Steering control method, electronic device, storage medium, program product and vehicle

Abstract

The invention provides a steering control method, electronic equipment, a storage medium, a program product and a vehicle. The steering control method of the vehicle comprises the steps that it is determined that collision of the vehicle reaches a set working condition; controlling the vehicle to execute preset actions according to the steering planning direction to assist the vehicle in steering. According to the method, the collided working condition is flexibly and intelligently judged by determining that the collision of the vehicle reaches the set working condition, then the vehicle is controlled to execute the preset action according to the steering planning direction and assist the vehicle in steering, anti-collision protection is flexibly and intelligently executed, a steering power source is provided, the requirement for a driver is lowered, and the driving safety is improved. The steering risk avoiding capability of the vehicle is improved, and the safety of a driver and passengers is guaranteed.

Description

Technical Field

[0001] The present invention relates to the field of vehicles, and in particular to a vehicle steering control method, electronic equipment, computer-readable storage medium, computer program product and vehicle. Background Art

[0002] The vehicle's anti-collision protection is very important for ensuring the safety of drivers and passengers. When a vehicle is between the front and rear vehicles, there is a risk of the vehicle being crushed after being hit by the rear vehicle, which poses a great threat to the safety of drivers and passengers. In related technologies, the driver determines the collision conditions and performs anti-collision protection according to the collision conditions. The driver controls the throttle to provide steering power and uses the front-wheel steering device, rear-wheel steering device, steering domain controller and vehicle controller to coordinate and control the steering angles of the four tires of the vehicle to adjust the steering posture of the vehicle body, allowing the vehicle to turn out of the dangerous area more sensitively.

[0003] However, with the above method, since the judgment of the collision condition, the execution of the anti-collision protection and the power source of the steering are completely dependent on the driver, the requirements on the driver are high and the steering avoidance capability of the vehicle is poor. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art.

[0005] To this end, an object of the present invention is to propose a vehicle steering control method, which can flexibly and intelligently judge the collision condition, perform anti-collision protection and provide a steering power source, thereby reducing the requirements for the driver, improving the vehicle's steering risk avoidance capability, and ensuring the safety of the driver and passengers.

[0006] To this end, a second objective of the present invention is to provide an electronic device.

[0007] To this end, a third object of the present invention is to provide a computer-readable storage medium.

[0008] To this end, a fourth object of the present invention is to provide a computer program product.

[0009] To this end, a fifth object of the present invention is to provide a vehicle.

[0010] In order to achieve the above-mentioned purpose, an embodiment of the first aspect of the present invention proposes a vehicle steering control method, which includes: determining that the impact of the vehicle reaches a set working condition; controlling the vehicle to perform a preset action in a steering planning direction to assist the vehicle in steering.

[0011] According to the vehicle steering control method of the embodiment of the present invention, by determining that the collision of the vehicle reaches the set working condition, controlling the vehicle to execute a preset action in the steering planning direction, and assisting the vehicle in steering, it is possible to flexibly and intelligently judge the collision condition, execute anti-collision protection, and provide a steering power source, thereby reducing the requirements for the driver, improving the vehicle's steering risk avoidance capability, and ensuring the safety of the driver and passengers.

[0012] In some embodiments, determining that the impact of a vehicle reaches a set operating condition includes: obtaining the acceleration of the vehicle when determining that the vehicle collides; determining the impact direction of the vehicle when the acceleration reaches a preset acceleration threshold; and determining that the impact of the vehicle reaches the set operating condition based on the impact direction.

[0013] In some embodiments, determining the impact direction of the vehicle includes: acquiring a status signal of a sensor; the sensor status signal is a damaged signal, and determining the impact direction of the vehicle according to the damaged signal.

[0014] In some embodiments, determining that the impact of the vehicle reaches a set operating condition based on the impact direction includes: determining that the impact direction of the vehicle is an impact of a target vehicle in a preset direction, and determining that the impact of the vehicle reaches a set operating condition.

[0015] In some embodiments, controlling the vehicle to perform a preset action in a planned steering direction includes: controlling a wire-controlled steering device and / or a tire steering device of the vehicle to perform a preset action in a planned steering direction.

[0016] In some embodiments, the vehicle's wire-controlled steering device and / or tire steering device is controlled to perform a preset action in a steering planned direction, including: controlling the vehicle's wire-controlled steering device to run in the steering planned direction to a full-steering state at a preset power and / or controlling the tire steering device to run in a direction opposite to the steering planned direction to a full-steering state at the preset power.

[0017] In some embodiments, after controlling the vehicle to perform a preset action according to the steering planning path, it also includes: controlling the front wheels of the vehicle to be in a high-frequency braking state and controlling the rear wheels in the steering planning direction to brake and controlling the rear wheels in the direction opposite to the steering planning direction to be in a high-frequency braking state.

[0018] In some embodiments, before determining that the collision of the vehicle reaches a set working condition, it also includes: when determining that the vehicle is in a high-speed section and the vehicle is in a preset state, obtaining the relative position of the vehicle and the target vehicle; and determining the steering planning direction according to the relative position.

[0019] In some embodiments, determining that the vehicle is in a preset state includes: obtaining driving parameters and positioning information of the vehicle; determining that the vehicle is in a highway section according to the positioning information and determining that the vehicle is in a preset state according to the driving parameters.

