Vehicle control method, electronic device, medium, program product and vehicle

Abstract

The invention relates to a vehicle control method, electronic equipment, a medium, a program product and a vehicle. The method comprises the steps that when the vehicle steers, an adjusting strategy for adjusting the steering angle of rear wheels of the vehicle is determined according to the steering direction of a steering wheel of the vehicle and the positions of obstacles around the vehicle; determining a target steering angle of the rear wheels of the vehicle according to the adjustment strategy; and controlling rear wheels of the vehicle to steer according to the target steering angle. In this way, the steering angle of the rear wheel can be adjusted in a targeted mode according to the actual environment condition and the turning requirement of the vehicle, and therefore the risk that the vehicle collides with surrounding obstacles during turning is reduced.

Description

Technical Field

[0001] The present disclosure relates to the technical field of vehicle automatic control, and in particular, to a vehicle control method, electronic equipment, medium, program product and vehicle. Background Art

[0002] Vehicle steering can be divided into front-wheel steering and four-wheel steering. Front-wheel steering is to set the steering device only on the front wheels of the car, and four-wheel steering is to set the steering device on the front wheels of the car and also set the steering device on the rear wheels. In four-wheel steering, the rear wheels of the vehicle can deflect in the same direction as the front wheels, and can deflect in the opposite direction. When deflecting in the opposite direction, the turning radius of the vehicle is smaller than that of two-wheel steering, which is suitable for the car to drive into the garage and turn at a narrow corner. Summary of the invention

[0003] An object of the present disclosure is to provide a vehicle control method, an electronic device, a medium, a program product, and a vehicle, which can reduce collision when the vehicle turns.

[0004] In order to achieve the above object, the present disclosure provides a vehicle control method, the method comprising:

[0005] When the vehicle is turning, determining an adjustment strategy for adjusting the steering angle of the rear wheels of the vehicle according to the steering direction of the steering wheel of the vehicle and the positions of obstacles around the vehicle;

[0006] Determining a target steering angle of the rear wheels of the vehicle according to the adjustment strategy;

[0007] The rear wheels of the vehicle are controlled to steer according to the target steering angle.

[0008] Optionally, determining the adjustment strategy for adjusting the steering angle of the rear wheels of the vehicle according to the steering direction of the steering wheel of the vehicle and the positions of obstacles around the vehicle includes:

[0009] An adjustment strategy for adjusting the steering angle of the rear wheels of the vehicle is determined according to whether the position of the obstacle and the steering direction of the steering wheel of the vehicle are located on the same side of the vehicle.

[0010] Optionally, determining the adjustment strategy for adjusting the steering angle of the rear wheels of the vehicle according to whether the position of the obstacle and the steering direction of the steering wheel of the vehicle are located on the same side of the vehicle includes:

[0011] When there is an obstacle at the rear end of the vehicle and the distance from the vehicle is less than a distance threshold, an adjustment strategy for adjusting the steering angle of the rear wheels of the vehicle is determined based on whether the position of the obstacle and the steering direction of the vehicle's steering wheel are located on the same side of the vehicle.

[0012] Optionally, determining the adjustment strategy for adjusting the steering angle of the rear wheels of the vehicle according to whether the position of the obstacle and the steering direction of the steering wheel of the vehicle are located on the same side of the vehicle includes:

[0013] When the position of the obstacle and the steering direction of the steering wheel of the vehicle are located on the same side of the vehicle, determining that the adjustment strategy for adjusting the steering angle of the rear wheels of the vehicle is to increase the steering angle of the rear wheels of the vehicle;

[0014] When the position of the obstacle and the steering direction of the vehicle's steering wheel are not located on the same side of the vehicle, the adjustment strategy for adjusting the steering angle of the vehicle's rear wheels is determined to be to reduce the steering angle of the vehicle's rear wheels, wherein the steering direction of the vehicle's front wheels is opposite to the steering direction of the rear wheels.

[0015] Optionally, determining the adjustment strategy for adjusting the steering angle of the rear wheels of the vehicle according to whether the position of the obstacle and the steering direction of the steering wheel of the vehicle are located on the same side of the vehicle includes:

[0016] Determining a collision risk level corresponding to the obstacle;

[0017] Based on whether the position of the obstacle and the steering direction of the vehicle's steering wheel are located on the same side of the vehicle, and the determined collision risk level, an adjustment strategy for adjusting the steering angle of the vehicle's rear wheels is determined, wherein the higher the determined collision risk level, the greater the adjustment amount of the steering angle of the vehicle's rear wheels.

[0018] Optionally, determining the collision risk level corresponding to the obstacle includes:

[0019] A collision risk level corresponding to the obstacle is determined according to a state parameter of the vehicle, wherein the state parameter includes a distance between the obstacle and the vehicle.

[0020] Optionally, the state parameter also includes the speed of the vehicle.

[0021] Optionally, determining the collision risk level corresponding to the obstacle according to the state parameter of the vehicle includes:

[0022] In the predetermined first corresponding relationship, the collision risk level corresponding to the current state parameter is found as the collision risk level corresponding to the obstacle.

[0023] Optionally, the collision risk levels include a first level, a second level and a third level in which the collision risks increase in sequence.

[0024] Optionally, controlling the rear wheels of the vehicle to steer according to the target steering angle includes:

[0025] Determining an extreme value of the target steering angle according to the forward / reverse state of the vehicle and the position of obstacles around the vehicle;

[0026] limiting the target steering angle according to an extreme value of the target steering angle;

[0027] The rear wheels of the vehicle are controlled to steer according to the restricted target steering angle.

