Vehicle control methods, electronic devices, media, software products, and vehicles

Abstract

This disclosure relates to a vehicle control method, electronic device, medium, software product, and vehicle. The method includes: when the vehicle is turning, determining an adjustment strategy for adjusting the steering angle of the vehicle's rear wheels based on the steering direction of the vehicle's steering wheel and the positions of obstacles around the vehicle; determining a target steering angle for the vehicle's rear wheels based on the adjustment strategy; and controlling the vehicle's rear wheels to turn based on the target steering angle. This allows for targeted adjustment of the rear wheel steering angle according to the vehicle's actual environmental conditions and turning requirements, thereby reducing the risk of collision with surrounding obstacles when the vehicle is turning.

Description

Technical Field

[0001] This disclosure relates to the field of vehicle automatic control technology, and more specifically, to a vehicle control method, electronic equipment, medium, program product, and vehicle. Background Technology

[0002] Vehicle steering is divided into front-wheel steering and four-wheel steering. Front-wheel steering has steering mechanisms only on the front wheels of the car, while four-wheel steering adds steering mechanisms to the rear wheels as well. In four-wheel steering, the rear wheels can turn in the same direction as the front wheels or in the opposite direction. When turning in the opposite direction, the turning radius of the vehicle is smaller than that of two-wheel steering, making it suitable for driving into garages and turning at narrow corners. Summary of the Invention

[0003] The purpose of this disclosure is to provide a vehicle control method, electronic device, medium, program product, and vehicle that can reduce collisions when the vehicle is turning.

[0004] To achieve the above objectives, this disclosure provides a vehicle control method, the method comprising:

[0005] When the vehicle is turning, an adjustment strategy is determined to adjust the steering angle of the rear wheels of the vehicle based on the steering direction of the vehicle's steering wheel and the position of obstacles around the vehicle.

[0006] The target steering angle of the vehicle's rear wheels is determined according to the aforementioned adjustment strategy;

[0007] The vehicle's rear wheels are steered according to the target steering angle.

[0008] Optionally, the adjustment strategy for determining the steering angle of the rear wheels of the vehicle based on the steering direction of the vehicle's steering wheel and the position of obstacles around the vehicle includes:

[0009] An adjustment strategy for adjusting the steering angle of the vehicle's rear wheels is determined based on whether the position of the obstacle is on the same side of the vehicle as the direction the vehicle's steering wheel is turning.

[0010] Optionally, the adjustment strategy for determining the steering angle of the vehicle's rear wheels based on whether the position of the obstacle and the steering direction of the vehicle are on the same side of the vehicle includes:

[0011] When there is an obstacle at the rear of the vehicle that is less than a distance threshold from the vehicle, 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 are on the same side of the vehicle.

[0012] Optionally, the adjustment strategy for determining the steering angle of the vehicle's rear wheels based on whether the position of the obstacle and the steering direction of the vehicle are on the same side of the vehicle includes:

[0013] When the position of the obstacle is on the same side of the vehicle as the direction of the vehicle's steering wheel, the adjustment strategy for adjusting the steering angle of the vehicle's rear wheels is determined to be to increase the steering angle of the vehicle's rear wheels.

[0014] When the position of the obstacle is not on the same side of the vehicle as the steering direction of the vehicle's steering wheel, 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, the adjustment strategy for determining the steering angle of the vehicle's rear wheels based on whether the position of the obstacle and the steering direction of the vehicle are on the same side of the vehicle includes:

[0016] Determine the collision risk level corresponding to the obstacle;

[0017] Based on whether the location of the obstacle is on the same side of the vehicle as the direction the vehicle's steering wheel is turning, and the determined collision risk level, an adjustment strategy for adjusting the steering angle of the vehicle's rear wheels is determined. 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] Based on the vehicle's state parameters, the collision risk level corresponding to the obstacle is determined, wherein the state parameters include the distance between the obstacle and the vehicle.

[0020] Optionally, the status parameters may also include the vehicle speed.

[0021] Optionally, determining the collision risk level corresponding to the obstacle based on the vehicle's state parameters includes:

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

[0023] Optionally, the collision risk level includes a first level, a second level, and a third level, with the collision risk increasing sequentially.

