Steering control method and system, electronic equipment, vehicle and storage medium

Abstract

The embodiment of the invention provides a steering control method and system, electronic equipment, a vehicle and a storage medium, relates to the technical field of automobiles, and aims to solve the problem that the steering behavior of the vehicle is difficult to control under the condition that a steering system fails. The steering control includes, in response to detecting a steering system failure of the vehicle, performing a non-inductive steering operation for causing a driver not to perceive the steering system failure and enabling a steering intention of the driver.

Description

Technical Field

[0001] The present application relates to the field of automobile technology, and in particular to a steering control method, system, electronic equipment, vehicle and storage medium. Background Art

[0002] At present, in the event of a vehicle steering system failure, the steering system no longer provides auxiliary torque for the driver's steering operation. At this time, the vehicle's steering action is completely dependent on the force applied by the driver through the steering wheel. Due to the limited hand strength that the driver can provide, the driver will obviously feel the increased resistance of the steering wheel when turning the steering wheel, the vehicle steering operation becomes extremely laborious, and the vehicle's steering behavior becomes difficult to control, increasing the risk and difficulty of vehicle driving. Summary of the invention

[0003] The object of the present invention is to provide a steering control method, system, electronic device, vehicle and storage medium, aiming to solve the problem that when the vehicle steering system fails, the vehicle steering operation becomes extremely laborious and the vehicle steering behavior becomes difficult to control.

[0004] In order to achieve the above object, the present invention adopts the following technical scheme:

[0005] In a first aspect, the present invention provides a steering control method, the method comprising performing a senseless steering operation in response to a detected steering system failure, the senseless steering operation being used to prevent a driver from perceiving the steering system failure and to implement the driver's steering intention.

[0006] The steering control method provided in the embodiment of the present application performs a senseless steering operation in the event of a steering system failure, and can provide the driver with a smooth steering experience in the event of a steering system failure, allowing the driver to continue to maintain driving consistency and stability without perceiving the failure of the steering system, and can smoothly realize the driver's steering intention.

[0007] In some embodiments, performing a senseless steering operation includes: controlling the steering movement of the rear wheels based on the rotation information of the steering wheel to realize the steering intention of the driver.

[0008] In some embodiments, the rear wheel steering movement is controlled based on the steering wheel rotation information, including: when the steering wheel rotation information indicates that the vehicle is turning in a first direction, controlling the rear wheels to turn in a second direction, the first direction being opposite to the second direction.

[0009] In some embodiments, when the steering wheel rotation information indicates that the vehicle is turning toward a first direction, the rear wheels are controlled to turn toward a second direction, including: when the steering wheel rotation information indicates that the vehicle is turning toward a first direction at a first steering angle, the rear wheels are controlled to turn toward a second direction at a second steering angle, and the second steering angle is determined based on the first steering angle.

[0010] In some embodiments, when the first steering angle is greater than a steering angle threshold, the second steering angle is a maximum steering angle of the rear wheels.

[0011] In some embodiments, when the steering wheel rotation information indicates that the vehicle is turning to a first direction, the rear wheels are controlled to turn to a second direction, including: when the steering wheel rotation information indicates that the vehicle is turning to a first direction, the rear wheel steering motor is controlled to drive the rear wheels to turn to the second direction.

[0012] In some embodiments, based on the steering wheel rotation information, the rear wheel steering movement is controlled to realize the driver's steering intention, including: based on the steering wheel rotation information, applying a first torque to the left rear wheel and applying a second torque to the right rear wheel, the rear wheels including the left rear wheel and the right rear wheel.

[0013] In some embodiments, when the first steering angle indicated by the steering wheel rotation information is greater than a steering angle threshold, there is a torque difference between the first torque and the second torque.

[0014] In some embodiments, when the first steering angle indicated by the steering wheel rotation information is greater than a steering angle threshold, there is a torque difference between the first torque and the second torque, including: when the steering wheel rotation information indicates that the vehicle is turning left, the first torque is less than the second torque; or, when the steering wheel rotation information indicates that the vehicle is turning right, the first torque is greater than the second torque.

[0015] In some embodiments, the vehicle includes at least a first drive motor and The second drive motor, The first drive motor is used to drive the left rear wheel to rotate, and the second motor is used to drive the right rear wheel to rotate; based on the rotation information of the steering wheel, a first torque is applied to the left rear wheel, and a second torque is applied to the right rear wheel. The method includes: based on the rotation information of the steering wheel, controlling the first drive motor to output the first torque, and the second drive motor to output the second torque.

[0016] In some embodiments, the vehicle further includes a third drive motor, and the third drive motor is used to drive the front wheels to move.

[0017] In some embodiments, controlling the rear wheel steering movement based on the steering wheel rotation information includes: applying a braking force to at least one front wheel based on the steering wheel rotation information to generate an additional yaw moment required for vehicle steering.

[0018] In some embodiments, applying braking force to at least one front wheel based on steering wheel rotation information includes: applying braking force to at least one front wheel when a first steering angle indicated by the steering wheel rotation information is greater than a steering angle threshold.

[0019] In some embodiments, when a first steering angle indicated by steering wheel rotation information is greater than a steering angle threshold, braking force is applied to at least one front wheel, including: when the steering wheel rotation information indicates that the vehicle is turning left, applying a first braking force to the left front wheel; or, when the steering wheel rotation information indicates that the vehicle is turning right, applying a second braking force to the right front wheel.

[0020] In some embodiments, when a first steering angle indicated by the steering wheel rotation information is greater than a steering angle threshold, a braking force is applied to at least one front wheel, including: when the steering wheel rotation information indicates that the vehicle is turning left, a first braking force is applied to the left front wheel, and a second braking force is applied to the right front wheel, and the first braking force is greater than the second braking force; or, when the steering wheel rotation information indicates that the vehicle is turning right, a first braking force is applied to the left front wheel, and a second braking force is applied to the right front wheel, and the first braking force is less than the second braking force.

[0021] In some embodiments, performing the senseless steering operation includes: based on the rotation information of the steering wheel, controlling the hand feeling simulation unit to provide damping when the steering wheel moves, so as to provide a steering simulation hand feeling.

[0022] In some embodiments, the damping magnitude provided by the hand feeling simulation unit is related to the first steering angle indicated by the rotation information of the steering wheel.

[0023] In some embodiments, the steering wheel rotation information includes the steering wheel torque and / or steering angle.

[0024] In some embodiments, performing a senseless steering operation includes: controlling a steering gear on-off device to disconnect the connection between the steering wheel and the front axle steering gear.

[0025] In some embodiments, performing the senseless steering operation includes: performing the senseless steering operation when the driving speed of the vehicle is less than a speed threshold.

[0026] In the second aspect, an embodiment of the present application provides a steering control system, which includes: a steering wheel; a steering wheel sensor, which is used to collect rotation information of the steering wheel; and a control unit, which is configured to: in response to detecting a failure of the vehicle's steering system, perform a senseless steering operation, which is used to prevent the driver from feeling the failure of the steering system and to enable the driver to realize his steering intention.

[0027] In some embodiments, the control unit is specifically configured to: when the steering wheel rotation information indicates that the vehicle is turning in a first direction, control the rear wheels to turn in a second direction, and the first direction is opposite to the second direction.

[0028] In some embodiments, the control unit is specifically configured to: when the steering wheel rotation information indicates that the vehicle is turning in a first direction at a first steering angle, control the rear wheel steering motor to drive the rear wheels to turn in a second direction at a second steering angle, and the second steering angle is determined based on the first steering angle.

[0029] In some embodiments, when the first steering angle is greater than a steering angle threshold, the second steering angle is a maximum steering angle of the rear wheels.