[0028] Optionally, determining the extreme value of the target steering angle according to the forward / reverse state of the vehicle and the position of obstacles around the vehicle includes:

[0029] In the predetermined second corresponding relationship, the angle extreme value corresponding to the forward / reverse state of the vehicle and the obstacle position is found as the extreme value of the target steering angle.

[0030] Optionally, determining the adjustment strategy for adjusting the steering angle of the rear wheels of the vehicle according to the steering direction of the steering wheel of the vehicle and the positions of obstacles around the vehicle includes:

[0031] When the steering wheel steering angle of the vehicle is greater than an angle threshold, an adjustment strategy for adjusting the steering angle of the rear wheels of the vehicle is determined according to the steering wheel steering direction of the vehicle and the positions of obstacles around the vehicle.

[0032] Optionally, the method further comprises:

[0033] A prompt message is output, where the prompt message is used to prompt that the steering angle of the rear wheels of the vehicle has been adjusted.

[0034] Optionally, the output prompt message includes:

[0035] The prompt message corresponding to the current collision risk level is continuously output for at least a predetermined time period.

[0036] The present disclosure also provides an electronic device, the electronic device comprising:

[0037] processor;

[0038] a memory for storing processor-executable instructions;

[0039] Wherein, the processor is configured to execute the steps of the vehicle control method provided by the present disclosure.

[0040] The present disclosure also provides a computer-readable storage medium having a computer program stored thereon, which implements the steps of the method provided by the present disclosure when the computer program is executed by a processor.

[0041] The present disclosure also provides a computer program product, including a computer program, which implements the steps of the method provided by the present disclosure when the computer program is executed by a processor.

[0042] The present disclosure also provides a vehicle, comprising the electronic device provided by the present disclosure.

[0043] Through the above technical solution, when the vehicle is turning, the adjustment strategy for adjusting the steering angle of the rear wheels of the vehicle is determined according to the steering direction of the vehicle's steering wheel and the position of obstacles around the vehicle; the target steering angle of the rear wheels of the vehicle is determined according to the adjustment strategy. In this way, the rear wheel steering angle can be adjusted in a targeted manner according to the actual environmental conditions and turning requirements of the vehicle, thereby reducing the risk of collision with surrounding obstacles when the vehicle is turning.

[0044] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings:

[0046] Figure 1 is a flowchart of a vehicle control method provided by an exemplary embodiment.

[0047] Figure 2 It is a schematic diagram of a vehicle turning provided by an exemplary embodiment.

[0048] Figure 3 is a flowchart of a vehicle control method provided by another exemplary embodiment.

[0049] Figure 4 is a block diagram of an electronic device provided by an exemplary embodiment. DETAILED DESCRIPTION

[0050] The specific implementation of the present disclosure is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the present disclosure, and is not used to limit the present disclosure.

[0051] In the present disclosure, unless otherwise specified, directional words such as "left, right, front, and rear" are generally used relative to the direction of a vehicle in normal travel.

[0052] Figure 1FIG. 1 is a flow chart of a vehicle control method provided by an exemplary embodiment. Figure 1 As shown, the method includes the following steps.

[0053] Step 101, when the vehicle is turning, determining an adjustment strategy for adjusting the steering angle of the rear wheels of the vehicle according to the steering direction of the steering wheel of the vehicle and the positions of obstacles around the vehicle.

[0054] Step 102: determining a target steering angle of the rear wheels of the vehicle according to the adjustment strategy.

[0055] Step 103, controlling the rear wheels of the vehicle to steer according to the target steering angle.

[0056] When some vehicles are turning, not only the front wheels are turned, but also other wheels are turned. The present disclosure describes four-wheel steering as an example. When a vehicle turns four wheels, both the front wheels and the rear wheels of the vehicle are turned. In the related art, the steering angle of the rear wheels of the vehicle is controlled by a predetermined strategy. Based on the related art, the present solution appropriately adjusts the steering angle of the rear wheels of the vehicle.

[0057] The steering wheel steering direction includes left steering and right steering, that is, deflection to the left and right relative to the center position of the steering wheel. The front wheel steering direction of the vehicle is consistent with the steering wheel steering direction.

[0058] The position of obstacles around the vehicle can be monitored by on-board radar. For example, on-board radars can be set at the left front, left rear, right front, and right rear corners of the vehicle to detect the distance and direction of obstacles, that is, the position of obstacles.

[0059] When a vehicle turns, the rear wheels of the vehicle may have some lateral displacement relative to the front wheels, which may cause the vehicle to collide with surrounding obstacles. Figure 2 FIG. 1 is a schematic diagram of a vehicle turning according to an exemplary embodiment. Figure 2 As shown, A, B, C, and D are the left front vertex, left rear vertex, right rear vertex, and right front vertex of the vehicle, respectively. Radars can be set at these four vertices to monitor the position of obstacles. The two wheels above are the front wheels, and the two wheels below are the rear wheels. When the steering wheel turns right, the front wheels turn to the right, and the rear wheels turn in the opposite direction to the front wheels. The arc P with point O as the center is the trajectory swept by point B at the rear of the vehicle when the left front wheel turns. Increasing the rear wheel turning angle, and the rear wheels turning in the opposite direction to the front wheels, the turning radius of the vehicle becomes smaller, and the lateral displacement Δθ of the rear of the vehicle will increase significantly. The rear angle design of the vehicle may not be able to offset the lateral displacement at the rear of the vehicle. At this time, the rear of the vehicle is prone to collision with surrounding obstacles.