[0020] In order to achieve the above-mentioned purpose, an embodiment of the second aspect of the present invention proposes an electronic device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a vehicle steering control program that can be executed by the at least one processor, and when the vehicle steering control program is executed by the at least one processor, the at least one processor executes the vehicle steering control method as described in the above-mentioned embodiment.

[0021] The electronic device according to the embodiment of the present invention can flexibly and intelligently judge the collision condition, perform anti-collision protection and provide a steering power source by determining that the collision of the vehicle reaches the set condition, controlling the vehicle to perform a preset action in the steering planning direction, and assisting the vehicle in steering, thereby reducing the requirements for the driver, improving the vehicle's steering risk avoidance capability, and ensuring the safety of the driver and passengers.

[0022] In order to achieve the above-mentioned objectives, an embodiment of the third aspect of the present invention proposes a computer-readable storage medium, on which a vehicle steering control program is stored. When the vehicle steering control program is executed by a processor, a device equipped with the vehicle steering control program implements the vehicle steering control method as described in the above-mentioned embodiment.

[0023] In order to achieve the above-mentioned purpose, an embodiment of the fourth aspect of the present invention proposes a computer program product, which includes a computer program, and when the computer program is executed by a processor, it implements the vehicle steering control method as described in the above-mentioned embodiment.

[0024] According to the computer program product of the embodiment of the present invention, by determining that the collision of the vehicle reaches the set working condition, controlling the vehicle to execute a preset action in the steering planning direction, and assisting the vehicle in steering, it is possible to flexibly and intelligently judge the collision condition, execute anti-collision protection, and provide a steering power source, thereby reducing the requirements for the driver, improving the vehicle's steering and risk avoidance capabilities, and ensuring the safety of the driver and passengers.

[0025] In order to achieve the above-mentioned object, an embodiment of a fifth aspect of the present invention proposes a vehicle, comprising: the electronic device as described in the above-mentioned embodiment.

[0026] According to the vehicle of the embodiment of the present invention, the vehicle is equipped with the electronic device of the above embodiment, which determines that the collision of the vehicle reaches the set working condition, controls the vehicle to execute a preset action in the steering planning direction, and assists the vehicle in steering, so as to realize flexible and intelligent judgment of the collision working condition, perform anti-collision protection and provide a steering power source, thereby reducing the requirements for the driver, improving the steering and risk avoidance capability of the vehicle, and ensuring the safety of the driver and passengers.

[0027] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which: Figure 1 is a block diagram of a steering system for a vehicle according to an embodiment of the present invention; Figure 2 is a flow chart of a vehicle steering control method according to an embodiment of the present invention; Figure 3 is a schematic diagram of a vehicle driving scene according to an embodiment of the present invention; Figure 4 is a schematic diagram of a vehicle steering effect according to an embodiment of the present invention; Figure 5 is a flow chart of a vehicle steering control method according to another embodiment of the present invention; Figure 6 is a block diagram of an electronic device according to an embodiment of the present invention; Figure 7 is a block diagram of a vehicle according to one embodiment of the present invention.

[0029] Reference numerals: Front vehicle 50; vehicle 100; rear vehicle 51; Front distance sensor 21; wire-controlled steering 22; steering wheel 23; acceleration sensor 24; domain controller 25; rear wheel steering 26; rear distance sensor 27; front wheel brake 28; rear wheel brake 29; Processor 101; Memory 102; Electronic device 90. DETAILED DESCRIPTION

[0030] Embodiments of the present invention are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. Embodiments of the present invention are described in detail below.

[0031] When a vehicle is between the front and rear vehicles, there is a risk of being crushed after being hit by the rear vehicle, which poses a great threat to the safety of the driver and passengers. Taking a passenger car as an example, when a passenger car is traveling on a highway and encounters congestion with large cargo vehicles in front and behind it, it is difficult to brake easily due to the large size of the large trucks. After being hit by the large truck in the rear, the passenger car is at risk of being crushed by the large trucks in front and behind. If the large truck in the rear fails to brake in time, since the mass of the passenger car is much smaller than that of the large truck, the huge kinetic energy that the passenger car needs to bear in the process of being crushed is devastating to the passenger car, which poses a great threat to the safety of the driver and passengers.

[0032] In the related art, for example, the anti-collision and anti-deformation performance of the whole vehicle is improved by strengthening the strength of the whole vehicle structure.

[0033] However, the above method cannot solve the problem that the vehicle is still in the dangerous area between the front and rear vehicles when hit by the rear vehicle, causing the driver and passengers to be in a dangerous state. Moreover, after the vehicle structure strength is strengthened, the weight of the vehicle increases, which is not conducive to lightweighting the vehicle and saving power consumption.

[0034] For another example, by adding multiple additional devices to the vehicle, the driver determines the collision conditions and performs anti-collision protection according to the collision conditions. The driver controls the throttle to provide steering power and uses the front-wheel steering device, rear-wheel steering device, steering domain controller and vehicle controller to coordinate and control the steering angles of the four tires of the vehicle to adjust the steering posture of the vehicle body, allowing the vehicle to turn out of the dangerous area more sensitively.

[0035] However, the above method has high requirements on the driver because the judgment of the collision condition, the execution of anti-collision protection and the power source of steering are completely dependent on the driver. In addition, since the structure and mechanical rotating parts used are relatively complex, there is a high risk of system failure after the vehicle is hit and the steering response speed is slow, which reduces the safety of the driver and passengers. In addition, the complex structure and additional devices have high requirements on the configuration of the vehicle.