[0030] In some embodiments, the steering control system also includes: a wheel steering system, the wheel steering system includes at least a rear wheel steering motor; a control unit, specifically configured to: when the steering wheel rotation information indicates that the vehicle is turning in a first direction, control the rear wheel steering motor to drive the rear wheels to turn in a second direction.

[0031] In some embodiments, the steering control system also includes: a drive system for driving the wheel movement; a control unit, specifically configured to: apply a first torque to the left rear wheel and a second torque to the right rear wheel based on the steering wheel rotation information.

[0032] In some embodiments, when the first steering angle indicated by the steering wheel rotation information is greater than a steering angle threshold, there is a torque difference between the first torque and the second torque.

[0033] In some embodiments, when the steering wheel rotation information indicates that the vehicle is turning left, the first torque is less than the second torque; or, when the steering wheel rotation information indicates that the vehicle is turning right, the first torque is greater than the second torque.

[0034] In some embodiments, the drive system includes at least a first drive motor and a second drive motor, the first drive motor is used to drive the left rear wheel to move, and the second motor is used to drive the right rear wheel to move; the control unit is specifically configured to: based on the rotation information of the steering wheel, control the first drive motor to output a first torque, and the second drive motor to output a second torque.

[0035] In some embodiments, the drive system further includes a third drive motor, and the third drive motor is used to drive the front wheels to move.

[0036] In some embodiments, the steering control system further includes: a braking system; and a control unit specifically configured to: apply braking force to at least one front wheel based on steering wheel rotation information to generate additional yaw torque required for vehicle steering.

[0037] In some embodiments, when a first steering angle indicated by the steering wheel rotation information is greater than a steering angle threshold, a braking force is applied to at least one front wheel.

[0038] In some embodiments, when the steering wheel rotation information indicates that the vehicle is turning left, a first braking force is applied to the left front wheel; or, when the steering wheel rotation information indicates that the vehicle is turning right, a second braking force is applied to the right front wheel.

[0039] In some embodiments, when the steering wheel rotation information indicates that the vehicle is turning left, a first braking force is applied to the left front wheel and a second braking force is applied to the right front wheel, and the first braking force is greater than the second braking force; or, when the steering wheel rotation information indicates that the vehicle is turning right, a first braking force is applied to the left front wheel and a second braking force is applied to the right front wheel, and the first braking force is less than the second braking force.

[0040] In some embodiments, the steering control system further includes: a hand feel simulation unit; and a control unit, which is specifically configured to: based on the rotation information of the steering wheel, control the hand feel simulation unit to provide damping when the steering wheel moves, so as to provide a steering simulation feel.

[0041] In some embodiments, the damping magnitude provided by the hand feeling simulation unit is related to the first steering angle indicated by the rotation information of the steering wheel.

[0042] In some embodiments, the steering wheel rotation information includes the steering wheel torque and / or steering angle.

[0043] In some embodiments, the control unit is specifically configured to: control the steering gear on-off device to disconnect the connection between the steering wheel and the front axle steering gear.

[0044] In some embodiments, embodiments of the present application provide a steering control system for implementing the method provided by the first aspect and possible implementation methods thereof.

[0045] In a third aspect, an embodiment of the present application provides a steering control device, which includes: an execution unit, configured to perform a senseless steering operation when a failure of an electric power steering system of a vehicle is detected.

[0046] In a fourth aspect, an embodiment of the present application provides an electronic device, including a processor and a memory, wherein the processor is connected to the memory, and the memory stores computer instructions. When the computer instructions are executed on the electronic device, the electronic device executes the method provided by the first aspect and its possible implementation methods.

[0047] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores computer execution instructions. When the computer execution instructions are executed on a computer, the computer executes the method provided by the first aspect and its possible implementation methods.

[0048] In a sixth aspect, an embodiment of the present application provides a vehicle, comprising: a controller, the controller being used to execute the method provided by the first aspect and its possible implementation; or, the steering control system provided by the second aspect; or, the electronic device provided by the fourth aspect; or, the computer-readable storage medium provided by the fifth aspect.

[0049] In a seventh aspect, an embodiment of the present application provides a computer program product, which includes instructions. When the instructions are executed on a computer, the computer executes the method provided by the first aspect and its possible implementation methods.

[0050] The technical effects brought about by any implementation method in the above-mentioned second to seventh aspects can refer to the technical effects brought about by the corresponding implementation method in the first aspect, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0052] Figure 1 A schematic diagram of the structure of an electric power steering system provided in an embodiment of the present application;

[0053] Figure 2 A schematic diagram of the structure of a steering control system provided in an embodiment of the present application;

[0054] Figure 3 A schematic diagram of the structure of a steering control system provided in an embodiment of the present application;

[0055] Figure 4 A schematic diagram of a hand feeling simulation unit structure provided in an embodiment of the present application;

[0056] Figure 5 A schematic diagram of a steering feel curve simulated by a feel simulation unit provided in an embodiment of the present application;

[0057] Figure 6 A schematic diagram of the structure of a steering control system in the event of a failure of an EPS steering assist system provided in an embodiment of the present application;

[0058] Figure 7 A schematic diagram of a steering control method flow chart provided in an embodiment of the present application;

[0059] Figure 8 A schematic diagram of the structure of a steering control system provided in an embodiment of the present application for controlling the rear wheels to steer left;

[0060] Fig. 9 A schematic diagram of the structure of a steering control system provided in an embodiment of the present application for controlling the rear wheels to steer right;

[0061] Fig.10 A schematic diagram of a structure of a steering control system provided in an embodiment of the present application for controlling the front wheels to steer left;

[0062] Fig.11 A schematic diagram of the structure of a steering control system provided in an embodiment of the present application for controlling the front wheels to steer right;

[0063] Fig.12 A schematic diagram of a steering control method flow chart provided in an embodiment of the present application;

[0064] Fig.13 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0065] The following will be combined with the drawings in this application to clearly and completely describe the technical solutions in this application. Obviously, the described embodiments are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0066] It should be noted that, in this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in this application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0067] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0068] In the description of this application, unless otherwise specified, " / " means "or", for example, A / B can mean A or B. "And / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, "at least one" means one or more, and "multiple" means two or more.

[0069] At present, the steering system of a vehicle includes at least: Electric Power Steering (EPS), electronic hydraulic power steering, and wire-controlled steering. When the above vehicle steering systems fail, the steering action of the vehicle is completely dependent on the force applied by the driver through the steering wheel. Since the hand strength that the driver can provide is limited, the driver will obviously feel the increased resistance of the steering wheel when turning the steering wheel, and the vehicle steering operation becomes extremely laborious, and the steering behavior of the vehicle becomes difficult to control.

[0070] Among them, Figure 1 As shown, taking the electric power steering system as an example, a schematic diagram of the structure of an electric power steering system provided by an embodiment of the present application is shown, wherein the core components of the steering system include: a steering wheel 101, a steering wheel angle torque sensor 102, a steering column 103, a universal joint 104, a steering gear 105, an EPS controller 106, an EPS power motor 107, a steering tie rod 108, a left front wheel 109a, and a right front wheel 109b.

[0071] In some embodiments, the steering wheel 101 is directly connected to the steering wheel angle torque sensor 102 for transmitting the driver's steering intention and the rotational force applied to the steering wheel when the driver manipulates the steering wheel.

[0072] In some embodiments, the steering wheel angle torque 102 is connected to the steering wheel 101 to detect the steering wheel angle and torque signals, and transmit the detected signals to the EPS controller 106 .

[0073] In some embodiments, the steering column 103 connects the steering wheel 101 and the universal joint 104 and is responsible for converting the rotational force applied by the driver to the steering wheel into mechanical energy and transmitting it to the steering gear 105, thereby driving the wheels to steer.