[0060] When the front and rear wheel steering angles of the vehicle are not 0, the lateral displacement can be calculated by the following formula:

[0061]

[0062] Among them, Δθ is the lateral displacement of the rear of the vehicle, L is the wheelbase of the vehicle, and L rear is the distance between the rear axle and the rear of the vehicle, B tire is the tire width, δ f ,δ r are the front wheel angle and the rear wheel angle respectively, and tan is the tangent function.

[0063] In the above formula, the main influencing factors of the lateral displacement of the rear of the vehicle are: front wheel angle, rear wheel angle, wheelbase and the distance between the rear axle and the rear of the vehicle.

[0064] Through the above technical solution, when the vehicle is turning, the adjustment strategy for adjusting the steering angle of the rear wheels of the vehicle is determined according to the steering direction of the vehicle's steering wheel and the position of obstacles around the vehicle, and the target steering angle of the rear wheels of the vehicle is determined according to the adjustment strategy. In this way, the rear wheel steering angle can be adjusted in a targeted manner according to the actual environmental conditions and turning requirements of the vehicle, thereby reducing the risk of collision with surrounding obstacles when the vehicle is turning.

[0065] In yet another embodiment, determining an adjustment strategy for adjusting the steering angle of the rear wheels of the vehicle according to the steering direction of the steering wheel of the vehicle and the position of obstacles around the vehicle includes:

[0066] An adjustment strategy for adjusting the steering angle of the rear wheels of the vehicle is determined according to whether the position of the obstacle and the steering direction of the steering wheel of the vehicle are located on the same side of the vehicle.

[0067] The situation where the obstacle is located on the same side of the vehicle as the steering direction of the vehicle includes: the obstacle is located on the left side of the vehicle and the steering direction is to turn left; the obstacle is located on the right side of the vehicle and the steering direction is to turn right. In these cases, the obstacle is located on the same side as the vehicle is turning, and when the vehicle turns at a large angle, there is a risk of an inner collision.

[0068] The situation where the obstacle is not on the same side of the vehicle as the steering direction of the vehicle includes: the obstacle is on the left side of the vehicle and the steering direction is to turn right; the obstacle is on the right side of the vehicle and the steering direction is to turn left. In these cases, the obstacle is on different sides of the vehicle's steering direction, and when the vehicle turns at a large angle, there is also a risk of rear-end collision.

[0069] In this embodiment, during a vehicle turning process, the adjustment strategy is determined based on whether the position of the obstacle and the steering direction of the vehicle's steering wheel are located on the same side of the vehicle, that is, in combination with the turning scenario, with good accuracy.

[0070] In yet another embodiment, determining an adjustment strategy for adjusting the steering angle of the rear wheels of the vehicle according to whether the position of the obstacle and the steering direction of the steering wheel of the vehicle are located on the same side of the vehicle includes:

[0071] When there is an obstacle at the rear end of the vehicle whose distance from the vehicle is less than a distance threshold, an adjustment strategy for adjusting the steering angle of the rear wheels of the vehicle is determined based on whether the position of the obstacle and the steering direction of the vehicle's steering wheel are located on the same side of the vehicle.

[0072] When there is an obstacle at the rear end of the vehicle whose distance to the vehicle is less than the distance threshold, it can be considered that the vehicle turning may cause the rear end to collide with the obstacle. When there is no obstacle at the rear end of the vehicle whose distance to the vehicle is less than the distance threshold, it can be considered that the vehicle turning will not cause the rear end to collide with the obstacle, and the steering angle of the rear wheels may not be adjusted.

[0073] In this embodiment, when there is no obstacle at the rear end of the vehicle whose distance from the vehicle is less than the distance threshold, the rear wheel steering angle is not adjusted, thereby saving computing power.

[0074] In yet another embodiment, determining an adjustment strategy for adjusting the steering angle of the rear wheels of the vehicle according to whether the position of the obstacle and the steering direction of the steering wheel of the vehicle are located on the same side of the vehicle includes:

[0075] When the position of the obstacle and the steering direction of the vehicle's steering wheel are located on the same side of the vehicle, determining that the adjustment strategy for adjusting the steering angle of the rear wheels of the vehicle is to increase the steering angle of the rear wheels of the vehicle;

[0076] When the position of the obstacle and the steering direction of the vehicle's steering wheel are not located on the same side of the vehicle, the adjustment strategy for adjusting the steering angle of the vehicle's rear wheels is determined to be to reduce the steering angle of the vehicle's rear wheels, wherein the steering direction of the vehicle's front wheels is opposite to the steering direction of the rear wheels.

[0077] When the steering direction of the front wheels of the vehicle is opposite to that of the rear wheels, the overall turning angle of the vehicle is greater than the turning angle of the front wheels, and the turning radius is smaller, which is suitable for turning in narrow areas. In this case, compared with the case where the steering direction of the front wheels of the vehicle is the same as that of the rear wheels, there is a greater risk of collision regardless of whether the obstacle is on the inside or outside of the vehicle's turning direction.