[0036] Therefore, the vehicle steering control method of the embodiment of the present invention determines that the collision of the vehicle reaches the set working condition, controls the vehicle to perform a preset action in the steering planning direction, and assists the vehicle in steering, so as to realize flexible and intelligent judgment of the collision condition, perform anti-collision protection and provide a steering power source, thereby reducing the requirements for the driver, improving the vehicle's steering risk avoidance capability, and ensuring the safety of the driver and passengers.

[0037] The above-mentioned vehicle control method is implemented based on the vehicle's steering system, and the vehicle's steering system is illustrated below.

[0038] First, refer to Figure 1 A steering system for a vehicle according to an embodiment of the present invention is described.

[0039] like Figure 1 , which is a block diagram of a vehicle steering system according to an embodiment of the present invention. The vehicle steering system according to the embodiment of the present invention comprises: a front distance sensor 21, a wire-controlled steering gear 22, a steering wheel 23, an acceleration sensor 24, a domain controller 25, a rear wheel steering gear 26, a rear distance sensor 27, a front wheel brake 28 and a rear wheel brake 29.

[0040] Among them, the output ends of the front distance measuring sensor 21, the acceleration sensor 24 and the rear distance measuring sensor 27 are respectively connected to the signal input end of the domain controller 25; the input interfaces of the wire-controlled steering gear 22, the steering wheel 23, the rear wheel steering gear 26, the front wheel brake 28 and the rear wheel brake 29 are respectively connected to the command output end of the domain controller 25.

[0041] The components of the vehicle steering system according to the embodiment of the present invention are described below.

[0042] Front distance sensor 21: scans and confirms the distance between the vehicle and the vehicle in front, and the information of the left and right relative position of the vehicle in front. Common distance measuring devices such as laser radar sensors and cameras can also be used to meet the function of the front distance sensor 21.

[0043] Wire-controlled steering 22: controls the turning angle of the tires to enable the vehicle to steer; the input signal of the wire-controlled steering can come from the steering wheel or from the domain controller.

[0044] Steering wheel 23: transmits the driver's steering intention to the vehicle and converts it into a steering instruction for the vehicle; Acceleration sensor 24: collects the acceleration signal of the vehicle to assist in determining whether the vehicle encounters a dangerous collision condition. The acceleration sensor can be an acceleration sensor equipped on the vehicle itself.

[0045] Domain controller 25: determines and confirms whether the vehicle encounters a dangerous collision, and makes a decision whether to execute the active steering instruction.

[0046] Rear-wheel steering gear 26: enables the vehicle to obtain a smaller turning radius when executing active steering instructions and complete steering more quickly. The rear-wheel steering gear can be an integral or split rear-wheel steering gear, etc. When the vehicle is not equipped with a rear-wheel steering gear, the effect achieved by the rear-wheel steering gear can be achieved by cooperating with the front-wheel steering gear and the braking system.

[0047] Rear ranging sensor 27: assists the domain controller in determining whether the vehicle encounters a dangerous collision condition and confirms that the direction of the impact force comes from the rear of the vehicle. The rear ranging sensor can be a laser radar or camera installed on the vehicle.

[0048] Front wheel brake 28: controls the front wheels to enter a high-frequency braking state, so that the front wheels have a certain rotation ability to achieve the steering function when the vehicle executes the active steering command; at the same time, ensures that the vehicle can be braked in the high-frequency braking state when turning out of the trapped area.

[0049] Rear wheel brake 29: Control the wheel on one side to be in a high-frequency braking state, and the wheel on the other side to be in a locked state.

[0050] Based on the steering system of the above vehicle, the following Figure 1-Figure 5 A vehicle steering control method according to an embodiment of the present invention is described.

[0051] like Figure 2 FIG. 1 is a flow chart of a vehicle steering control method according to an embodiment of the present invention. The vehicle steering control method according to the embodiment of the present invention at least includes steps S1 and S2.

[0052] Step S1, determining whether the impact of the vehicle reaches a set working condition.

[0053] In the embodiment, the operating condition is set as a condition where the vehicle is in a congested road condition where the vehicle is sandwiched between the front and rear vehicles, hit by the rear vehicle, and the rear ranging sensor is damaged, and the vehicle is at risk of being crushed; for example, Figure 1 As shown, the domain controller 25 determines whether the vehicle is on the highway and there is a congestion with vehicles in front and behind the vehicle 100, that is, confirms whether the vehicle is at risk of being hit by a dangerous collision; when the vehicle is determined to be on the highway section and the vehicle is detected to be in a parking state, the front ranging sensor 21 starts scanning and uploads the scanning information to the domain controller 25. The domain controller 25 calculates the success rate of risk avoidance by comparing the scanning information with the steering direction when the active steering is triggered based on the scanning information. If the calculated result is that the success rate of left-hand active steering is high, the left turn during active steering is determined as the steering planning direction, and the calculation result of the left-hand active steering is retained at this time; if the calculated result is that the success rate of right-hand active steering is high, the right turn during active steering is determined as the steering planning direction, and the calculation result of the right-hand active steering is retained at this time.