[0074] In some embodiments, the universal joint 104 is located between the steering column 103 and the steering gear 105, and transmits the rotational force received by the steering column 103 to the steering gear 105 at a constant speed through its internal cross shaft or ball cage structure, thereby driving the wheels to steer.

[0075] In some embodiments, the steering gear 105 is used to receive the rotational force transmitted from the universal joint 104 and convert the rotational force into the steering action of the wheel. At the same time, the steering gear 105 also receives the power torque from the EPS power motor 107 to jointly promote the steering process of the vehicle.

[0076] In some embodiments, the EPS controller 106 is used to receive the signal of the steering wheel angle torque sensor 102, calculate the power assist torque required for vehicle steering according to an algorithm, and control the EPS power assist motor 107 to output the corresponding torque.

[0077] In some embodiments, the EPS power-assisting motor 107 is used to output power-assisting torque to the steering gear 105 according to the instructions of the EPS controller 106, so as to assist the driver in completing the steering action; the steering rod 108 is used to connect the steering gear 105, the left front wheel 109a and the right front wheel 109b, and convert the movement of the steering gear into the rotation of the wheels.

[0078] As an example, during normal operation of the EPS system, the driver inputs a steering command by rotating the steering wheel 101, and the steering command is transmitted to the steering gear 105 through the steering column 103 and the universal joint 104. At the same time, the EPS controller 106 controls the EPS power-assisted motor 107 to output a matching power-assisted torque to the steering gear 105 according to the steering wheel angle and torque signal collected by the steering wheel angle torque sensor 102. In this way, the hand force applied by the driver and the power-assisted torque output by the EPS power-assisted motor 107 jointly push the steering gear 105 to move laterally, and then drive the left front wheel 109a and the right front wheel 109b to rotate through the steering tie rod 108, thereby realizing the steering control of the vehicle.

[0079] As another example, when the EPS steering system fails, the EPS power-assist motor 107 stops working and cannot provide the necessary power-assist torque for the steering process. At this time, the rotation of the steering gear 105 needs to rely entirely on the rotational force applied by the driver to the steering wheel. However, since the hand force that the driver can provide is relatively limited, it is difficult for the driver to effectively turn the steering wheel 101. At the same time, after the steering gear 105 loses the power-assist torque output by the EPS power-assist motor 107, it only relies on the limited rotational force provided by the driver, resulting in a significant reduction in the displacement of the steering gear 105 and a limited front wheel turning angle. The steering ability of the entire steering system is significantly reduced and cannot meet the normal steering needs of the driver. In addition, the failure of the EPS power-assist steering system also causes the driver to feel that the steering wheel feels significantly harder when turning the steering wheel, the steering operation becomes laborious and the response is nonlinear, lacks the proper comfort, and seriously weakens the driver's steering perception ability.

[0080] In response to the above problems, the present application provides a steering control method that performs senseless steering operations in the event of a steering system failure. This method can provide the driver with a smooth steering experience in the event of a steering system failure, allowing the driver to continue to maintain driving consistency and stability without perceiving a system failure, and can smoothly implement the driver's steering intentions, thereby improving the driver's driving experience.

[0081] For ease of understanding, the system architecture of the application of the embodiment of the present application is introduced below, taking the electric power steering system as an example. It should be noted that the system architecture and business scenarios described in this application are for the purpose of more clearly illustrating the technical solution of the present application, and do not constitute a limitation on the technical solution provided by the present application. A person of ordinary skill in the art will know that with the evolution of the system architecture and the emergence of new business scenarios, the technical solution provided by the present application is also applicable to similar technical problems. For example, the technical solution provided by the present application is also applicable to scenarios where the electronic hydraulic power steering system loses control, or scenarios where the wire-controlled steering system fails, etc.

[0082] Figure 2 A schematic diagram of the structure of a steering control system provided in an embodiment of the present application. Figure 2 As shown, the steering control system 200 includes:

[0083] A control unit 201, the control unit 201 is responsible for controlling various components in the steering control system. In some embodiments, the control unit 201 performs a senseless steering operation in response to detecting a failure of the electric power steering system of the vehicle, and the senseless steering operation is used to make the driver unaware of the failure of the electric power steering system and to achieve the driver's steering intention. Optionally, the control unit 201 can be a chassis domain control electronic control unit (ECU).

[0084] A wheel steering system, which is used to drive the wheel steering. The wheel steering system at least includes a rear wheel steering motor, such as a left rear steering motor 202a and a right rear steering motor 202b, wherein the left rear steering motor 202a is used to drive the left rear wheel steering. The right rear steering motor 202b is used to drive the right rear wheel steering. Optionally, the wheel steering system may also include a front wheel steering motor, such as a left front steering motor and a right front steering motor.

[0085] A drive system is used to drive the wheels. For example, the drive system can be a three-motor distributed independent drive system or a four-motor distributed independent drive system. Taking the three-motor distributed independent drive system as an example, Figure 2As shown, the drive system may include a first drive motor 203a, a second drive motor 203b, and a third drive motor 203c. The first drive motor 203a and the second drive motor 203b are independently connected to the left rear wheel and the right rear wheel, respectively, to achieve independent drive of the rear wheels, thereby enhancing the flexibility of vehicle control and driving stability. The third drive motor 203c is connected to the front axle of the vehicle, responsible for providing braking force for the front axle to ensure the power output of the vehicle moving forward.

[0086] Braking system( Figure 2 In some embodiments, the braking system applies braking force to at least one front wheel to generate an additional yaw moment.

[0087] In some embodiments, the control unit 201 can realize the non-sensing steering operation of the vehicle by controlling at least one of the wheel steering system, the driving system and the braking system. The specific introduction can be found below and will not be repeated here.

[0088] Figure 3 A schematic diagram of a steering control system structure provided in an embodiment of the present application. Figure 3 As shown, the steering control system 200 also includes:

[0089] A steering wheel 204 , by manipulating the steering wheel 204 , the driver can control the driving direction of the vehicle.

[0090] Steering wheel sensor 205: The steering wheel sensor 205 is used to collect the rotation information of the steering wheel.

[0091] The hand feeling simulation unit 206 is used to provide damping when the steering wheel moves, so as to provide a steering simulation hand feeling.

[0092] The steering gear on-off device 207 is used to control the connection between the steering wheel and the front axle wheel steering system.

[0093] In some embodiments, Figure 3 As shown, the steering control system 200 also includes: a steering column 208 and a universal joint 209; wherein the steering column 208 is connected to the steering wheel 204; the steering column 208 is connected to the universal joint 209; the steering column 208 and the universal joint 209 are responsible for transmitting the steering force of the steering wheel to the wheel steering system.

[0094] As a possible implementation method, the steering wheel 204 is used to input the driver's steering force; the steering wheel sensor 205 is responsible for measuring the steering wheel angle signal and the torque signal; the feel simulation unit 206 is responsible for simulating the steering feel after steering failure; the steering gear on-off device 207 is responsible for cutting off the mechanical connection between the steering wheel and the wheel steering system and cutting off the transmission path; the steering column 208 and the universal joint 209 are responsible for transmitting the steering force of the steering wheel to the wheel steering system; the wheel steering system is responsible for converting the force from the steering wheel into a deflection action of the wheel; the braking system is responsible for braking the front wheels of the vehicle; the drive system is responsible for providing steering assistance to the wheel steering system; the control unit 201 is responsible for receiving the relevant signals sent by the direction sensor 205, identifying the driver's steering intention, and controlling the drive system, the steering gear on-off device 207 and the feel simulation unit 206.