[0078] When the obstacle is on the same side of the vehicle as the steering direction of the vehicle's steering wheel, the obstacle is on the inside of the vehicle's steering direction. If the overall steering angle of the vehicle is small and the turning radius is large, there is a greater risk of collision at the inside rear of the vehicle. At this time, the steering angle of the rear wheels of the vehicle is increased. Since the steering direction of the front wheels of the vehicle is opposite to that of the rear wheels, the overall steering angle of the vehicle is increased, thereby reducing the risk of collision at the inside rear of the vehicle.

[0079] When the obstacle is not on the same side of the vehicle as the steering direction of the vehicle's steering wheel, the obstacle is located on the outside of the vehicle's steering direction. If the overall steering angle of the vehicle is large and the turning radius is small, the rear of the vehicle has a greater risk of collision. At this time, the steering angle of the rear wheels of the vehicle is reduced. Since the steering direction of the front wheels of the vehicle is opposite to that of the rear wheels, the overall steering angle of the vehicle is reduced, thereby reducing the risk of collision on the rear of the vehicle.

[0080] In this embodiment, when the steering direction of the front wheels of the vehicle is opposite to that of the rear wheels, the trend of increasing and decreasing the steering angle of the rear wheels in the adjustment strategy is determined to reduce / increase the turning radius of the vehicle, thereby reducing the risk of collision with the corresponding obstacle.

[0081] In yet another embodiment, determining an adjustment strategy for adjusting the steering angle of the rear wheels of the vehicle according to whether the position of the obstacle and the steering direction of the steering wheel of the vehicle are located on the same side of the vehicle includes:

[0082] Determine the collision risk level corresponding to the obstacle;

[0083] According to whether the position of the obstacle and the steering direction of the vehicle's steering wheel are located on the same side of the vehicle, and the determined collision risk level, an adjustment strategy for adjusting the steering angle of the rear wheels of the vehicle is determined, wherein the higher the determined collision risk level, the greater the adjustment amount of the steering angle of the rear wheels of the vehicle. The steering direction of the front wheels of the vehicle is opposite to the steering direction of the rear wheels.

[0084] The collision risk level may be a plurality of levels with different urgency levels that are predetermined. In the above embodiment, the direction of adjusting the steering angle of the rear wheels may be determined, for example, increasing or decreasing. In this embodiment, the degree of adjustment may be further refined based on the determination of the adjustment direction.

[0085] In one embodiment, the collision risk level may include a first level, a second level, and a third level, where the collision risk increases in sequence. When the collision risk level is the third level with the highest risk, a larger adjustment amount may be used, and vice versa, a relatively smaller adjustment amount may be used according to the level. For example, when the position of the obstacle and the steering direction of the vehicle's steering wheel are located on the same side of the vehicle, and the steering direction of the front wheels of the vehicle is opposite to the steering direction of the rear wheels, the adjustment strategy is determined as follows: the steering angles of the rear wheels corresponding to the first level, the second level, and the third level, respectively, are adjusted to be based on the current angle multiplied by three adjustment coefficients of 1.1, 1.2, and 1.3, and the adjustment amount gradually increases.

[0086] Similarly, when the position of the obstacle and the steering direction of the vehicle's steering wheel are not on the same side of the vehicle, and the steering direction of the front wheels of the vehicle is opposite to that of the rear wheels, the adjustment strategy is determined as follows: the steering angles of the rear wheels corresponding to the first level, the second level, and the third level, respectively, are adjusted to multiply the current angles by three adjustment coefficients of 0.9, 0.8, and 0.7, and the adjustment amount gradually increases.

[0087] In this embodiment, the magnitude of the adjustment amount is determined according to different collision risk levels, and accurate adjustment can be performed according to actual conditions, with high adjustment accuracy.

[0088] In yet another embodiment, the method further includes determining a collision risk level corresponding to the obstacle.

[0089] The step of increasing the steering angle of the rear wheels of the vehicle includes: increasing the steering angle of the rear wheels of the vehicle according to the determined collision risk level.

[0090] The step of reducing the steering angle of the rear wheels of the vehicle includes: reducing the steering angle of the rear wheels of the vehicle according to the determined collision risk level. The higher the determined collision risk level, the greater the adjustment amount of the steering angle of the rear wheels of the vehicle. The steering direction of the front wheels of the vehicle is opposite to the steering direction of the rear wheels.

[0091] In yet another embodiment, determining a collision risk level corresponding to an obstacle includes:

[0092] The collision risk level corresponding to the obstacle is determined according to the state parameters of the vehicle. The state parameters include the distance between the obstacle and the vehicle.

[0093] The smaller the distance between the obstacle and the vehicle, the more urgent the collision risk level is. The distance between the obstacle and the vehicle can be divided into multiple intervals from small to large, corresponding to multiple collision risk levels from high to low urgency.

[0094] In this embodiment, the collision risk level is determined according to the obstacle distance, thereby further determining the adjustment amount of the rear wheel steering angle, so that the adjustment amount of the rear wheel steering angle is more suitable for actual scenarios.

[0095] The state parameter may also include the speed of the vehicle. The greater the speed of the vehicle, the more urgent the collision risk level. The current collision risk level may be determined in real time by combining the distance between the obstacle and the vehicle and the speed of the vehicle.

[0096] In this embodiment, the influence of vehicle speed is additionally considered, and the scenario when the vehicle turns is examined more comprehensively, making collision avoidance more effective.