[0054] When the vehicle 100 is hit by the rear vehicle 51, the acceleration sensor 24 uploads the acceleration value generated by the collision to the domain controller 25. The domain controller 25 determines whether it is necessary to obtain the damage condition of the rear ranging sensor based on the obtained acceleration value. If it is determined that it is necessary to obtain the damage condition of the rear ranging sensor, and the acquisition result is that the rear ranging sensor is damaged, it is determined that the collision of the vehicle has reached the set working condition, and then the steering avoidance action in the steering planning direction is triggered to achieve flexible and intelligent determination of the vehicle's working condition and steering avoidance control, which reduces the requirements for the driver, improves the vehicle's steering avoidance capability, and ensures the safety of the driver and passengers.

[0055] Step S2, controlling the vehicle to execute a preset action according to the steering planning direction to assist the vehicle in steering.

[0056] In an embodiment, the preset action is a steering avoidance action; for controlling the vehicle to perform the preset action according to the steering planning direction, for example, Figure 1 As shown, when the vehicle triggers a steering avoidance action in the steering planning direction, the steering avoidance action is executed: first, the steering wheel 23 is clamped for the driver to hold tightly under the set working conditions, helping the driver to stabilize the body under the set working conditions; secondly, the domain controller 25 controls the wire-controlled steering gear to turn to the full rudder state at maximum power in the steering planning direction, and controls the rear-wheel steering gear to turn to the full rudder state at maximum power in the opposite direction of the steering planning direction, so as to realize the execution of steering avoidance control, improve the vehicle's steering avoidance capability, and ensure the safety of the driver and passengers.

[0057] For assisting vehicle steering, for example, Figure 1 As shown, after the steering avoidance action is performed, that is, after the rear wheel steering gear reaches the full rudder state, the domain controller 25 controls the front wheel brake from the original parking state to the high-frequency braking state, controls the locking state of the rear wheel on the side where the steering planning direction is located, and controls the high-frequency braking state of the rear wheel on the side where the steering planning direction is opposite to the planned direction. By controlling the braking state of the four wheels, the impact force from the rear vehicle is converted into an impact torque to assist the deflection of the entire vehicle, so as to provide a steering power source intelligently and flexibly. After the vehicle completes the impact yaw steering, it can stop in the emergency lane under the braking state of the high-frequency braking, so that the vehicle leaves the area that is crushed by the impact of the front and rear vehicles, reducing the safety risks of the occupants due to the pinching.

[0058] In addition, the steer-by-wire system eliminates the mechanical connection of the intermediate shaft and transmits the steering signal of the steering wheel to the steering system at the steering gear end through a wiring harness. Based on a vehicle equipped with a steer-by-wire system, the above-mentioned determination of whether the vehicle's collision reaches the set operating condition, control of the vehicle to perform preset actions and assisting vehicle steering can be achieved without the need to purchase other additional components. The system structure is relatively simple, which reduces the risk of system failure and vehicle configuration requirements, is not restricted by mechanical mechanisms, and improves the response speed of the steering gear, thereby improving the vehicle's steering risk avoidance capability and ensuring the safety of the driver and passengers.

[0059] According to the vehicle steering control method of the embodiment of the present invention, by determining that the collision of the vehicle reaches the set working condition, controlling the vehicle to execute a preset action in the steering planning direction, and assisting the vehicle in steering, it is possible to flexibly and intelligently judge the collision condition, execute anti-collision protection, and provide a steering power source, thereby reducing the requirements for the driver, improving the vehicle's steering risk avoidance capability, and ensuring the safety of the driver and passengers.

[0060] In some embodiments, determining whether the impact of a vehicle reaches a set operating condition includes: obtaining the acceleration of the vehicle when determining that the vehicle collides; determining the impact direction of the vehicle when the acceleration reaches a preset acceleration threshold; and determining that the impact of the vehicle reaches a set operating condition based on the impact direction.

[0061] In an embodiment, the preset acceleration threshold is a value for determining the need to obtain a sensor signal, indicating that the vehicle at this time is at risk of being hit and poses a safety threat to the driver and passengers after being hit; Figure 3 The figure is a schematic diagram of a vehicle driving scene according to an embodiment of the present invention. The vehicle in which the driver and passengers are located is vehicle 100; the front vehicle 50 is the vehicle in front of the vehicle 100 in the driving direction; the rear vehicle 51 is the vehicle behind the vehicle 100 in the driving direction; the set working condition is that the vehicle is in a congested road condition where the vehicle is sandwiched by the front and rear vehicles, hit by the rear vehicle, and the rear ranging sensor is damaged, and the vehicle is at risk of being crushed; when the driving scene of the vehicle 100, for example, on a highway, appears as follows Figure 3 When there are vehicles in front and behind the vehicle 100 shown in the figure, combined with the Figure 1 When the vehicle 100 is hit by the rear vehicle 51, the acceleration sensor 24 uploads the acceleration value generated by the collision to the domain controller 25 to realize the judgment basis for whether to obtain the sensor signal; the domain controller 25 judges whether the acceleration reaches the preset acceleration threshold value according to the obtained acceleration value. If the preset acceleration threshold value has been reached, it indicates that the vehicle is at risk of being hit at this time, and there is a safety threat to the driver and passengers after the collision. It is necessary to further judge the impact direction of the vehicle to lay the foundation for flexible and intelligent judgment of the collision condition; when the domain controller 25 determines that the collision of the vehicle reaches the set condition according to the impact direction of the vehicle, it can be understood that after determining the impact direction of the vehicle, targeted response control can be made. When it is determined that the collision of the vehicle reaches the set condition, it indicates that the vehicle is at risk of being crushed, and the safety of the driver and passengers will be greatly threatened. By determining that the collision of the vehicle reaches the set condition, the steering avoidance control of the vehicle can be realized.