[0095] As an example, Figure 4 A schematic diagram of the structure of a hand feeling simulation unit provided in an embodiment of the present application. The hand feeling simulation unit 206 includes: a shell 301, a rotating shaft 302, a magnetorheological fluid 303, an excitation coil 304, a turntable 305, a mounting bearing 306, and a bearing end cover 307. The shell 301 is the external structure of the entire simulator, which is used to support all components inside the simulator to ensure the overall stability and durability of the simulator; the rotating shaft 302 and the turntable 305 are connected by a fixed connection design to ensure synchronous rotation between the two; the bearing 306 is used to support the rotating shaft 302 to ensure the coaxiality between the rotating shaft 302 and the turntable 305; the magnetorheological fluid 303 is the core material of the simulator, which is enclosed inside the shell 301 and is located between the rotating shaft 302 and the turntable 305; the excitation coil 304 is installed inside the shell to generate a magnetic field, and the strength of the magnetic field is changed by adjusting the current, thereby achieving precise control of the viscosity of the magnetorheological fluid 303.

[0096] It should be noted that the magnetorheological fluid 303 has a unique property that can change rapidly under the action of an external magnetic field, thereby directly affecting the resistance characteristics of the hand feel simulator. Exemplarily, when the hand feel simulation unit 306 is not in operation, the excitation coil 304 is in a power-off state, and the excitation coil does not generate a magnetic field. At this time, the magnetorheological fluid 303 is in a completely liquid state. Therefore, when the shaft 302 drives the turntable 305 to rotate freely, the magnetorheological fluid 303 will not cause any obstruction to the transmission of the shaft and the turntable. When the hand feel simulation unit 306 is working, the excitation coil 304 is energized and generates a magnetic field. The magnetic field acts on the magnetorheological fluid 303, causing its viscosity to increase rapidly, and the magnetorheological fluid 303 changes from a liquid state to a quasi-solid state. In this state, when the shaft 302 drives the turntable 305 to rotate, the magnetorheological fluid 303 with increased viscosity will generate significant shear force on both sides of the turntable 305, thereby hindering the rotation of the turntable 305.

[0097] It can be understood that after the control unit 201 controls the feel simulation unit 206 to be powered on, the feel simulation unit 206 can output a corresponding damping torque and transmit the damping torque to the steering wheel through the steering wheel column, so that the driver can feel the desired steering wheel feel force when operating the steering wheel, thereby achieving accurate simulation of the steering wheel feel after steering failure.

[0098] Exemplarily, the steering wheel feel simulated by the feel simulation unit 206 may include: sport feel, standard feel, and comfortable feel. Figure 5 FIG. 2 is a schematic diagram of a steering feel curve simulated by a feel simulation unit according to an embodiment of the present application. The feel simulation unit 206 calculates the output steering wheel hand force corresponding to the steering wheel angle of different steering wheel feel styles through a feel design algorithm.

[0099] Combination Figure 3 and Figure 4 In some embodiments, when the EPS system is working normally, the steering power motor is in working state, while the hand feeling simulation unit 206 is in non-working state, the hand feeling simulation unit does not generate any damping force, and the clutch is in a coupled state. When the driver turns the steering wheel, the steering force of the driver can be effectively transmitted to the steering gear through the clutch and the steering column. At the same time, the control unit 201 controls the drive system to output the corresponding power torque to the wheel steering system according to the received steering wheel angle and torque signal. Under the joint action of the driver's steering force and the motor power torque, the wheel steering system drives the front wheels through the braking system to achieve steering action.

[0100] For example, see Figure 6 After the EPS steering assist system fails, the steering gear on-off device 207 is disconnected, cutting off the mechanical connection between the steering wheel 204 and the wheel steering system. The steering control system 201 switches to the "non-sensing" working mode, that is, the power steering motor is in a non-working state, while the feel simulation unit 206 is in a working state, and starts to generate a damping torque simulating the steering feel force.

[0101] It should be understood that the steering control method provided in the embodiment of the present application can be applied to the control unit 201 in the above-mentioned steering control system.

[0102] In some embodiments, Figure 7 The embodiment of the present application provides a steering control method, including step S701. The details are as follows:

[0103] S701: In response to detecting a steering system failure of the vehicle, performing a sensorless steering operation.

[0104] Among them, the senseless steering operation is used to make the driver unaware of the failure of the steering system and to realize the driver's steering intention.

[0105] The control unit 201 monitors the operating status of the steering system in real time through a built-in fault detection module, and performs a senseless steering operation when a steering system failure of the vehicle is detected.

[0106] As a feasible implementation method, the above-mentioned senseless steering operation includes: based on the steering wheel rotation information, controlling the steering movement of the rear wheels to realize the driver's steering intention. Among them, the steering wheel rotation information includes the torque and / or angle of the steering wheel. It can be understood that the torque of the steering wheel reflects the amount of force applied by the driver to the steering wheel, while the angle shows the angle of rotation of the steering wheel. Therefore, the driver's steering intention can be identified through the steering wheel rotation information. Secondly, due to the failure of the EPS steering power system, the EPS power motor cannot drive the front wheels to steer. Therefore, when the EPS steering power system fails, the driver's steering intention can be realized by driving the steering movement of the rear wheels.

[0107] Exemplary, combined Figure 2 and Figure 3 As shown, when the control unit 201 detects that the vehicle electric resistance system fails, the steering wheel rotation information (such as the torque and / or angle of the steering wheel) is analyzed by a preset algorithm to identify the driver's steering intention. Based on the identified steering intention of the driver, the first drive motor 202a, the second drive motor 202b, the left rear steering motor 204a and the right rear steering motor 204b or the third drive motor 202c, the left rear steering motor 204a and the right rear steering motor 204b are driven through differential drive and rear wheel steering technology to realize the driver's steering intention.

[0108] As another feasible implementation, the above-mentioned performing of the senseless steering operation includes: based on the steering wheel rotation information, controlling the hand feeling simulation unit to provide damping when the steering wheel is in operation, so as to provide a steering simulation hand feeling, wherein the damping magnitude provided by the hand feeling simulation unit is related to the first steering angle indicated by the steering wheel rotation information.

[0109] It should be understood that when the control unit receives the steering wheel rotation information, it will calculate the damping force to be applied to the steering wheel according to the preset algorithm and parameters, and then send a control instruction to the hand feeling simulation unit to cause the motor or actuator inside it to generate the corresponding damping force.

[0110] Specific, combined Figure 3 and Figure 5As shown, the control unit 201 energizes the feel simulation unit 206 in response to detecting that the EPS steering power system of the vehicle has failed. Based on the received steering wheel rotation information, the control unit 201 calculates the damping force that needs to be applied to the steering wheel based on the preset algorithm and parameters. Then, an instruction is sent to the feel simulation unit 206, so that the feel simulation unit 206 generates a corresponding damping torque to provide the driver with a torque that simulates the steering feel, so that the driver does not perceive the failure of the electric power steering system after the EPS steering power system fails. Furthermore, in order to more realistically simulate the steering feel of the driver during driving, the damping size provided by the feel simulation unit is related to the first steering angle indicated by the steering wheel rotation information.

[0111] As a feasible implementation method, the control unit controls the steering gear on-off device to disconnect the connection between the steering wheel and the front axle steering gear.

[0112] It should be understood that when the EPS power steering system fails, the driver will feel heavy steering or complete lack of steering force when turning the steering wheel. Therefore, the steering gear on-off device is controlled to disconnect the connection between the steering wheel and the front wheel steering system to ensure that the driver can still maintain control of the steering wheel when the EPS power steering system fails.

[0113] Specific, combined Figure 3 and Figure 6 As shown, the control unit 201 automatically disconnects the steering gear on-off device 207 in response to detecting that the vehicle's EPS steering power system has failed. When the driver turns the steering wheel 204, the steering force cannot be transmitted to the steering column 208, the universal joint 209 and the wheel steering system, thereby cutting off the mechanical connection between the steering wheel and the front wheels, thereby preventing the driver from feeling any effort when operating the steering wheel.