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

[0025] The extreme value of the target steering angle is determined based on the vehicle's forward / reverse state and the position of obstacles around the vehicle;

[0026] The target steering angle is limited based on the extreme value of the target steering angle;

[0027] The vehicle's rear wheels are controlled to steer at a limited target steering angle.

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

[0029] In the predetermined second correspondence, the extreme values ​​of the angles corresponding to the vehicle's forward / reverse state and the obstacle's position are found and used as the extreme values ​​of the target steering angle.

[0030] Optionally, the adjustment strategy for determining the steering angle of the rear wheels of the vehicle based on the steering direction of the vehicle's steering wheel and the position of obstacles around the vehicle includes:

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

[0032] Optionally, the method further includes:

[0033] Output a prompt message indicating that the steering angle of the vehicle's rear wheels has been adjusted.

[0034] Optionally, the output prompt message includes:

[0035] The system will continuously output a warning message corresponding to the current collision risk level for at least the predetermined duration.

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

[0037] processor;

[0038] Memory used to store processor-executable instructions;

[0039] The processor is configured to perform the steps of the vehicle control method provided in this disclosure.

[0040] This disclosure also provides a computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the steps of the method provided in this disclosure.

[0041] This disclosure also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the methods provided in this disclosure.

[0042] This disclosure also provides a vehicle including the electronic equipment provided in this disclosure.

[0043] The above technical solution involves determining an adjustment strategy for the rear wheel steering angle based on the steering direction of the vehicle and the position of obstacles around the vehicle when it turns. The target steering angle of the rear wheels is then determined according to this adjustment strategy. This allows for targeted adjustment of the rear wheel steering angle based on the actual environmental conditions and turning requirements, thereby reducing the risk of collisions with surrounding obstacles during turns.

[0044] Other features and advantages of this disclosure will be described in detail in the following detailed description section. Attached Figure Description

[0045] The accompanying drawings are provided to further illustrate the present disclosure and form part of the specification. They are used together with the following detailed description to explain the present disclosure, but do not constitute a limitation thereof. In the drawings:

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

[0047] Figure 2 This is a schematic diagram of a vehicle turning, provided as an exemplary embodiment.

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

[0049] Figure 4 This is a block diagram of an electronic device provided in an exemplary embodiment. Detailed Implementation

[0050] The specific embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this disclosure.

[0051] In this disclosure, unless otherwise stated, directional terms such as "left," "right," "front," and "rear" are generally used relative to the direction in which the vehicle is normally traveling.

[0052] Figure 1This is a flowchart of a vehicle control method provided in an exemplary embodiment. For example... Figure 1 As shown, the method includes the following steps.

[0053] Step 101: When the vehicle is turning, determine the adjustment strategy for adjusting the steering angle of the rear wheels of the vehicle based on the steering direction of the vehicle's steering wheel and the position of obstacles around the vehicle.

[0054] Step 102: Determine the target steering angle of the vehicle's rear wheels based on the adjustment strategy.

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

[0056] Some vehicles, when turning, not only the front wheels but also the other wheels turn. This disclosure describes four-wheel steering as an example. Four-wheel steering means that both the front and rear wheels of the vehicle turn. In related technologies, the steering angle of the rear wheels is controlled by a predetermined strategy. This solution, based on related technologies, appropriately adjusts the steering angle of the rear wheels of the vehicle.

[0057] Steering wheel direction includes turning left and turning right, which means turning to the left and right relative to the center position of the steering wheel. The steering direction of the vehicle's front wheels is the same as the steering wheel direction.

[0058] The location of obstacles around a vehicle can be detected by onboard radar. For example, onboard radars can be installed at the four corners of the vehicle: front left, rear left, front right, and rear right, to detect the distance and direction of obstacles, i.e., the location of the obstacles.