[0062] In some embodiments, determining the impact direction of the vehicle includes: acquiring a status signal of a sensor; the sensor status signal is a damaged signal, and determining the impact direction of the vehicle according to the damaged signal.

[0063] In an embodiment, Figure 1As shown, the status signal of the sensor is a signal of the damaged state of the sensor, for example, a damaged state and an undamaged state; the damaged signal is a signal that the rear ranging sensor has been damaged; the domain controller 25 obtains the status signal of the sensor, for example, when the domain controller 25 determines that the preset acceleration threshold is reached according to the obtained acceleration value, it is necessary to further determine the impact direction of the vehicle, specifically, it is necessary to obtain the status signal of the sensor, when the obtained status signal of the sensor is an undamaged state, it means that the vehicle has not been hit, or has been hit but the degree of impact will not threaten the safety of the driver and passengers, and the vehicle is not at risk of being crushed; when the obtained status signal of the sensor is a damaged state, it means that the vehicle has been hit, and the impact will threaten the safety of the driver and passengers, and the vehicle is at risk of being crushed; by obtaining the sensor The status signal of the sensor is used as the basis for determining the direction of the impact of the vehicle; when the status signal of the sensor obtained by the domain controller 25 is in a damaged state, the corresponding signal is a damaged signal. The direction of the impact can be determined according to the position of the sensor that sends the damaged signal, for example, the impact from the rear or the impact from the front. Specifically, the domain controller 25 detects the status signal of the rear ranging sensor to confirm whether the rear ranging sensor 27 of the vehicle is damaged, so as to confirm whether the dangerous impact comes from the rear of the vehicle 100. If the rear ranging sensor is damaged, the sensor signal is a damaged signal, and the dangerous impact comes from the rear of the vehicle 100, then it is confirmed that the vehicle is encountering the set working condition, and the preset action related to steering avoidance will be executed immediately; otherwise, the vehicle has not reached the set working condition, and the preset action related to steering avoidance will not be executed. By judging whether the sensor signal is a damaged signal, the working condition of the vehicle can be flexibly and intelligently determined.

[0064] In some embodiments, determining that the impact of the vehicle reaches a set operating condition based on the impact direction includes: determining that the impact direction of the vehicle is an impact of a target vehicle in a preset direction, and determining that the impact of the vehicle reaches a set operating condition.

[0065] In the embodiment, the preset direction is the driving direction of the vehicle 100; Figure 1 As shown, when the vehicle 100 is hit by the rear vehicle 51, that is, the impact comes from the driving direction of the vehicle 100, the acceleration sensor 24 uploads the acceleration value generated by the impact to the domain controller 25. If the acceleration value is less than or equal to the set acceleration threshold, it is determined that the impact on the vehicle at this time does not pose a safety threat to the driver and passengers on the vehicle, and the preset action related to steering avoidance is not performed at this time; if the acceleration value of the whole vehicle is greater than or less than the set acceleration threshold, the domain controller detects the rear ranging sensor to obtain the sensor status signal. When the acquired status signal is a damaged signal, it is determined that the impact of the vehicle reaches the set working condition, which provides a basis for flexibly and intelligently determining the working condition of the vehicle.

[0066] In some embodiments, controlling the vehicle to perform a preset action in a planned steering direction includes: controlling the vehicle's wire-controlled steering device and / or tire steering device to perform a preset action in a planned steering direction.

[0067] In an embodiment, the planned steering direction is the direction in which the vehicle turns left or right, which is set to X, where X includes left or right. It is calculated that the vehicle has the highest success rate in avoiding danger in the planned steering direction; the preset action is a steering avoidance action; when the vehicle is controlled to perform the preset action in the planned steering direction, the steering avoidance action is performed in the direction with the highest success rate in avoiding danger by controlling the vehicle's wire steering device and / or tire steering device to realize the execution of steering avoidance control.

[0068] In some embodiments, the vehicle's wire-controlled steering and / or tire steering are controlled to perform preset actions in the steering planned direction, including: controlling the vehicle's wire-controlled steering to run in the steering planned direction to a full rudder state at a preset power and / or controlling the tire steering to run in a direction opposite to the steering planned direction to a full rudder state at a preset power.

[0069] In an embodiment, Figure 4 The figure is a schematic diagram of the vehicle steering effect of an embodiment of the present invention. The preset power is the power required to trigger the full rudder state; Figure 1 As shown, the controlled-by-wire steering gear and / or tire steering gear of the vehicle performs preset actions according to the steering planning direction. For example, after determining that the collision of the vehicle 100 reaches the set working condition, it indicates that the vehicle 100 is hit by the rear vehicle 51, and the rear ranging sensor 27 is damaged. The vehicle is in a working condition under a dangerous collision, which poses a great threat to the safety of the driver and passengers. The preset action related to steering avoidance will be immediately executed, that is, the controlled-by-wire steering gear of the vehicle is controlled to run to a full rudder state in the steering planning direction with a preset power and / or the tire steering gear is controlled to run to a full rudder state in the direction opposite to the steering planning direction with a preset power. For example, first, the steering wheel 23 is clamped for the driver to hold tightly under the set working condition, so as to help the driver stabilize his body under the set working condition; secondly, the domain controller 25 controls the controlled-by-wire steering gear to turn to a full rudder state in the X direction with maximum power, and controls the rear wheel steering gear to turn to a full rudder in the -X direction with maximum power, so as to realize the execution of steering avoidance control, thereby improving the steering avoidance capability of the vehicle and ensuring the safety of the driver and passengers.