[0114] It can be seen that the steering control method provided in the embodiment of the present application can perform a senseless steering operation when the vehicle steering system fails, and can provide the driver with a smooth steering experience when the vehicle steering system fails, so that the driver can continue to maintain driving consistency and stability without perceiving that the system has failed, and can smoothly realize the driver's steering intention, thereby improving the driver's driving experience.

[0115] In some embodiments, in the above embodiments, based on the steering wheel rotation information, the rear wheel steering movement is controlled to realize the driver's steering intention, which can be specifically as follows: when the steering wheel rotation information indicates that the vehicle is turning to a first direction, the rear wheel steering motor is controlled to drive the rear wheels to turn to a second direction, and the first direction is opposite to the second direction.

[0116] It should be understood that in the case of EPS steering assistance system failure, based on the steering information of the steering wheel, the rear wheels are controlled to produce a steering action opposite to the steering wheel angle, thereby generating an auxiliary torque. This auxiliary torque can act on the rear wheels of the vehicle, interact with the steering torque applied by the driver through the steering wheel, and jointly determine the steering behavior of the vehicle, thereby realizing the driver's steering intention.

[0117] For example, Figure 8 As shown in (a), when the steering wheel rotation information indicates that the driver wants to control the steering wheel to turn left, the control unit identifies the driver's steering intention to turn left based on the first preset algorithm and the steering wheel rotation information, and then controls the left rear wheel steering motor and the right rear wheel steering motor to drive the left rear wheel and the right rear wheel to turn right. The first preset algorithm is used to identify the steering intention of the steering wheel.

[0118] As a feasible implementation method, the above-mentioned first preset algorithm can be a driver steering intention recognition algorithm. The control unit performs logical operations on the received steering wheel angle signal and torque signal based on the driver steering intention recognition algorithm, so as to identify the driver's steering intention when the EPS steering assist system fails.

[0119] The driver's steering intention recognition algorithm can be implemented by dividing the driver's overall steering intention into numerous intention recognition tasks within differential time. In each unit time, the driver's steering intention within the next unit is recognized based on the steering wheel angle change and torque change. The first preset algorithm used in the embodiment of the present application is not limited to the possible implementation methods provided in the above embodiments.

[0120] Another exemplary example is Fig. 9 As shown in (a), in the case of failure of the EPS steering system, when the steering wheel rotation information indicates that the driver desires to control the steering wheel to turn right, the control unit recognizes the driver's steering intention to turn right based on the steering wheel rotation information, and controls the left rear wheel steering motor and the right rear wheel steering motor to drive the left rear wheel and the right rear wheel to turn left.

[0121] As a feasible implementation method, when the steering wheel rotation information indicates that the vehicle is turning in a first direction at a first steering angle, the rear wheel steering motor is controlled to drive the rear wheels to turn in a second direction at a second steering angle, and the second steering angle is determined based on the first steering angle.

[0122] It should be understood that the direction and the steering angle of the rear wheel steering motor driving the rear wheel steering are calculated based on the first steering angle of the vehicle indicated in the steering wheel rotation information generated by the driver turning the steering wheel. It should be noted that the proportional relationship between the first steering angle and the second steering angle can be determined based on factors such as the steering characteristics of the vehicle, the wheelbase, the wheelbase, the driving speed of the vehicle, the center of gravity distribution, the tire characteristics, etc., and this application does not limit this.

[0123] In some embodiments, since the rear wheel steering angle is subject to some structural limitations, it cannot be increased indefinitely with the increase of the first steering angle. Therefore, as a feasible implementation, when the first steering angle is greater than the steering angle threshold, the second steering angle is the maximum steering angle of the rear wheels.

[0124] It is understandable that, since the rear wheel steering angle is limited, when the first steering angle of the steering wheel is greater than a preset steering angle threshold, the second steering angle of the rear wheels of the vehicle is the maximum steering angle of the rear wheels.

[0125] It should be noted that the first steering angle can be divided into a small steering angle and a large steering angle based on the size of the steering angle. Exemplarily, when the first steering angle is less than a steering angle threshold, the first steering angle is determined to be a small steering angle; when the first steering angle is greater than a preset steering angle threshold, the first steering angle is determined to be a large steering angle.

[0126] Exemplarily, a mapping relationship between the steering wheel angle and the rear wheel steering angle is established. For small-angle steering, the mapping relationship can be direct, such as when the steering wheel is turned 10°, the rear wheel also turns a small but fixed angle. For large-angle steering, the mapping relationship can be set to turn the rear wheel to its maximum steering angle. That is, when the steering wheel turns beyond a certain threshold, the rear wheel will no longer increase the steering angle in proportion, but will directly turn to its maximum allowable angle.

[0127] It can be seen that in the embodiment of the present application, when the EPS steering assist system fails, the driver can still indicate the vehicle's steering intention by turning the steering wheel and maintain control of the vehicle through the rear-wheel steering system, effectively avoiding traffic accidents caused by the failure of the EPS steering assist system.

[0128] In some embodiments, the driver's steering intention can be achieved by applying torques of different magnitudes to the rear wheels of the vehicle.

[0129] That is, as a feasible implementation method, the above embodiment controls the steering movement of the rear wheels based on the rotation information of the steering wheel to realize the driver's steering intention, which can be specifically as follows: based on the rotation information of the steering wheel, drive the left rear wheel drive motor to apply a first torque to the left rear wheel, and drive the right rear wheel drive motor to apply a second torque to the right rear wheel.

[0130] It is understandable that, since the steering wheel rotation information can represent the driver's steering intention, the control unit can calculate according to the steering wheel rotation information, and can obtain the torque values ​​that need to be applied to the left rear wheel and the right rear wheel required to realize the driver's steering intention. And based on the calculated torque values ​​(first torque and second torque), the left rear wheel drive motor and the right rear wheel drive motor are respectively applied to the left rear wheel and the right rear wheel. Thus, by controlling the torque application of the left rear wheel and the right rear wheel, the left rear wheel and the right rear wheel can move according to the driver's steering intention.

[0131] As a feasible implementation, when the first steering angle indicated by the steering wheel rotation information is greater than the steering angle threshold, there is a torque difference between the first torque applied by the control unit to the left rear wheel and the second torque applied to the right rear wheel.

[0132] It should be understood that since the rear-wheel steering system has a certain steering angle range, the steering angle range is limited by factors such as mechanical structure, tire characteristics, and vehicle design. Therefore, when the steering wheel rotation angle reaches or exceeds the steering angle threshold, the rear wheel cannot continue to increase its steering angle proportionally, but will maintain the maximum steering angle. At this time, if the vehicle steering angle is to exceed the steering angle threshold, it is necessary to assist the vehicle in completing the steering by controlling the torque difference between the left rear wheel and the right rear wheel. Therefore, only when the steering wheel rotation angle exceeds the steering angle threshold, the control unit will start the adjustment mechanism for the difference in driving torque between the left rear wheel and the right rear wheel. When the steering wheel rotation angle does not exceed the steering angle threshold, the control unit does not need to make a difference adjustment to the torque of the left rear wheel and the right rear wheel.

[0133] As a feasible implementation method, when the first steering angle indicated by the steering wheel rotation information is greater than the steering angle threshold, there is a torque difference between the first torque and the second torque, including: when the steering wheel rotation information indicates that the vehicle is turning right, the first torque is less than the second torque; or, when the steering wheel rotation information indicates that the vehicle is turning left, the first torque is greater than the second torque.