[0059] When a vehicle is turning, the rear wheels will have some lateral displacement relative to the front wheels, which may cause the vehicle to collide with surrounding obstacles. Figure 2 This is a schematic diagram illustrating a vehicle turning, provided in an exemplary embodiment. Figure 2 As shown, A, B, C, and D are the vehicle's left front vertex, left rear vertex, right rear vertex, and right front vertex, respectively. Radar can be installed at each of these four vertices to monitor obstacle positions. The two upper wheels are the front wheels, and the two lower wheels are the rear wheels. When the steering wheel is turned right, the front wheels turn right, and the rear wheels turn in the opposite direction. The arc P centered at point O represents the trajectory swept by point B at the rear of the vehicle when the left front wheel turns. Increasing the rear wheel angle, and with the rear wheels turning in the opposite direction to the front wheels, reduces the vehicle's turning radius and significantly increases the lateral displacement Δθ at the rear. The taillighting design may not be able to counteract this lateral displacement, making the rear of the vehicle more prone to collisions with surrounding obstacles.

[0060] When the steering angles of both the front and rear wheels of a vehicle are not zero, the lateral displacement can be calculated using the following formula:

[0061]

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

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

[0064] The above technical solution allows for the determination of an adjustment strategy to adjust the steering angle of the rear wheels based on the steering direction of the vehicle and the position of obstacles around the vehicle when turning. This strategy then determines the target steering angle for the rear wheels. In this way, the rear wheel steering angle can be adjusted specifically according to the actual environmental conditions and turning requirements, thereby reducing the risk of collisions with surrounding obstacles during turning.

[0065] In another embodiment, an adjustment strategy for adjusting the steering angle of the vehicle's rear wheels is determined based on the vehicle's steering wheel direction and the positions of obstacles around the vehicle, including:

[0066] An adjustment strategy for adjusting the steering angle of the vehicle's rear wheels is determined based on whether the position of the obstacle is on the same side of the vehicle as the direction the vehicle's steering wheel is turning.

[0067] Situations where the obstacle is located on the same side of the vehicle as the direction the vehicle is turning include: the obstacle is on the left side of the vehicle, and the steering wheel is turning left; the obstacle is on the right side of the vehicle, and the steering wheel is turning right. In these cases, with the obstacle on the same side as the vehicle's turning direction, there is a risk of an inside collision when the vehicle is turning at a large angle.

[0068] Situations where the obstacle is not located on the same side of the vehicle as the direction the vehicle is turning include: the obstacle is on the left side of the vehicle, and the steering wheel is turning right; the obstacle is on the right side of the vehicle, and the steering wheel is turning left. In these cases, where the obstacle is on a different side of the vehicle's turning direction, there is a risk of rear-end collision when the vehicle is turning at a large angle.

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

[0070] In another embodiment, an adjustment strategy for adjusting the steering angle of the vehicle's rear wheels is determined based on whether the position of the obstacle and the steering direction of the vehicle are on the same side of the vehicle, including:

[0071] When there is an obstacle at the rear of the vehicle that is less than a distance threshold from the vehicle, 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 is on the same side of the vehicle as the steering direction of the vehicle's steering wheel.

[0072] When there is an obstacle at the rear of the vehicle that is less than a distance threshold, it can be assumed that turning the vehicle may cause a collision between the rear and the obstacle. When there is no obstacle at the rear of the vehicle that is less than a distance threshold, it can be assumed that turning the vehicle will not cause a collision between the rear and the obstacle, and the steering angle of the rear wheels does not need to be adjusted.

[0073] In this embodiment, when there are no obstacles at the rear of the vehicle that are less than a distance threshold from the vehicle, the rear wheel steering angle is not adjusted, thus saving computing power.

[0074] In another embodiment, an adjustment strategy for adjusting the steering angle of the vehicle's rear wheels is determined based on whether the position of the obstacle and the steering direction of the vehicle are on the same side of the vehicle, including:

[0075] When the position of the obstacle is on the same side of the vehicle as the direction of the vehicle's steering wheel, the adjustment strategy for adjusting the steering angle of the vehicle's rear wheels is determined to be to increase the steering angle of the vehicle's rear wheels.

