial angle of the first target wheel;

[0151] Based on the target angle of the first target wheel and the initial angles of the other wheels in the target vehicle except the first target wheel, the target angles of the other wheels are determined.

[0152] In a possible implementation, the second adjustment module may be specifically used to:

[0153] Determining an allowable turning angle range of the first target wheel based on a distance between the first target wheel and the obstacle;

[0154] Determining whether the initial angle of the first target wheel is within the allowable turning angle range;

[0155] If the initial angle is not within the allowable turning angle range, the upper limit or lower limit of the allowable turning angle range is used as the target angle according to the turning direction;

[0156] If the initial angle is within the allowable rotation angle range, the initial angle is used as the target angle.

[0157] In a possible implementation, the second adjustment module may be specifically used to:

[0158] Determine the target other wheel that is farthest from the first target wheel among the other wheels of the target vehicle except the first target wheel;

[0159] determining a target angle of the target other wheels based on the initial angle of the target other wheels;

[0160] The target angles of the other wheels are determined according to the target angle of the first target wheel, the target angles of the other target wheels, and the turning radius.

[0161] In a possible implementation, the vehicle steering control device further includes a third adjustment module, and the third adjustment module can be used to:

[0162] When it is determined that the wheels will not scratch at the next moment, the wheel closest to the obstacle is determined;

[0163] Determine a second target wheel that is coaxial with the wheel closest to the obstacle, and obtain an initial angle of the second target wheel;

[0164] determining a target angle of the second target wheel based on the initial angle of the second target wheel;

[0165] The target angles of the other wheels are determined according to the target angle of the second target wheel and the turning radius.

[0166] In a possible implementation, the vehicle steering control device further includes a detection module, which can be used to:

[0167] Detect whether the steering condition is met when each wheel is at the corresponding target angle;

[0168] If the turning condition is not met, the turning angles of the other wheels except the first target wheel are adjusted until the turning condition is met.

[0169] In a possible implementation, the detection module may be specifically used for:

[0170] When each wheel is at a corresponding target angle, construct a vertical line perpendicular to the wheel plane of each wheel;

[0171] It is detected whether the vertical lines corresponding to all wheels intersect at the same point. If so, it is determined that the turning condition is met; otherwise, it is determined that the turning condition is not met.

[0172] In a possible implementation, the first adjustment module may be used to:

[0173] Determine the position point where the scratch occurs on the vehicle body at the next moment, and determine the relative position of the obstacle with respect to the vehicle body according to the position point;

[0174] The set angle of each wheel is determined according to the relative orientation, so that after each wheel is adjusted to the set angle, the target vehicle is away from the obstacle at the next moment.

[0175] It should be noted that the vehicle steering control device provided in this embodiment has the same, similar, and corresponding technical features as the vehicle 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.

[0176] Fig.14 It is a structural schematic diagram of a vehicle provided by an embodiment of the present invention.

[0177] For example, Fig.14 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 vehicle steering control method.

[0178] 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.

[0179] 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.

[0180] The vehicle provided in this embodiment is used to execute the above-mentioned vehicle steering control method, and thus can achieve the same effect as the above-mentioned implementation method.

[0181] 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.

[0182] 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.

[0183] This embodiment also provides a computer-readable storage medium, in which a computer program code is stored. When the computer program code is run on a computer, the computer executes the above-mentioned related method steps to implement a vehicle steering control method in the above-mentioned embodiment.

[0184] This embodiment also provides a computer program product. When the computer program product is run on a computer, the computer is enabled to execute the above-mentioned related steps to implement a vehicle steering control method in the above-mentioned embodiment.

[0185] In addition, the vehicle provided by an 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 vehicle steering control method in the above embodiment.

[0186] 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.

[0187] In the embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are only schematic. For example, the division of units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0188] In addition, the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0189] Furthermore, the functional modules in the various embodiments of the present invention may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.

[0190] It should be noted that if the function is implemented in the form of a software function module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, and other media that can store program codes.

[0191] In this document, relational terms such as first and second, etc. are used merely to distinguish one entity or operation from another entity or operation, but do not necessarily require or imply any such actual relationship or order between these entities or operations.

[0192] The above are only embodiments of the present invention and are not intended to limit the scope of protection of the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the scope of protection of the present invention.