[0134] It should be understood that, when the steering wheel rotation information indicates that the vehicle is turning left, the control unit controls the left rear wheel drive motor and the right rear wheel drive motor to output the first torque and the second torque respectively. The first torque output by the left rear wheel drive motor is greater than the second torque output by the right rear wheel drive motor. In this way, based on the torque difference between the left rear wheel drive motor and the right rear wheel drive motor, an additional yaw moment in the counterclockwise direction is generated on the rear of the vehicle, thereby enhancing the left turning capability of the vehicle and ensuring that the vehicle can make a large left turn based on the driver's steering intention.

[0135] For example, Figure 8 As shown in (b), when the steering wheel rotation information indicates that the vehicle turns left and exceeds the steering angle threshold, the control unit can calculate the additional yaw moment required to turn left by the angle according to the current steering angle, vehicle speed, acceleration, tilt angle and other parameters. At this time, based on the magnitude of the additional yaw moment, the control unit controls the left rear wheel drive motor to output a relatively small first torque, and controls the right rear wheel drive motor to output a relatively large second torque. In this way, based on the torque difference between the left rear wheel drive motor and the right rear wheel drive motor, an additional yaw moment in the counterclockwise direction is generated on the rear of the vehicle, thereby enhancing the left steering capability of the vehicle and ensuring that the vehicle can make a large left turn based on the driver's steering intention.

[0136] When the steering wheel rotation indication information indicates that the vehicle is turning right, the first torque applied by the control unit to the left rear wheel is smaller than the second torque applied to the right rear wheel. In this way, based on the torque difference between the left rear wheel drive motor and the right rear wheel drive motor, an additional yaw moment in the clockwise direction is generated on the rear of the vehicle, thereby enhancing the right turning capability of the vehicle and ensuring that the vehicle can make a large right turn based on the driver's steering intention.

[0137] For example, Fig. 9 As shown in (b), when the steering wheel rotation information indicates that the vehicle turns right beyond the steering angle threshold, the control unit can calculate the additional yaw moment required to turn right by the angle according to the current steering angle, vehicle speed, acceleration, tilt angle and other parameters. That is, at this time, based on the magnitude of the additional yaw moment, the control unit controls the left rear wheel drive motor to output a relatively large first torque, and controls the right rear wheel drive motor to output a relatively small second torque. In this way, based on the torque difference between the left rear wheel drive motor and the right rear wheel drive motor, an additional yaw moment in the clockwise direction is generated on the rear of the vehicle, thereby enhancing the right steering capability of the vehicle and ensuring that the vehicle can make a large right turn based on the driver's steering intention.

[0138] As a feasible implementation method, based on the steering wheel rotation information, a first torque is applied to the left rear wheel and a second torque is applied to the right rear wheel, including: based on the steering wheel rotation information, controlling the first drive motor to output the first torque and the second drive motor to output the second torque.

[0139] The vehicle comprises at least a first drive motor and a second drive motor. The first drive motor is used to drive the left rear wheel to rotate, and the second drive motor is used to drive the right rear wheel to rotate.

[0140] It can be understood that the control unit calculates the torque value required for each wheel based on the steering wheel rotation information. Further, based on a single independent drive motor, the left rear wheel and the right rear wheel are driven respectively. In this way, by accurately controlling the torque of each vehicle, it is possible to respond more accurately to the driver's steering intention and improve the vehicle's handling and stability.

[0141] It should be noted that the control unit may also take into account parameters such as vehicle load, tire condition, road friction coefficient, driving environment, etc. when calculating the torque required for steering each wheel.

[0142] It can be seen that in the event of a vehicle steering system failure, the driver's steering intention is realized by applying different torques to the rear wheels based on the steering wheel rotation information, thereby maintaining the driver's control over the vehicle steering. By controlling the torque of the rear wheels, the driver's burden can be reduced to a certain extent, making the driving process easier. Even if the vehicle steering system fails, the driver can still maintain control of the vehicle by turning the steering wheel and controlling the torque of the rear wheels. This helps maintain the driver's confidence and reduce panic or anxiety caused by the failure of the vehicle steering system.

[0143] In some embodiments, in order to further improve the handling performance of the vehicle, in the event that the motor power steering system fails, braking control can also be applied to the front wheels to make the vehicle more stable and smooth during cornering.

[0144] Based on this, as a feasible implementation method, the method provided in the embodiment of the present application controls the steering movement of the rear wheels based on the rotation information of the steering wheel, including: applying braking force to at least one front wheel based on the rotation information of the steering wheel to generate additional yaw torque required for vehicle steering.

[0145] It is understandable that the control unit obtains the steering wheel rotation information (such as the steering wheel rotation angle, rotation speed and other parameters) in real time through the steering wheel angle sensor, and judges the driver's steering intention based on the steering wheel rotation information. Further, based on the driver's steering intention, a braking force is applied to at least one front wheel to generate additional yaw required for vehicle steering. In this way, the front wheels are braked to assist the vehicle in completing the steering action.

[0146] As a feasible implementation manner, when the first steering angle indicated by the steering wheel rotation information is greater than a steering angle threshold, a braking force is applied to at least one front wheel.

[0147] It is understandable that when the steering angle indicated by the steering wheel rotation information is greater than the preset steering angle threshold, it means that the driver is performing a relatively large steering action. At this time, in order to maintain the stability and operability of the vehicle, the control unit generates an additional yaw moment of the vehicle by applying a braking force to at least one front wheel. Specifically, the control unit monitors the steering wheel rotation information in real time through the steering wheel angle sensor, and triggers the braking control logic when the steering wheel rotation information indicates that the rotation angle indicated by the steering wheel exceeds the preset steering angle threshold. The control unit calculates the magnitude and direction of the additional yaw moment required for the vehicle to turn according to the steering wheel rotation information. Further, according to the magnitude and direction of the calculated additional yaw moment, a braking force is applied to at least one front wheel.

[0148] As a feasible implementation method, when a first steering angle indicated by the steering wheel rotation information is greater than a steering angle threshold, braking force is applied to at least one front wheel, including: when the steering wheel rotation information indicates that the vehicle is turning left, applying a first braking force to the left front wheel; or, when the steering wheel rotation information indicates that the vehicle is turning right, applying a second braking force to the right front wheel.

[0149] It is understandable that, during the steering process of the vehicle, the principle of applying braking force to a single front wheel to generate the additional yaw moment required for the vehicle to turn is based on the rotational inertia of the vehicle and the friction of the tires. For example, when the steering wheel rotation information indicates that the vehicle is turning left, the vehicle needs to generate a yaw moment to the right to rotate the vehicle around its vertical axis, thereby realizing the vehicle turning left; when the steering wheel indicates that the vehicle is turning right, the vehicle needs to generate a yaw moment to the left to rotate the vehicle around its vertical axis, thereby realizing the vehicle turning right.

[0150] For example, Fig.10 As shown in (a), when the steering wheel rotation information indicates that the vehicle turns left and the rotation angle exceeds the preset steering angle threshold, the control unit controls the braking system to apply braking force to the left front wheel. Since the direction of the friction force generated by the braking force is opposite to the direction of wheel rotation, the left front wheel is subjected to a backward friction force. At this time, since the point of action of the friction force is at the ground contact point of the wheel, and the ground contact point of the wheel has an outward offset relative to the center of mass of the vehicle, the backward friction force will generate a leftward roll moment. However, due to the overall rotational inertia of the vehicle, the leftward roll moment will not cause the vehicle to tilt to the left, but will be converted into a rightward yaw moment (i.e., a moment around the vertical axis of the vehicle), pushing the vehicle body to deviate to the right relative to the direction of travel of the vehicle, thereby realizing the vehicle turning to the left.