[0070] In some embodiments, after controlling the vehicle to perform a preset action according to the steering planning route, it also includes: controlling the front wheels of the vehicle to be in a high-frequency braking state and controlling the rear wheels in the steering planning direction to brake and controlling the rear wheels in the direction opposite to the steering planning direction to be in a high-frequency braking state.

[0071] In an embodiment, Figure 4As shown, after controlling the vehicle to perform the preset action according to the steering planning route, when the rear wheel steering gear reaches the full steering state, the domain controller 25 controls the front wheel brake from the original parking state to the high-frequency braking state, controls the locking state of the rear wheel on the X side, and controls the high-frequency braking state of the rear wheel on the -X side. By controlling the braking state of the four wheels, the impact force from the rear vehicle can be converted into an impact torque to assist the deflection of the entire vehicle, thereby realizing the intelligent and flexible provision of the steering power source.

[0072] In some embodiments, before determining that the collision of the vehicle reaches a set working condition, it also includes: when determining that the vehicle is in a high-speed section and the vehicle is in a preset state, obtaining the relative position of the vehicle and the target vehicle; and determining the steering planning direction according to the relative position.

[0073] In the embodiment, the preset state is to judge that the vehicle has a state of being hit by the wind direction, such as the parking state; before determining that the impact of the vehicle reaches the set working condition, such as Figure 3 As shown, on the highway, when there is a congestion situation where there are vehicles both in front and behind the vehicle 100, combined with Figure 1 , the domain controller 25 determines whether the vehicle is in a high-speed section according to the vehicle's location, speed, driving trajectory and other information, that is, confirms whether the vehicle is at risk of being hit by a dangerous collision; when the vehicle is determined to be in a high-speed section and the vehicle is detected to be in a parking state, the front distance sensor 21 starts scanning and uploads the relative position information with the front vehicle 50 to the domain controller 25, providing a data basis for determining the steering planning direction; the domain controller 25 calculates and compares the success rate of turning to X to avoid danger when the active steering is triggered according to the relative position with the front vehicle. When the calculation result shows that the success rate of active steering in the X direction is high, the active steering is determined to turn to X as the steering planning direction. At this time, the calculation result of X is retained, and the preset action is not triggered to realize the determination of the steering direction to avoid danger.

[0074] In some embodiments, determining that the vehicle is in a preset state includes: obtaining driving parameters and positioning information of the vehicle; determining that the vehicle is in a highway section according to the positioning information and determining that the vehicle is in a preset state according to the driving parameters.

[0075] In an embodiment, the driving parameters of the vehicle include the distance between the vehicle and the preceding vehicle and the speed of the vehicle; the positioning information includes the relative position between the vehicle and the preceding vehicle, the positioning and driving trajectory of the vehicle, and the like; Figure 3As shown, the front ranging sensor 21 starts scanning to confirm the distance between the vehicle 100 and the front vehicle 50, and the information of the left and right relative position to the front vehicle. The common ranging devices of the vehicle, such as lidar sensors and cameras, can also be used to obtain the vehicle's driving parameters and positioning information to realize the judgment of the vehicle's position and state; the domain controller 25 determines whether the vehicle is in a high-speed section and a parking state according to the vehicle's positioning, speed, driving trajectory and other information, which lays the basis for realizing the judgment of the working condition of the vehicle.

[0076] In addition, the steering control method of the vehicle of the above embodiment can be compatible with the original configuration of the vehicle body, and can be adapted to other anti-collision protection methods. For example, the steering control method of the vehicle of the above embodiment can be implemented on a structure equipped with a high-strength vehicle body; after the collision of the vehicle reaches the set working condition, the escape probability of the vehicle occupants can be further improved when multiple anti-collision protection methods are superimposed. For vehicles not equipped with a rear-wheel steering system, the steering control method of the vehicle of the above embodiment can be implemented through coordinated control of the wire-controlled steering gear and the braking system. For vehicles not equipped with a wire-controlled steering system and a rear-wheel steering system, the steering control method of the vehicle of the above embodiment can also be implemented by using the impact torque to complete the deflection only through the coordinated control of the braking system.

[0077] Reference below Figure 5 The vehicle steering control method according to the embodiment of the present invention is described in detail.

[0078] like Figure 5 FIG. 2 is a flow chart of a vehicle steering control method according to another embodiment of the present invention. The vehicle steering control method according to the embodiment of the present invention at least includes steps S10-S23.

[0079] Step S10, obtaining the driving parameters and positioning information of the vehicle.

[0080] Step S11, determining that the vehicle is in a high-speed section according to the positioning information and determining that the vehicle is in a preset state according to the driving parameters.