[0097] In yet another embodiment, determining the collision risk level corresponding to the obstacle according to the state parameter of the vehicle includes:

[0098] In the predetermined first corresponding relationship, the collision risk level corresponding to the current state parameter is found as the collision risk level corresponding to the obstacle.

[0099] The first corresponding relationship may include a corresponding relationship between a state parameter and a collision risk level, which may be pre-calibrated and stored. In this embodiment, the collision risk level is determined by searching in a predetermined relationship, which is simple and has a fast data processing speed.

[0100] On the basis of the adjustment coefficient determined according to the distance between the obstacle and the vehicle, the adjustment coefficient corresponding to the vehicle speed is added. For example, the adjustment coefficients corresponding to the three obstacle distance intervals from large to small are 1.1, 1.2, and 1.3, and the adjustment coefficients corresponding to the three vehicle speed intervals from small to large are 1.01, 1.02, and 1.03. The collision risk level can include nine levels. The coefficients corresponding to the nine levels with increasing collision risks are: 1.1×1.01, 1.1×1.02, 1.1×1.03, 1.2×1.01, 1.2×1.02, 1.2×1.03, 1.3×1.01, 1.3×1.02, and 1.3×1.03. This coefficient is used to multiply the steering angle of the rear wheels.

[0101] In the aforementioned embodiment, the rear end of the vehicle can be prevented from colliding with an obstacle. In other embodiments, it is also possible to prevent the front end of the vehicle from colliding with an obstacle due to an excessive adjustment amount.

[0102] In yet another embodiment, controlling the rear wheels of the vehicle to steer according to the target steering angle includes:

[0103] Determine the extreme value of the target steering angle according to the forward / reverse state of the vehicle and the position of obstacles around the vehicle;

[0104] Limiting the target steering angle according to the extreme value of the target steering angle;

[0105] The rear wheels of the vehicle are controlled to steer according to the limited target steering angle.

[0106] The forward / reverse state of the vehicle includes the forward state and the reverse state of the vehicle. The extreme value of the target steering angle is the maximum value of the rear wheel steering angle. For example, the maximum value of the rear wheel steering angle when the front or rear end of the vehicle does not collide with the obstacle can be calculated in real time according to the geometric relationship based on the position of the obstacle, the forward / reverse state of the vehicle, and the front wheel steering angle. That is, limiting the target steering angle to within the maximum value can reduce the risk of the front or rear end of the vehicle colliding with the obstacle.

[0107] The position of the obstacle may include the distance between the front, rear, left, and right sides of the vehicle and the vehicle. When the vehicle is in a forward state, the extreme value of the target steering angle can be determined according to the distance between the obstacles on both sides of the front of the vehicle. Limiting the target steering angle within the extreme value can reduce the collision risk of the front of the vehicle; similarly, when the vehicle is in a backward state, the extreme value of the target steering angle can be determined according to the distance between the obstacles on both sides of the rear of the vehicle. Limiting the target steering angle within the extreme value can reduce the collision risk of the rear of the vehicle.

[0108] In yet another embodiment, determining the extreme value of the target steering angle according to the forward / reverse state of the vehicle and the position of obstacles around the vehicle includes:

[0109] In the predetermined second corresponding relationship, the angle extreme value corresponding to the forward / reverse state of the vehicle and the obstacle position is found as the extreme value of the target steering angle.

[0110] The second corresponding relationship may include the corresponding relationship between the forward / reverse state of the vehicle, the distance between the obstacle and the vehicle, and the extreme value of the target steering angle, which may be pre-calibrated and stored.

[0111] For example, the second correspondence may include the correspondence between the forward state of the vehicle, the location of the obstacle at the left front or right front of the vehicle, the distance of the obstacle, the front wheel steering angle, and the extreme values ​​of the target steering angle. It may also include the correspondence between the backward state of the vehicle, the location of the obstacle at the left rear or right rear of the vehicle, the distance of the obstacle, the front wheel steering angle, and the extreme values ​​of the target steering angle.

[0112] In this embodiment, the extreme value of the target steering angle is determined by searching in a predetermined relationship. The method is simple and the data processing speed is fast.

[0113] In yet another embodiment, determining the adjustment strategy for adjusting the steering angle of the rear wheels of the vehicle according to the steering direction of the steering wheel of the vehicle and the position of obstacles around the vehicle includes:

[0114] When the steering wheel steering angle of the vehicle is greater than an angle threshold, an adjustment strategy for adjusting the steering angle of the rear wheels of the vehicle is determined according to the steering wheel steering direction of the vehicle and the positions of obstacles around the vehicle.

[0115] When the vehicle's steering wheel angle is less than or equal to the angle threshold, it can be considered that the steering wheel angle is extremely small, and the vehicle will basically not collide with surrounding obstacles due to steering. When the vehicle's steering wheel angle is greater than the angle threshold, the vehicle may collide with surrounding obstacles due to steering, and the function of adjusting the rear wheel steering angle can be turned on.

[0116] The angle threshold may be predetermined and stored based on experiments or experience, or may be determined in real time based on the vehicle state and road conditions. For example, the angle threshold may be reduced based on the increase in the length of the vehicle detected in real time.

[0117] In this embodiment, when the steering wheel steering angle is small, the rear wheel angle is not adjusted, thus avoiding unnecessary data processing and saving the computing power of the on-board processor.

[0118] In yet another embodiment, the method further comprises: outputting a prompt message, the prompt message being used to prompt that the steering angle of the rear wheels of the vehicle has been adjusted.