[0076] When the position of the obstacle is not on the same side of the vehicle as the direction of the vehicle's steering wheel, 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 front wheels of a vehicle turn in the opposite direction to the rear wheels, the overall turning angle of the vehicle is greater than that of the front wheels, and the turning radius is smaller, making it suitable for turning in narrow spaces. In this situation, compared to when the front wheels turn in the same direction as 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 an obstacle is located on the same side of the vehicle as the direction the vehicle is turning, and the obstacle is on the inside of the vehicle's steering wheel, if the overall steering angle is small and the turning radius is large, there is a greater risk of a collision to the inside rear of the vehicle. In this case, increasing the steering angle of the rear wheels, since the steering direction of the front wheels is opposite to that of the rear wheels, increases the overall steering angle of the vehicle, thereby reducing the risk of a collision to the inside rear of the vehicle.

[0079] When an obstacle is not located on the same side of the vehicle as the direction the vehicle is turning, and the obstacle is on the outside of the vehicle's steering wheel, if the overall steering angle of the vehicle is large and the turning radius is small, there is a greater risk of collision to the outer rear of the vehicle. In this case, reducing the steering angle of the rear wheels reduces the overall steering angle of the vehicle, thus reducing the risk of a collision to the outer rear of the vehicle, since the steering direction of the front wheels is opposite to that of the rear wheels.

[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 collision risk of the corresponding obstacle.

[0081] In another embodiment, an adjustment strategy for adjusting the steering angle of the vehicle's rear wheels is determined based on whether the position of the obstacle and the direction of the vehicle's steering wheel are on the same side of the vehicle, including:

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

[0083] Based on the location of the obstacle and whether it is on the same side of the vehicle as the direction the vehicle is steering, and the determined collision risk level, an adjustment strategy is determined to adjust the steering angle of the vehicle's rear wheels. The higher the determined collision risk level, the greater the adjustment to the steering angle of the rear wheels. The steering direction of the vehicle's front wheels is opposite to that of the rear wheels.

[0084] The collision risk level can be multiple predetermined levels of varying urgency. In the above embodiment, the direction of the rear wheel steering angle adjustment can be determined, for example, increasing or decreasing it. In this embodiment, the degree of adjustment can be further refined based on the determined adjustment direction.

[0085] In one embodiment, the collision risk level may include a first level, a second level, and a third level, with the collision risk increasing sequentially. When the collision risk level is the highest, the third level, a larger adjustment amount can be used; conversely, a relatively smaller adjustment amount can be used depending on the level. For example, when the obstacle's position is on the same side of the vehicle as the vehicle's steering wheel direction, and the steering direction of the front wheels is opposite to that of the rear wheels, the adjustment strategy is determined as follows: the rear wheel steering angles corresponding to the first, second, and third levels are adjusted by multiplying the current angle by three adjustment coefficients of 1.1, 1.2, and 1.3, respectively, with the adjustment amount gradually increasing.

[0086] Similarly, when the obstacle is not on the same side of the vehicle as the direction the vehicle is turning, and the direction the front wheels are turning is opposite to the direction the rear wheels are turning, the adjustment strategy is determined as follows: the rear wheel steering angles corresponding to the first, second, and third levels are adjusted by multiplying the current angle by three adjustment coefficients of 0.9, 0.8, and 0.7, respectively, with the adjustment amount gradually increasing.

[0087] In this embodiment, the adjustment amount is determined according to different collision risk levels, which can be accurately adjusted to adapt to the actual situation and the adjustment accuracy is high.

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

[0089] The steps described above for increasing the steering angle of the vehicle's rear wheels include: increasing the steering angle of the vehicle's rear wheels according to the determined collision risk level.

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

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

[0092] The collision risk level corresponding to the obstacle is determined based on the vehicle's status parameters. These status parameters include the distance between the obstacle and the vehicle.

[0093] The closer the distance between an obstacle and a vehicle, the more urgent the collision risk level. 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 based on the distance to the obstacle, thereby further determining the adjustment amount of the rear wheel steering angle, making the adjustment amount of the rear wheel steering angle more adaptable to the actual scenario.

[0095] The status parameters may also include the vehicle's speed. A higher vehicle speed indicates a more urgent collision risk level. By combining the distance between the obstacle and the vehicle, as well as the vehicle's speed, the current collision risk level can be determined in real time.