[0081] Step S12, obtaining the relative position between the vehicle and the target vehicle.

[0082] Step S13, determining the planned turning direction according to the relative position.

[0083] Step S14, determining whether the vehicle has collided.

[0084] Step S15, obtaining the acceleration of the vehicle.

[0085] Step S16, determining whether the acceleration is greater than a preset acceleration threshold. If so, executing step S17; otherwise, executing step S19.

[0086] Step S17, obtaining the status signal of the sensor.

[0087] Step S18, determining whether the sensor status signal is a damaged signal, and determining the impact direction of the vehicle according to the damaged signal. If so, executing step S21; otherwise, executing step S19.

[0088] Step S19, determining that the impact of the vehicle does not reach the set working condition.

[0089] Step S20, maintain the current state.

[0090] Step S21, determining whether the impact of the vehicle reaches a set working condition.

[0091] Step S22, controlling the vehicle's wire-controlled steering device to run in the steering planning direction with a preset power to a full-steering state and / or controlling the tire steering device to run in the direction opposite to the steering planning direction with a preset power to a full-steering state.

[0092] Step S23, controlling the front wheels of the vehicle to be in a high-frequency braking state and controlling the rear wheels in the steering planned direction to be braked and controlling the rear wheels in the direction opposite to the steering planned direction to be in a high-frequency braking state.

[0093] According to the vehicle steering control method of the embodiment of the present invention, by determining that the collision of the vehicle reaches the set working condition, controlling the vehicle to execute a preset action in the steering planning direction, and assisting the vehicle in steering, it is possible to flexibly and intelligently judge the collision condition, execute anti-collision protection, and provide a steering power source, thereby reducing the requirements for the driver, improving the vehicle's steering risk avoidance capability, and ensuring the safety of the driver and passengers.

[0094] Reference below Figure 6 An electronic device according to an embodiment of the present invention is described.

[0095] like Figure 6 , which is a block diagram of an electronic device according to an embodiment of the present invention. The electronic device 90 according to the embodiment of the present invention comprises: at least one processor 101; and a memory 102 in communication with the at least one processor; wherein the memory 102 stores a vehicle steering control program executable by the at least one processor 101, and when the vehicle steering control program is executed by the at least one processor 101, the at least one processor 101 executes the vehicle steering control method according to the above embodiment.

[0096] According to the electronic device 90 of the embodiment of the present invention, by determining that the collision of the vehicle reaches the set working condition, controlling the vehicle to execute a preset action in the steering planning direction, and assisting the vehicle in steering, it is possible to flexibly and intelligently judge the collision condition, perform anti-collision protection, and provide a steering power source, thereby reducing the requirements for the driver, improving the vehicle's steering and risk avoidance capabilities, and ensuring the safety of the driver and passengers.

[0097] In some embodiments, the processor 101 determines that the impact of the vehicle reaches a set operating condition, including: when determining that the vehicle collides, obtaining the acceleration of the vehicle; when the acceleration reaches a preset acceleration threshold, determining the impact direction of the vehicle; and determining that the impact of the vehicle reaches a set operating condition based on the impact direction.

[0098] In some embodiments, the processor 101 determines the impact direction of the vehicle, including: acquiring a status signal of a sensor; the sensor status signal is a damaged signal, and determining the impact direction of the vehicle according to the damaged signal.

[0099] In some embodiments, the processor 101 determines that the impact of the vehicle reaches a set operating condition based on the impact direction, including: determining that the impact direction of the vehicle is an impact of a target vehicle in a preset direction, and determining that the impact of the vehicle reaches a set operating condition.

[0100] In some embodiments, the processor 101 controls the vehicle to perform a preset action in the planned steering direction, including: controlling the vehicle's wire-controlled steering device and / or tire steering device to perform a preset action in the planned steering direction.

[0101] In some embodiments, the processor 101 controls the vehicle's wire-controlled steering and / or tire steering to perform preset actions in the steering planned direction, including: controlling the vehicle's wire-controlled steering to run in the steering planned direction with a preset power to a full-steering state and / or controlling the tire steering to run in the direction opposite to the steering planned direction with a preset power to a full-steering state.

[0102] In some embodiments, after the processor 101 controls the vehicle to perform a preset action according to the steering planning path, it also includes: controlling the front wheels of the vehicle to be in a high-frequency braking state and controlling the rear wheels in the steering planning direction to brake and controlling the rear wheels in the direction opposite to the steering planning direction to be in a high-frequency braking state.

[0103] In some embodiments, before the processor 101 determines that the collision of the vehicle reaches a set working condition, it also includes: when it is determined that the vehicle is in a high-speed section and the vehicle is in a preset state, obtaining the relative position of the vehicle and the target vehicle; and determining the steering planning direction according to the relative position.

[0104] In some embodiments, determining that the vehicle is in a preset state includes: the processor 101 obtains driving parameters and positioning information of the vehicle; the processor 101 determines that the vehicle is in a highway section according to the positioning information and determines that the vehicle is in a preset state according to the driving parameters.

[0105] According to the electronic device 90 of the embodiment of the present invention, by determining that the collision of the vehicle reaches the set working condition, controlling the vehicle to execute a preset action in the steering planning direction, and assisting the vehicle in steering, it is possible to flexibly and intelligently judge the collision condition, perform anti-collision protection, and provide a steering power source, thereby reducing the requirements for the driver, improving the vehicle's steering and risk avoidance capabilities, and ensuring the safety of the driver and passengers.