[0119] The output prompt message can remind the driver of the risk of collision and the level of risk, and can also remind the driver that the rear wheel steering angle has been adjusted. The output prompt message can be, for example, a pop-up box on the display screen, a voice message, or a beep of different frequencies.

[0120] When the driver receives the prompt message, he can also adjust the steering wheel angle according to the prompt message to further reduce the risk of collision when the vehicle turns.

[0121] In yet another embodiment, outputting the prompt message includes: continuously outputting the prompt message corresponding to the current collision risk level for at least a predetermined time period.

[0122] That is, when different collision risk levels correspond to different prompt messages, in order to avoid affecting the driver's expected control of the car when continuously jumping between two collision risk levels, the prompt message corresponding to the current collision risk level can be set to have a minimum duration (for example, 2s). When the collision risk level changes, the prompt message corresponding to the previous collision risk level will not be converted to the prompt message corresponding to the changed collision risk level until the output duration reaches a predetermined duration. This debouncing method effectively solves the impact of message jumping.

[0123] Figure 3 is a flowchart of a vehicle control method provided by another exemplary embodiment. Figure 3 The steps in the above-mentioned embodiments are combined. Specifically, Figure 3 The steps are as follows:

[0124] 1. Determine the rear wheel turning angle before correction, that is, adjust the steering angle of the rear wheels of the front vehicle. The steering angles of the front and rear wheels can be determined by the steering wheel angle according to the method in the relevant technology.

[0125] 2. Determine whether the activation condition of the function is met. For example, if it is determined that the relevant device has no fault, the activation condition is met.

[0126] 3. When the enabling conditions are met, obtain the obstacle distance detected by the radar, that is, the radar distance alarm value.

[0127] 4. If the obstacle distance detected by the radar is less than the safety distance value (i.e., the distance threshold), and the steering wheel angle value satisfies the condition of being greater than the angle threshold, then determine whether the steering direction is the same as the obstacle, that is, determine whether the position of the obstacle and the steering direction of the vehicle's steering wheel are on the same side of the vehicle.

[0128] 5. If they are located on the same side, the rear wheel turning angle correction trend is increasing, that is, the steering angle of the rear wheel is increased; if they are not located on the same side, the rear wheel turning angle correction trend is decreasing, that is, the steering angle of the rear wheel is reduced.

[0129] 6. If the obstacle reaches the first-level warning distance but does not reach the second-level warning distance, the rear wheel turning angle will be superimposed with the first-level correction ratio; if the obstacle reaches the second-level warning distance but does not reach the third-level warning distance, the rear wheel turning angle will be superimposed with the second-level correction ratio; if the obstacle reaches the third-level warning distance, the rear wheel turning angle will be superimposed with the third-level correction ratio.

[0130] 7. Correction of rear wheel turning angle by superimposing vehicle speed. For example, the ratio corresponding to superimposing vehicle speed.

[0131] 8. In the case where there is a need for safety limiting (for example, there is an obstacle in front of the vehicle), the rear wheel steering angle can be limited when the vehicle is moving forward, or when the vehicle is moving backward.

[0132] 9. After limiting, the rear wheel steering angle is output as the target steering angle of the rear wheel to control the steering of the rear wheel.

[0133] Based on the same inventive concept, the present disclosure also provides a vehicle control device, which includes a first determination module, a second determination module and a control module.

[0134] The first determination module is used to determine an adjustment strategy for adjusting the steering angle of the rear wheels of the vehicle according to the steering direction of the steering wheel of the vehicle and the positions of obstacles around the vehicle when the vehicle is turning.

[0135] The second determination module is used to determine the target steering angle of the rear wheels of the vehicle according to the adjustment strategy.

[0136] The control module is used to control the rear wheels of the vehicle to steer according to the target steering angle.

[0137] Optionally, the first determination module is used to determine an adjustment strategy for adjusting the steering angle of the rear wheels of the vehicle according to whether the position of the obstacle and the steering direction of the steering wheel of the vehicle are located on the same side of the vehicle.

[0138] Optionally, the first determination module is used to: when there is an obstacle at the rear end of the vehicle whose distance from the vehicle is less than a distance threshold, determine an adjustment strategy for adjusting the steering angle of the rear wheels of the vehicle based on whether the position of the obstacle and the steering direction of the vehicle's steering wheel are located on the same side of the vehicle.

[0139] Optionally, the first determining module includes a first determining submodule and a second determining submodule.

[0140] The first determination submodule is used to determine that the adjustment strategy for adjusting the steering angle of the rear wheels of the vehicle is to increase the steering angle of the rear wheels of the vehicle when the position of the obstacle and the steering direction of the steering wheel of the vehicle are located on the same side of the vehicle.

[0141] The second determination submodule is used to determine that the adjustment strategy for adjusting the steering angle of the rear wheels of the vehicle is to reduce the steering angle of the rear wheels of the vehicle when the position of the obstacle and the steering direction of the steering wheel of the vehicle are not located on the same side of the vehicle, wherein the steering direction of the front wheels of the vehicle is opposite to the steering direction of the rear wheels.

[0142] Optionally, the first determining module includes a third determining submodule and a fourth determining submodule.

[0143] The third determination submodule is used to determine the collision risk level corresponding to the obstacle.