[0096] In this embodiment, the influence of vehicle speed is taken into account, and the scenario of the vehicle turning is examined more comprehensively, making collision avoidance more effective.

[0097] In another embodiment, determining the collision risk level corresponding to the obstacle based on the vehicle's state parameters includes:

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

[0099] The first correspondence can include the correspondence between state parameters and collision risk levels, which can be pre-defined and stored. In this embodiment, the collision risk level is determined by searching within the predetermined relationship, which is a simple method with fast data processing speed.

[0100] An adjustment coefficient corresponding to the vehicle speed is added to the adjustment coefficient determined based on the distance between the obstacle and the vehicle. For example, the adjustment coefficients for three obstacle distance ranges from largest to smallest are 1.1, 1.2, and 1.3, and the adjustment coefficients for three vehicle speed ranges from smallest to largest are 1.01, 1.02, and 1.03. The collision risk level can include nine levels. The coefficients corresponding to the nine levels of collision risk, increasing sequentially, 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 multiplied by the steering angle of the rear wheels.

[0101] In the aforementioned embodiments, collisions between the rear end of the vehicle and obstacles can be avoided. In other embodiments, it is also possible to avoid collisions between the front end of the vehicle and obstacles due to excessive adjustment.

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

[0103] Determine the extreme value of the target steering angle based on the vehicle's forward / reverse state and the position of obstacles around the vehicle;

[0104] The target turning angle is limited based on the extreme value of the target turning angle;

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

[0106] The vehicle's forward / reverse state includes both forward and reverse movements. The extreme value of the target steering angle is the maximum value of the rear wheel steering angle. For example, based on the obstacle's position, the vehicle's forward / reverse state, and the front wheel steering angle, the maximum value of the rear wheel steering angle can be calculated in real-time using geometric relationships, assuming the front or rear of the vehicle does not collide with the obstacle. In other words, limiting the target steering angle within this maximum value reduces the risk of the front or rear of the vehicle colliding with an obstacle.

[0107] The location of obstacles can include the distance from the front, rear, left, and right sides of the vehicle. When the vehicle is moving forward, the extreme value of the target steering angle can be determined based on the distances to obstacles on both sides of the front of the vehicle. Limiting the target steering angle within the extreme value can reduce the risk of a frontal collision. Similarly, when the vehicle is moving backward, the extreme value of the target steering angle can be determined based on the distances to obstacles on both sides of the rear of the vehicle. Limiting the target steering angle within the extreme value can reduce the risk of a rearal collision.

[0108] In another embodiment, determining the extreme value of the target steering angle based on the vehicle's forward / reverse state and the position of obstacles around the vehicle includes:

[0109] In the predetermined second correspondence, the extreme values ​​of the angles corresponding to the vehicle's forward / reverse state and the obstacle's position are found and used as the extreme values ​​of the target steering angle.

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

[0111] For example, the second correspondence may include the correspondence between the vehicle's forward state, 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 value of the target steering angle; it may also include the correspondence between the vehicle's reverse state, 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 value of the target steering angle.

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

[0113] In another embodiment, the adjustment strategy for determining the steering angle of the rear wheels of the vehicle based on the steering direction of the vehicle's steering wheel and the position of obstacles around the vehicle includes:

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

[0115] When the steering wheel angle is less than or equal to the angle threshold, it can be considered extremely small, and collisions with surrounding obstacles due to vehicle steering are highly unlikely. Only when the steering wheel angle exceeds the angle threshold is a collision with surrounding obstacles possible; in this case, the function to adjust the rear wheel steering angle can be activated.

[0116] The angle threshold can be predetermined and stored based on experiments or experience, or it can be determined in real time based on vehicle status and road conditions. For example, the angle threshold can decrease as the detected vehicle length increases in real time.

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

[0118] In another embodiment, the method further includes: outputting a prompt message indicating that the steering angle of the vehicle's rear wheels has been adjusted.

[0119] The output prompts can alert the driver to a potential collision risk and its level, as well as indicate that rear wheel steering adjustments have been made. These prompts can take the form of pop-ups on the display, voice messages, or beeps of varying frequencies.