[0151] Optionally, when the steering wheel rotation information indicates that the vehicle turns left and the rotation angle exceeds a preset steering angle threshold, the control unit controls the braking system to apply a first braking force to the left front wheel and a second braking force to the right front wheel, wherein the first braking force is greater than the second braking force.

[0152] It is understandable that the first braking force applied to the left front wheel will cause the left front wheel to generate a first friction force to the rear, and the first friction force will generate a yaw moment to the left around the longitudinal axis of the vehicle at the point where the left front wheel touches the ground. At the same time, the second braking force applied to the right front wheel will generate a second friction force to the rear, and the second friction force will generate a yaw moment to the right around the longitudinal axis of the vehicle at the point where the right front wheel touches the ground. However, since the first braking force is greater than the second braking force, and the direction of the additional yaw moment generated by the left front wheel is opposite to that of the additional yaw moment generated by the right front wheel, the additional yaw moment generated by the right front wheel can assist the vehicle in maintaining its position during the vehicle steering process, preventing the vehicle from losing stability due to excessive braking force on the left front wheel, thereby enabling the vehicle to complete the left steering action more smoothly.

[0153] Another exemplary example is Fig.11 As shown in (a), when the steering wheel rotation information indicates that the vehicle turns right and the rotation angle exceeds the preset steering angle threshold, the control unit controls the braking system to apply braking force to the right front wheel. Since the direction of the friction force generated by the braking force is opposite to the direction of wheel rotation, the right front wheel is subjected to a backward friction force. At this time, since the point of action of the friction force is at the ground contact point of the wheel, and the ground contact point of the wheel has an outward offset relative to the center of mass of the vehicle, the backward friction force will generate a rightward roll moment. However, due to the overall rotational inertia of the vehicle, the rightward roll moment will not cause the vehicle to tilt to the right, but will be converted into a leftward yaw moment (i.e., a moment around the vertical axis of the vehicle), pushing the vehicle body to deviate to the left relative to the direction of travel of the vehicle, thereby realizing the vehicle turning to the right.

[0154] Optionally, when the steering wheel rotation information indicates that the vehicle turns right and the rotation angle exceeds a preset steering angle threshold, the control unit controls the braking system to apply a first braking force to the left front wheel and a second braking force to the right front wheel, wherein the first braking force is smaller than the second braking force.

[0155] It is understandable that the first braking force applied to the left front wheel will cause the left front wheel to generate a first friction force to the rear, and the first friction force will generate a yaw moment to the left around the longitudinal axis of the vehicle at the point where the left front wheel touches the ground. At the same time, the second braking force applied to the right front wheel will generate a second friction force to the rear, and the second friction force will generate a yaw moment to the right around the longitudinal axis of the vehicle at the point where the right front wheel touches the ground. However, since the first braking force is smaller than the second braking force, and the direction of the additional yaw moment generated by the left front wheel is opposite to that of the additional yaw moment generated by the right front wheel, the additional yaw moment generated by the left front wheel can assist the vehicle in maintaining its position during the vehicle steering process, preventing the vehicle from losing stability due to excessive braking force on the right front wheel, thereby enabling the vehicle to complete the right-turning action more smoothly.

[0156] As a feasible implementation method, Fig.10 (b) and Fig.11 As shown in (b), when the steering wheel rotation information indicates that the steering angle of the vehicle turning left or right does not exceed the steering angle threshold, the control unit can generate a steering torque that satisfies the vehicle steering without applying braking force to the front wheels.

[0157] It can be seen that in the case of a vehicle steering system failure, the driver's steering intention is realized by applying different torques to the steering control of the rear wheels based on the steering wheel rotation information and applying different braking forces to the front wheels, thereby maintaining the driver's control over the vehicle steering. In addition, the dual control mechanism of the front and rear wheels further ensures that even in the case of a vehicle steering system failure, the driver can still effectively control the vehicle's steering behavior. This helps the vehicle to drive more accurately in line with the driver's intentions.

[0158] For ease of understanding, the steering control method of an embodiment of the present application is further explained in the form of an example below.

[0159] Example 1: Based on the steering wheel rotation information, the rear wheel steering movement is controlled to realize the driver's steering intention. Fig.12 A schematic diagram of a steering control method provided in an embodiment of the present application. Fig.12 As shown, the method can implement the following steps:

[0160] S1201. Obtain vehicle driving status parameters.

[0161] S1202: Determine whether the vehicle steering system fails.

[0162] S1203: When the vehicle steering system is not failed, normal steering is performed based on the EPS steering system.

[0163] S1204: When it is determined that the vehicle steering system has failed, determine based on the control unit whether the current operating condition of the vehicle is a low-speed, large-angle turn.

[0164] S1205. When the vehicle is currently operating in a low-speed, small-angle turn, the steering system is switched to a "sensory-free working mode".

[0165] S1206. When the current operating condition of the vehicle is a "sensory-free working mode" of low-speed and small-angle turning, determine the steering direction of the vehicle.

[0166] The turning direction of the vehicle includes turning left or turning right.

[0167] S1207: When the vehicle is turning left, drive the rear wheels to turn right to generate a target rear wheel steering angle.

[0168] S1208: When the vehicle is turning right, drive the rear wheels to turn left to generate a target rear wheel turning angle.

[0169] S1209: When the vehicle is currently operating in a low-speed, large-angle turn, the steering system is switched to a "sensory-free working mode".

[0170] S12010. In the "sensingless working mode" where the vehicle is turning at a low speed and a large angle, determine the turning direction of the vehicle.

[0171] The turning direction of the vehicle includes turning left or turning right.

[0172] S12011. When the vehicle is turning left, the rear wheels turn right to the maximum angle.

[0173] S12012. When the rear wheels turn to the right to the maximum angle, the left rear wheel drive motor and the right rear wheel drive motor are driven to output different torques, and an additional yaw moment to the left of the rear wheel is generated based on the torque difference, or different braking forces are applied to the left front wheel and the right front wheel respectively, and an additional yaw moment to the left of the front wheel is generated based on the difference in braking forces.

[0174] S12013. When the vehicle is turning right, the rear wheels turn left to the maximum angle.

[0175] S12014. When the rear wheels turn to the left to the maximum angle, the left rear wheel drive motor and the right rear wheel drive motor are driven to output different torques, and an additional yaw moment to the right of the rear wheels is generated based on the torque difference, or different braking forces are applied to the left front wheel and the right front wheel respectively, and an additional yaw moment to the right of the front wheels is generated based on the difference in braking forces.

[0176] Fig.13The following is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Fig.13 As shown, the electronic device 130 includes but is not limited to: a processor 1301 and a memory 1302 .

[0177] The memory 1302 is used to store executable instructions of the processor 1301. It can be understood that the processor 1301 is configured to execute instructions to implement the noise reduction method for the interior of the vehicle in the above embodiment.

[0178] The processor 1301 is the control center of the electronic device. It uses various interfaces and lines to connect various parts of the entire electronic device. By running or executing software programs and / or modules stored in the memory 1302, and calling data stored in the memory 1302, it performs various functions of the electronic device and processes data, thereby controlling the electronic device as a whole. The processor 1301 may include one or more processing modules. Optionally, the processor 1301 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and application programs, and the modem processor mainly processes wireless communications. It is understandable that the above-mentioned modem processor may not be integrated into the processor 1301.

[0179] The memory 1302 may be used to store software programs and various data. The memory 1302 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required by at least one functional module (such as an acquisition unit, a determination module, a processing unit, etc.), etc. In addition, the memory 1302 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0180] In some embodiments, the present application further provides a computer-readable storage medium, which stores computer execution instructions. When the computer execution instructions are executed on a computer, the computer uses the time synchronization method provided by any of the above embodiments.