[0144] The fourth determination submodule is used to determine an adjustment strategy for adjusting the steering angle of the rear wheels of the vehicle according to whether the position of the obstacle and the steering direction of the vehicle's steering wheel are located on the same side of the vehicle, and the determined collision risk level, wherein the higher the determined collision risk level, the greater the adjustment amount of the steering angle of the rear wheels of the vehicle.

[0145] Optionally, the third determination submodule is used to determine a collision risk level corresponding to the obstacle according to a state parameter of the vehicle, where the state parameter includes a distance between the obstacle and the vehicle.

[0146] Optionally, the state parameter also includes the speed of the vehicle.

[0147] Optionally, the third determination submodule is used to: find a collision risk level corresponding to the current state parameter in a predetermined first corresponding relationship as the collision risk level corresponding to the obstacle.

[0148] Optionally, the collision risk levels include a first level, a second level and a third level in which the collision risks increase in sequence.

[0149] Optionally, the control module includes a fifth determining submodule, a limiting module and a control submodule.

[0150] The fifth determination submodule is used to determine the extreme value of the target steering angle according to the forward / reverse state of the vehicle and the position of obstacles around the vehicle.

[0151] The limiting module is used to limit the target steering angle according to the extreme value of the target steering angle.

[0152] The control submodule is used to control the rear wheels of the vehicle to steer according to the restricted target steering angle.

[0153] Optionally, the fifth determination submodule is used to: find an angle extreme value corresponding to the forward / reverse state of the vehicle and the position of the obstacle in a predetermined second corresponding relationship as the extreme value of the target steering angle.

[0154] Optionally, the first determination module is used to: when the steering wheel steering angle of the vehicle is greater than an angle threshold, determine an adjustment strategy for adjusting the steering angle of the rear wheels of the vehicle according to the steering wheel steering direction of the vehicle and the position of obstacles around the vehicle.

[0155] Optionally, the vehicle control device also includes an output module.

[0156] The output module is used to output a prompt message, and the prompt message is used to prompt that the steering angle of the rear wheels of the vehicle has been adjusted.

[0157] Optionally, the output module is used to: continuously output a prompt message corresponding to the current collision risk level for at least a predetermined time period.

[0158] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0159] Through the above technical solution, when the vehicle is turning, the adjustment strategy for adjusting the steering angle of the rear wheels of the vehicle is determined according to the steering direction of the vehicle's steering wheel and the position of obstacles around the vehicle; the target steering angle of the rear wheels of the vehicle is determined according to the adjustment strategy. In this way, the rear wheel steering angle can be adjusted in a targeted manner according to the actual environmental conditions and turning requirements of the vehicle, thereby reducing the risk of collision with surrounding obstacles when the vehicle is turning.

[0160] The present disclosure also provides an electronic device, the electronic device comprising a processor and a memory. The memory is used to store processor executable instructions. The processor is configured to execute the steps of the above vehicle control method provided by the present disclosure.

[0161] Figure 4 FIG. 1 is a block diagram of an electronic device 300 provided by an exemplary embodiment. Figure 4 As shown, the electronic device 300 may include a processor 301 and a memory 302. The electronic device 300 may also include one or more of a multimedia component 303, an input / output interface 304, and a communication component 305.

[0162] The processor 301 is used to control the overall operation of the electronic device 300 to complete all or part of the steps in the above-mentioned vehicle control method. The memory 302 is used to store various types of data to support the operation of the electronic device 300. These data may include instructions for any application or method used to operate on the electronic device 300, as well as application-related data, such as contact data, messages sent and received, pictures, audio, video, etc. The memory 302 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, disk or optical disk. The multimedia component 303 may include a screen and an audio component. The screen may be, for example, a touch screen, and the audio component is used to output and / or input audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signal may be further stored in the memory 302 or sent through the communication component 305. The audio component also includes at least one speaker for outputting audio signals. The input / output interface 304 provides an interface between the processor 301 and other interface modules, and the above-mentioned other interface modules may be keyboards, mice, buttons, etc. These buttons may be virtual buttons or physical buttons. The communication component 305 is used for wired or wireless communication between the electronic device 300 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G or 4G, or a combination of one or more of them, so the corresponding communication component 305 may include: Wi-Fi module, Bluetooth module, NFC module.

[0163] In an exemplary embodiment, the electronic device 300 can be implemented by one or more application specific integrated circuits (ASIC), digital signal processors (DSP), digital signal processing devices (DSPD), programmable logic devices (PLD), field programmable gate arrays (FPGA), controllers, microcontrollers, microprocessors or other electronic components to execute the above-mentioned vehicle control method.

[0164] In another exemplary embodiment, a computer-readable storage medium including a computer program is also provided, and when the computer program is executed by a processor, the steps of the above-mentioned vehicle control method are implemented. For example, the computer-readable storage medium can be the above-mentioned memory 302 including program instructions, and the above-mentioned program instructions can be executed by the processor 301 of the electronic device 300 to complete the above-mentioned vehicle control method.

[0165] The present disclosure also provides a computer program product, including a computer program, which implements the steps of the method provided by the present disclosure when the computer program is executed by a processor.

[0166] The present disclosure also provides a vehicle, comprising the above-mentioned electronic device provided by the present disclosure.

[0167] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings; however, the present disclosure is not limited to the specific details in the above embodiments. Within the technical concept of the present disclosure, a variety of simple modifications can be made to the technical solution of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0168] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0169] In addition, various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

1. A vehicle control method, characterized in that: The method comprises: When the vehicle is turning, determining an adjustment strategy for adjusting the steering angle of the rear wheels of the vehicle according to the steering direction of the steering wheel of the vehicle and the positions of obstacles around the vehicle; Determining a target steering angle of the rear wheels of the vehicle according to the adjustment strategy; The rear wheels of the vehicle are controlled to steer according to the target steering angle.