[0106] The following describes a computer-readable storage medium according to an embodiment of the present invention.

[0107] The computer-readable storage medium of an embodiment of the present invention stores a vehicle steering control program on the computer-readable storage medium. When the vehicle steering control program is executed by a processor, the device installed with the vehicle steering control program implements the vehicle steering control method as described in the above embodiment.

[0108] The following describes a computer program product according to an embodiment of the present invention.

[0109] The computer program product of the embodiment of the present invention includes a computer program, and when the computer program is executed by a processor, the vehicle steering control method as described in the above embodiment is implemented.

[0110] According to the computer program product of the embodiment of the present invention, by determining that the collision of the vehicle reaches the set working condition, controlling the vehicle to execute a preset action in the steering planning direction, and assisting the vehicle in steering, it is possible to flexibly and intelligently judge the collision condition, execute anti-collision protection, and provide a steering power source, thereby reducing the requirements for the driver, improving the vehicle's steering and risk avoidance capabilities, and ensuring the safety of the driver and passengers.

[0111] Next, a vehicle according to an embodiment of the present invention will be described.

[0112] like Figure 7 FIG. 1 is a block diagram of a vehicle according to an embodiment of the present invention. A vehicle 100 includes an electronic device 90 as described in the above embodiment.

[0113] According to the vehicle 100 of the embodiment of the present invention, the vehicle 100 is provided with the electronic device 90 of the above-mentioned embodiment, which can flexibly and intelligently judge the collision condition, perform anti-collision protection and provide a steering power source by determining that the collision of the vehicle reaches the set working condition, controlling the vehicle to perform a preset action in the steering planning direction, and assisting the vehicle in steering, thereby reducing the requirements on the driver, improving the steering risk avoidance capability of the vehicle, and ensuring the safety of the driver and passengers.

[0114] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example.

[0115] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A vehicle steering control method, characterized in that: include: Determine that the impact of the vehicle reaches the set working condition; The vehicle is controlled to perform a preset action according to the steering planning direction to assist the vehicle in steering.

2. The vehicle steering control method according to claim 1, characterized in that: Determine that the vehicle's impact meets the set operating conditions, including: When it is determined that the vehicle collides, acquiring the acceleration of the vehicle; When the acceleration reaches a preset acceleration threshold, determining an impact direction in which the vehicle is impacted; It is determined according to the collision direction whether the collision of the vehicle reaches a set working condition.

3. The vehicle steering control method according to claim 2, characterized in that: Determine the direction of impact from which the vehicle was struck, including: Get the status signal of the sensor; The sensor status signal is a damaged signal, and an impact direction in which the vehicle is impacted is determined according to the damaged signal.

4. The vehicle steering control method according to claim 2, characterized in that: Determining whether the collision of the vehicle reaches a set working condition according to the collision direction includes: Determine that the collision direction of the vehicle is a collision with a target vehicle in a preset direction, and determine that the collision of the vehicle reaches a set working condition.

5. The vehicle steering control method according to claim 1, characterized in that: Controlling the vehicle to perform a preset action according to the steering plan direction, including: The wire-controlled steering device and / or the tire-controlled steering device of the vehicle are controlled to perform a preset action according to the steering planning direction.

6. The vehicle steering control method according to claim 5, characterized in that: Controlling the wire steering device and / or the tire steering device of the vehicle to perform a preset action according to the steering planning direction, including: The vehicle's wire-controlled steering device is controlled to run in the steering planning direction to a full-steering state with a preset power and / or the tire steering device is controlled to run in a direction opposite to the steering planning direction to a full-steering state with the preset power.

7. The vehicle steering control method according to claim 1 or 6, characterized in that: After controlling the vehicle to perform a preset action according to the steering plan path, the method further includes: The front wheels of the vehicle are controlled to be in a high-frequency braking state, the rear wheels in the steering planning direction are controlled to be braked, and the rear wheels in the direction opposite to the steering planning direction are controlled to be in a high-frequency braking state.

8. The vehicle steering control method according to claim 1, characterized in that: Before determining that the impact of the vehicle reaches the set working condition, it also includes: When it is determined that the vehicle is on a high-speed road section and the vehicle is in a preset state, obtaining a relative position between the vehicle and a target vehicle; The planned steering direction is determined according to the relative position.

9. The vehicle steering control method according to claim 8, characterized in that: Determining that the vehicle is in a preset state includes: Obtain the vehicle's driving parameters and positioning information; It is determined that the vehicle is in a high-speed section according to the positioning information and that the vehicle is in a preset state according to the driving parameters.

10. An electronic device, characterized in that: include: at least one processor; and a memory communicatively coupled to the at least one processor; Wherein, the memory stores a vehicle steering control program that can be executed by the at least one processor. When the vehicle steering control program is executed by the at least one processor, the at least one processor executes the vehicle steering control method as described in any one of claims 1-9.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a vehicle steering control program, and when the vehicle steering control program is executed by a processor, a device installed with the vehicle steering control program implements the vehicle steering control method as described in any one of claims 1-9.

12. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the steering control method of the vehicle as claimed in any one of claims 1 to 9 is implemented.

13. A vehicle, characterized in that: include: The electronic device as claimed in claim 10.

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