[0120] When the driver receives a warning message, they can adjust the steering wheel angle accordingly to further reduce the risk of collision when the vehicle is turning.

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

[0122] In other words, when different collision risk levels correspond to different warning messages, to avoid affecting the driver's expected control of the vehicle when there are continuous jumps between two collision risk levels, the warning message corresponding to the current collision risk level can be set to have a minimum duration (e.g., 2 seconds). When the collision risk level changes, the warning message corresponding to the previous collision risk level is only switched to the warning message corresponding to the changed collision risk level after the previous warning message's output duration has reached the predetermined duration. This debouncing method effectively solves the impact of message jumps.

[0123] Figure 3 This is a flowchart of a vehicle control method provided in another exemplary embodiment. Figure 3 The steps in this process combine the steps from the aforementioned multiple embodiments. Specifically, Figure 3 The steps are as follows:

[0124] 1. Determine the rear wheel angle before correction, i.e., adjust the steering angle of the rear wheels of the vehicle. The steering angle of the front and rear wheels can be determined from the steering wheel angle according to the methods in relevant technologies.

[0125] 2. Determine if the activation conditions for this function are met. For example, if it is determined that the relevant components are not faulty, then the activation conditions are met.

[0126] 3. Under the condition that the activation conditions are met, obtain the distance of the obstacle detected by the radar, that is, the radar distance alarm value.

[0127] 4. If the distance to the obstacle detected by the radar is less than the safe distance value (i.e., the distance threshold), and the steering wheel angle value meets the condition of being greater than the angle threshold, then it is determined whether the steering is in the same direction as the obstacle. That is, it is determined whether the position of the obstacle and the steering wheel direction of the vehicle are on the same side of the vehicle.

[0128] 5. If they are on the same side, the rear wheel steering angle correction trend is to increase, that is, to increase the steering angle of the rear wheels; if they are not on the same side, the rear wheel steering angle correction trend is to decrease, that is, to decrease the steering angle of the rear wheels.

[0129] 6. If the obstacle reaches the first-level alarm distance but not the second-level alarm distance, the rear wheel angle is adjusted by the first-level correction ratio; if the obstacle reaches the second-level alarm distance but not the third-level alarm distance, the rear wheel angle is adjusted by the second-level correction ratio; if the obstacle reaches the third-level alarm distance, the rear wheel angle is adjusted by the third-level correction ratio.

[0130] 7. Add the correction for rear wheel steering angle based on vehicle speed. For example, add the ratio corresponding to vehicle speed.

[0131] 8. In situations where there is a safety limitation requirement (e.g., there is an obstacle in front of the vehicle), the rear wheel angle can be limited when the vehicle is moving forward or when the vehicle is reversing.

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

[0133] Based on the same inventive concept, this disclosure also provides a vehicle control device. The vehicle control device includes a first determining module, a second determining module, and a control module.

[0134] The first determining module is used to determine an adjustment strategy for adjusting the steering angle of the rear wheels of the vehicle based on the steering direction of the vehicle's steering wheel and the position of obstacles around the vehicle when the vehicle is turning.

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

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

[0137] Optionally, the first determining module is used to: 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 are on the same side of the vehicle.

[0138] Optionally, the first determining module is used to: when there is an obstacle at the rear of the vehicle that is less than a distance threshold from the vehicle, 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 are 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 determining submodule is used to determine that when the position of the obstacle is on the same side of the vehicle as the steering direction of the vehicle's steering wheel, the adjustment strategy for adjusting the steering angle of the vehicle's rear wheels is to increase the steering angle of the vehicle's rear wheels.

[0141] The second determining submodule is used to determine that when the position of the obstacle is not on the same side of the vehicle as the steering direction of the vehicle's steering wheel, the adjustment strategy for adjusting the steering angle of the vehicle's rear wheels is 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.

[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 vehicle's rear wheels based on whether the position of the obstacle and the steering direction of the vehicle's steering wheel are on the same side of the vehicle, and the determined collision risk level. The higher the determined collision risk level, the greater the adjustment amount of the steering angle of the vehicle's rear wheels.

[0145] Optionally, the third determining submodule is used to: determine the collision risk level corresponding to the obstacle based on the vehicle's state parameters, wherein the state parameters include the distance between the obstacle and the vehicle.