2. The method according to claim 1, characterized in that The step of determining a strategy for adjusting the steering angle of the rear wheels of the vehicle according to the steering direction of the steering wheel of the vehicle and the positions of obstacles around the vehicle includes: An adjustment strategy for adjusting the steering angle of the rear wheels of the vehicle is determined according to whether the position of the obstacle and the steering direction of the steering wheel of the vehicle are located on the same side of the vehicle.

3. The method according to claim 2, characterized in that The step of determining the adjustment strategy for adjusting the steering angle of the rear wheels of the vehicle according to whether the position of the obstacle and the steering direction of the steering wheel of the vehicle are located on the same side of the vehicle comprises: When there is an obstacle at the rear end of the vehicle and the distance from the vehicle is less than a distance threshold, an adjustment strategy for adjusting the steering angle of the rear wheels of the vehicle is determined based on whether the position of the obstacle and the steering direction of the vehicle's steering wheel are located on the same side of the vehicle.

4. The method according to claim 3, characterized in that The step of determining the adjustment strategy for adjusting the steering angle of the rear wheels of the vehicle according to whether the position of the obstacle and the steering direction of the steering wheel of the vehicle are located on the same side of the vehicle comprises: When the position of the obstacle and the steering direction of the steering wheel of the vehicle are located on the same side of the vehicle, determining that the adjustment strategy for adjusting the steering angle of the rear wheels of the vehicle is to increase the steering angle of the rear wheels of the vehicle; When the position of the obstacle and the steering direction of the vehicle's steering wheel are not located on the same side of the vehicle, the adjustment strategy for adjusting the steering angle of the vehicle's rear wheels is determined to be to reduce the steering angle of the vehicle's rear wheels, wherein the steering direction of the vehicle's front wheels is opposite to the steering direction of the rear wheels.

5. The method according to claim 3, characterized in that: The step of determining the adjustment strategy for adjusting the steering angle of the rear wheels of the vehicle according to whether the position of the obstacle and the steering direction of the steering wheel of the vehicle are located on the same side of the vehicle comprises: Determining a collision risk level corresponding to the obstacle; Based on whether the position of the obstacle and the steering direction of the vehicle's steering wheel are located on the same side of the vehicle, and the determined collision risk level, an adjustment strategy for adjusting the steering angle of the vehicle's rear wheels is determined, wherein the higher the determined collision risk level, the greater the adjustment amount of the steering angle of the vehicle's rear wheels.

6. The method according to claim 5, characterized in that The determining the collision risk level corresponding to the obstacle includes: A collision risk level corresponding to the obstacle is determined according to a state parameter of the vehicle, wherein the state parameter includes a distance between the obstacle and the vehicle.

7. The method according to claim 6, characterized in that The state parameter also includes the speed of the vehicle.

8. The method according to claim 6, characterized in that The determining, according to the state parameter of the vehicle, the collision risk level corresponding to the obstacle comprises: In the predetermined first corresponding relationship, the collision risk level corresponding to the current state parameter is found as the collision risk level corresponding to the obstacle.

9. The method according to claim 6, characterized in that The collision risk levels include a first level, a second level, and a third level in which the collision risks increase in sequence.

10. The method according to claim 1, characterized in that The controlling the rear wheels of the vehicle to steer according to the target steering angle comprises: Determining an extreme value of the target steering angle according to the forward / reverse state of the vehicle and the position of obstacles around the vehicle; limiting the target steering angle according to an extreme value of the target steering angle; The rear wheels of the vehicle are controlled to steer according to the restricted target steering angle.

11. The method according to claim 10, characterized in that The determining the extreme value of the target steering angle according to the forward / reverse state of the vehicle and the position of obstacles around the vehicle includes: In the predetermined second corresponding relationship, the angle extreme value corresponding to the forward / reverse state of the vehicle and the obstacle position is found as the extreme value of the target steering angle.

12. The method according to any one of claims 1 to 11, characterized in that The step of determining the adjustment strategy for adjusting the steering angle of the rear wheels of the vehicle according to the steering direction of the steering wheel of the vehicle and the positions of obstacles around the vehicle includes: When the steering wheel steering angle of the vehicle is greater than an angle threshold, an adjustment strategy for adjusting the steering angle of the rear wheels of the vehicle is determined according to the steering wheel steering direction of the vehicle and the positions of obstacles around the vehicle.

13. The method according to any one of claims 1 to 11, characterized in that The method further comprises: A prompt message is output, where the prompt message is used to prompt that the steering angle of the rear wheels of the vehicle has been adjusted.

14. The method according to claim 13, characterized in that The output prompt message includes: The prompt message corresponding to the current collision risk level is continuously output for at least a predetermined time period.

15. An electronic device, characterized in that: The electronic device comprises: processor; a memory for storing processor-executable instructions; The processor is configured to execute the steps of the vehicle control method according to any one of claims 1 to 14.

16. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 14 are implemented.

17. A computer program product, characterized in that The invention comprises a computer program, which implements the steps of the method according to any one of claims 1 to 14 when being executed by a processor.

18. A vehicle, characterized in that: An electronic device comprising the electronic device described in claim 15.

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