Claims

1. A vehicle steering control method, characterized in that: The method comprises: When obstacles are detected around the target vehicle, judging whether the body of the target vehicle will be scratched at the next moment based on the planned driving path; If it is determined that the vehicle body will be scratched at the next moment, each wheel of the target vehicle is adjusted to a set angle to make the target vehicle away from the obstacle; If it is determined that the vehicle body will not be scratched at the next moment, then it is determined whether the wheels of the target vehicle will be scratched at the next moment; When it is determined that a wheel will scratch at the next moment, a target angle is determined based on an initial angle of each wheel, and the steering angle of each wheel is adjusted to a corresponding target angle, wherein the initial angle is the angle of each wheel at the next moment obtained in advance based on the driving path planning.

2. The vehicle steering control method according to claim 1, characterized in that: The step of determining the target angle based on the initial angle of each wheel comprises: Determine a first target wheel that will cause a scratch at a next moment, and determine a target angle of the first target wheel based on an initial angle of the first target wheel; Based on the target angle of the first target wheel and initial angles of other wheels in the target vehicle except the first target wheel, target angles of the other wheels are determined.

3. The vehicle steering control method according to claim 2, characterized in that: The step of determining the target angle of the first target wheel based on the initial angle thereof comprises: Determining an allowable turning angle range of the first target wheel based on a distance between the first target wheel and the obstacle; Determining whether the initial angle of the first target wheel is within the allowable turning angle range; If the initial angle is not within the allowable turning angle range, the upper limit or lower limit of the allowable turning angle range is used as the target angle according to the turning direction; If the initial angle is within the allowable rotation angle range, the initial angle is used as the target angle.

4. The vehicle steering control method according to claim 2, characterized in that: The step of determining the target angle of each of the other wheels based on the target angle of the first target wheel and the initial angles of the other wheels in the target vehicle except the first target wheel comprises: Determine the target other wheel that is farthest from the first target wheel among the other wheels of the target vehicle except the first target wheel; Determining a target angle of the other target wheels based on an initial angle of the other target wheels; The target angles of the other wheels are determined according to the target angle of the first target wheel, the target angles of the other target wheels, and the turning radius.

5. The vehicle steering control method according to claim 1, characterized in that: The method further comprises: When it is determined that the wheel will not be scratched at the next moment, determining the wheel closest to the obstacle; Determine a second target wheel that is coaxial with the wheel closest to the obstacle, and obtain an initial angle of the second target wheel; determining a target angle of the second target wheel based on an initial angle of the second target wheel; The target angles of other wheels are determined according to the target angle and turning radius of the second target wheel.

6. The vehicle steering control method according to claim 2, characterized in that: The method further comprises: Detecting whether the steering condition is satisfied when each wheel is at a corresponding target angle; If the turning condition is not met, the turning angles of the other wheels except the first target wheel are adjusted until the turning condition is met.

7. The vehicle steering control method according to claim 6, characterized in that: The step of detecting whether the steering condition is satisfied when each wheel is at a corresponding target angle comprises: When each of the wheels is at a corresponding target angle, constructing a vertical line perpendicular to the wheel plane of each of the wheels; It is detected whether the vertical lines corresponding to all wheels intersect at the same point. If so, it is determined that the turning condition is met; otherwise, it is determined that the turning condition is not met.

8. The vehicle steering control method according to claim 1, characterized in that: The step of adjusting each wheel of the target vehicle to a set angle comprises: Determine the position point where the scratch occurs on the vehicle body at the next moment, and determine the relative position of the obstacle with respect to the vehicle body according to the position point; The set angle of each wheel is determined according to the relative orientation, so that after each wheel is adjusted to the set angle, the target vehicle is away from the obstacle at the next moment.

9. A vehicle steering control device, characterized in that: The device comprises: The first judgment module is used to judge whether the body of the target vehicle will be scratched at the next moment based on the planned driving path when obstacles are detected around the target vehicle; The first adjustment module is used to adjust each wheel of the target vehicle to a set angle if it is determined that the vehicle body will be scratched at the next moment, so as to make the target vehicle stay away from the obstacle; The second judgment module is used to judge whether the wheels of the target vehicle will be scratched at the next moment if it is determined that the vehicle body will not be scratched at the next moment; The second adjustment module is used to determine the target angle based on the initial angle of each wheel and adjust the steering angle of each wheel to the corresponding target angle when it is determined that the wheel will scratch at the next moment, wherein the initial angle is the angle of each wheel at the next moment obtained in advance based on the driving path planning.

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 8.

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