[0146] Optionally, the status parameters may also include the vehicle speed.

[0147] Optionally, the third determining submodule is used to: find the collision risk level corresponding to the current state parameter in the predetermined first correspondence, and use it as the collision risk level corresponding to the obstacle.

[0148] Optionally, the collision risk level includes a first level, a second level, and a third level, with the collision risk increasing sequentially.

[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 based on the vehicle's forward / reverse state and the position of obstacles around the vehicle.

[0151] The limiting module is used to limit the target steering angle based on 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 limited target steering angle.

[0153] Optionally, the fifth determining submodule is used to: find the extreme value of the angle corresponding to the vehicle's forward / reverse state and the obstacle position in the predetermined second correspondence, and use it as the extreme value of the target steering angle.

[0154] Optionally, the first determining module is used to: when the steering wheel 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 based on the steering direction of the vehicle and the position of obstacles around the vehicle.

[0155] Optionally, the vehicle control unit may also include an output module.

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

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

[0158] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0159] The above technical solution involves determining an adjustment strategy for the rear wheel steering angle based on the steering direction of the vehicle and the position of obstacles around the vehicle when it turns. The target steering angle of the rear wheels is then determined according to this adjustment strategy. This allows for targeted adjustment of the rear wheel steering angle based on the actual environmental conditions and turning requirements, thereby reducing the risk of collisions with surrounding obstacles during turns.

[0160] This disclosure also provides an electronic device including a processor and a memory. The memory stores processor-executable instructions. The processor is configured to perform the steps of the vehicle control method described above.

[0161] Figure 4 This is a block diagram of an electronic device 300 provided in 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 controls the overall operation of the electronic device 300 to complete all or part of the steps in the vehicle control method described above. The memory 302 stores various types of data to support the operation of the electronic device 300. This data may include, for example, instructions for any application or method operating on the electronic device 300, and application-related data such as contact data, sent and received messages, 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 storage, flash memory, magnetic disk, or optical disk. The multimedia component 303 may include a screen and audio components. The screen may be, for example, a touchscreen, and the audio component is used for outputting and / or inputting audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signals may be further stored in memory 302 or transmitted via communication component 305. The audio component also includes at least one speaker for outputting audio signals. Input / output interface 304 provides an interface between processor 301 and other interface modules, such as a keyboard, mouse, buttons, etc. These buttons may be virtual or physical buttons. Communication component 305 is used for wired or wireless communication between the electronic device 300 and other devices. Wireless communication may include Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G, or 4G, or one or more combinations thereof; therefore, the corresponding communication component 305 may include a Wi-Fi module, a Bluetooth module, or an NFC module.

[0163] In an exemplary embodiment, the electronic device 300 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the vehicle control method described above.

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

[0165] This disclosure also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the methods provided in this disclosure.

[0166] This disclosure also provides a vehicle including the aforementioned electronic equipment provided in this disclosure.

[0167] The preferred embodiments of this disclosure have been described in detail above with reference to the accompanying drawings. However, this disclosure is not limited to the specific details of the above embodiments. Within the scope of the technical concept of this disclosure, various simple modifications can be made to the technical solutions of this disclosure, and these simple modifications all fall within the protection scope of this disclosure.

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

[0169] Furthermore, various different embodiments of this disclosure can be combined in any way, as long as they do not violate the spirit of this disclosure, they should also be regarded as the content disclosed in this disclosure.

Claims

1. A vehicle control method, characterized in that, The method includes: When the vehicle is turning, an adjustment strategy is determined to adjust the steering angle of the rear wheels of the vehicle based on the steering direction of the vehicle's steering wheel and the position of obstacles around the vehicle. The target steering angle of the vehicle's rear wheels is determined according to the aforementioned adjustment strategy; The vehicle's rear wheels are steered according to the target steering angle; The adjustment strategy for determining the steering angle of the rear wheels of the vehicle based on the steering direction of the vehicle's steering wheel and the position of obstacles around the vehicle includes: Based on whether the position of the obstacle and the steering direction of the vehicle are on the same side of the vehicle, an adjustment strategy for adjusting the steering angle of the rear wheels of the vehicle is determined. The adjustment strategy for determining the steering angle of the vehicle's rear wheels based on whether the obstacle's position and the vehicle's steering wheel direction are on the same side of the vehicle includes: When the position of the obstacle is on the same side of the vehicle as the direction of the vehicle's steering wheel, the adjustment strategy for adjusting the steering angle of the vehicle's rear wheels is determined to be to increase the steering angle of the vehicle's rear wheels. When the position of the obstacle is not on the same side of the vehicle as the steering direction of the vehicle's steering wheel, 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. The adjustment strategy for determining the steering angle of the vehicle's rear wheels based on whether the obstacle's position and the vehicle's steering wheel direction are on the same side of the vehicle includes: Determine the collision risk level corresponding to the obstacle; Based on whether the location of the obstacle is on the same side of the vehicle as the direction the vehicle's steering wheel is turning, and the determined collision risk level, an adjustment strategy for adjusting the steering angle of the vehicle's rear wheels is determined. The higher the determined collision risk level, the greater the adjustment amount of the steering angle of the vehicle's rear wheels.

2. The method according to claim 1, characterized in that, The adjustment strategy for determining the steering angle of the vehicle's rear wheels based on whether the obstacle's position and the vehicle's steering wheel direction are on the same side of the vehicle includes: When there is an obstacle at the rear of the vehicle that is less than a distance threshold from the vehicle, 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 are on the same side of the vehicle.

3. The method according to claim 1, characterized in that, Determining the collision risk level corresponding to the obstacle includes: The collision risk level of the obstacle is determined based on the vehicle's state parameters, including the distance between the obstacle and the vehicle.

4. The method according to claim 3, characterized in that, The status parameters also include the vehicle speed.

5. The method according to claim 3, characterized in that, Determining the collision risk level corresponding to the obstacle based on the vehicle's state parameters includes: In the predetermined first correspondence, the collision risk level corresponding to the current state parameter is found and used as the collision risk level corresponding to the obstacle.

6. The method according to claim 3, characterized in that, The collision risk levels are divided into three levels: Level 1, Level 2, and Level 3, with the collision risk increasing sequentially.

7. The method according to claim 1, characterized in that, The step of controlling the rear wheels of the vehicle to steer according to the target steering angle includes: The extreme value of the target steering angle is determined based on the vehicle's forward / reverse state and the position of obstacles around the vehicle; The target steering angle is limited based on the extreme value of the target steering angle; The vehicle's rear wheels are controlled to steer at a limited target steering angle.

8. The method according to claim 7, characterized in that, Determining the extreme value of the target steering angle based on the vehicle's forward / reverse state and the position of obstacles around the vehicle includes: In the predetermined second correspondence, the extreme values ​​of the angles corresponding to the vehicle's forward / reverse state and the obstacle's position are found and used as the extreme values ​​of the target steering angle.

9. The method according to any one of claims 1-8, characterized in that, The adjustment strategy for determining the steering angle of the rear wheels of the vehicle based on the steering direction of the vehicle's steering wheel and the position of obstacles around the vehicle includes: When the steering wheel angle of the vehicle is greater than the angle threshold, an adjustment strategy for adjusting the steering angle of the rear wheels of the vehicle is determined based on the steering direction of the vehicle and the position of obstacles around the vehicle.

10. The method according to any one of claims 1-8, characterized in that, The method further includes: Output a prompt message indicating that the steering angle of the vehicle's rear wheels has been adjusted.

11. The method according to claim 10, characterized in that, The output prompt message includes: The system will continuously output a warning message corresponding to the current collision risk level for at least the predetermined duration.

12. An electronic device, characterized in that, The electronic device includes: processor; Memory used to store processor-executable instructions; The processor is configured to perform the steps of the vehicle control method according to any one of claims 1 to 11.

13. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the steps of the method described in any one of claims 1 to 11.

14. A computer program product, characterized in that, It includes a computer program that, when executed by a processor, implements the steps of the method according to any one of claims 1 to 11.

15. A vehicle, characterized in that, Includes the electronic device as described in claim 12.

Images