[0181] The present application also provides a vehicle, comprising the above-mentioned electronic device, controller or computer-readable storage medium.

[0182] In some embodiments, the present application also provides a computer program product, which includes a computer program. When the computer program is executed by a device, the device executes any of the methods described above.

[0183] In this way, the computer program in the computer program product can be customized according to the specific needs and operating conditions of the device, realizing a personalized control method and improving the adaptability and flexibility of the device control.

[0184] In addition, computer program products can be executed on different devices or systems to achieve cross-platform applicability, provide a unified control method for different types of devices, and improve system integration and interoperability.

[0185] Although the present application has been described in conjunction with specific features and embodiments thereof, it is obvious that various modifications and combinations may be made thereto without departing from the spirit and scope of the present application. Accordingly, this specification and the drawings are merely exemplary illustrations of the present application as defined by the appended claims, and are deemed to have covered any and all modifications, variations, combinations or equivalents within the scope of the present application. Obviously, those skilled in the art may make various modifications and variations to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

[0186] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A steering control method, characterized in that: The method comprises: In response to detecting a steering system failure of the vehicle, a senseless steering operation is performed, wherein the senseless steering operation is used to prevent a driver from feeling the steering system failure and to implement the driver's steering intention.

2. The method according to claim 1, characterized in that The performing of the senseless steering operation comprises: Based on the steering wheel rotation information, the rear wheel steering movement is controlled to realize the driver's steering intention.

3. The method according to claim 2, characterized in that The method of controlling the rear wheel steering movement based on the steering wheel rotation information includes: When the steering wheel rotation information indicates that the vehicle is turning in a first direction, the rear wheels are controlled to turn in a second direction, and the first direction is opposite to the second direction.

4. The method according to claim 3, characterized in that When the steering wheel rotation information indicates that the vehicle is turning in the first direction, controlling the rear wheels to turn in the second direction includes: When the steering wheel rotation information indicates that the vehicle is turned toward the first direction at a first steering angle, the rear wheels are controlled to turn toward the second direction at a second steering angle, where the second steering angle is determined based on the first steering angle.

5. The method according to claim 4, characterized in that When the first steering angle is greater than a steering angle threshold, the second steering angle is a maximum steering angle of the rear wheels.

6. The method according to claim 3, characterized in that: When the steering wheel rotation information indicates that the vehicle is turning in the first direction, controlling the rear wheels to turn in the second direction includes: When the rotation information of the steering wheel indicates that the vehicle is turning in a first direction, the rear wheel steering motor is controlled to drive the rear wheels to turn in the second direction.

7. The method according to any one of claims 2 to 6, characterized in that: The method of controlling the rear wheel steering movement based on the steering wheel rotation information to realize the driver's steering intention includes: Based on the rotation information of the steering wheel, a first torque is applied to the left rear wheel, and a second torque is applied to the right rear wheel.

8. The method according to claim 7, characterized in that When the first steering angle indicated by the steering wheel rotation information is greater than a steering angle threshold, there is a torque difference between the first torque and the second torque.

9. The method according to claim 8, characterized in that When the first steering angle indicated by the steering wheel rotation information is greater than a steering angle threshold, there is a torque difference between the first torque and the second torque, including: When the steering wheel rotation information indicates that the vehicle is turning left, the first torque is less than the second torque; or When the steering wheel rotation information indicates that the vehicle is turning right, the first torque is greater than the second torque.

10. The method according to claim 7, characterized in that The vehicle comprises at least a first drive motor and a second drive motor, wherein the first drive motor is used to drive the left rear wheel to move, and the second drive motor is used to drive the right rear wheel to move; The step of applying a first torque to the left rear wheel and a second torque to the right rear wheel based on the rotation information of the steering wheel comprises: Based on the rotation information of the steering wheel, the first drive motor is controlled to output a first torque, and the second drive motor is controlled to output a second torque.

11. The method according to claim 10, characterized in that The vehicle further comprises a third drive motor, and the third drive motor is used for driving the front wheels to move.

12. The method according to any one of claims 2 to 11, characterized in that: The method of controlling the rear wheel steering movement based on the steering wheel rotation information includes: Based on the rotation information of the steering wheel, a braking force is applied to at least one front wheel to generate an additional yaw moment required for steering the vehicle.

13. The method according to claim 12, characterized in that The applying a braking force to at least one front wheel based on the rotation information of the steering wheel comprises: When the first steering angle indicated by the steering wheel rotation information is greater than a steering angle threshold, a braking force is applied to the at least one front wheel.

14. The method according to claim 13, characterized in that The step of applying a braking force to the at least one front wheel when the first steering angle indicated by the rotation information of the steering wheel is greater than a steering angle threshold comprises: When the steering wheel rotation information indicates that the vehicle is turning left, applying a first braking force to the left front wheel; or When the steering wheel rotation information indicates that the vehicle is turning right, a second braking force is applied to the right front wheel.

15. The method according to claim 13, characterized in that When the first steering angle indicated by the steering wheel rotation information is greater than a steering angle threshold, applying a braking force to the at least one front wheel comprises: When the steering wheel rotation information indicates that the vehicle is turning left, the first braking force is applied to the left front wheel and the second braking force is applied to the right front wheel, and the first braking force is greater than the second braking force; or When the steering wheel rotation information indicates that the vehicle is turning right, the first braking force is applied to the left front wheel and the second braking force is applied to the right front wheel, and the first braking force is smaller than the second braking force.

16. The method according to claim 1, characterized in that The performing of the senseless steering operation comprises: Based on the rotation information of the steering wheel, the hand feeling simulation unit is controlled to provide damping when the steering wheel moves, so as to provide a steering simulation hand feeling.

17. The method according to claim 16, characterized in that The damping magnitude provided by the hand feeling simulation unit is related to the first steering angle indicated by the rotation information of the steering wheel.

18. The method according to any one of claims 2 to 17, characterized in that The steering wheel rotation information includes the torque and / or the steering wheel angle.

19. The method according to claim 1, characterized in that The performing of the senseless steering operation comprises: The steering gear on-off device is controlled to disconnect the connection between the steering wheel and the front axle steering gear.

20. The method according to claim 1, characterized in that The performing of the senseless steering operation comprises: When the driving speed of the vehicle is less than a speed threshold, the senseless steering operation is performed.

21. A steering control system, characterized in that: The steering control system comprises: The control unit is configured to: in response to detecting a steering system failure of the vehicle, perform a senseless steering operation, wherein the senseless steering operation is used to make the driver unaware of the steering system failure and to realize the driver's steering intention.

22. The steering control system according to claim 21, characterized in that: The steering control system further comprises: steering wheel; A steering wheel sensor, wherein the steering wheel sensor is used to collect rotation information of the steering wheel; The control unit is specifically configured to: when the steering wheel rotation information indicates that the vehicle is turning in a first direction, control the rear wheels to turn in a second direction, and the first direction is opposite to the second direction.

23. The steering control system according to claim 22, characterized in that: The control unit is specifically configured to: when the steering wheel rotation information indicates that the vehicle turns toward the first direction at a first steering angle, control the rear wheels to turn toward the second direction at a second steering angle, wherein the second steering angle is determined based on the first steering angle.

24. The steering control system according to claim 23, characterized in that: When the first steering angle is greater than a steering angle threshold, the second steering angle is a maximum steering angle of the rear wheels.

25. The steering control system according to claim 22, characterized in that: The steering control system further comprises: A wheel steering system, the wheel steering system comprising at least a rear wheel steering motor; The control unit is specifically configured to: when the rotation information of the steering wheel indicates that the vehicle is turning in the first direction, control the rear wheel steering motor to drive the rear wheels to turn in the second direction.

26. The steering control system according to any one of claims 21 to 25, characterized in that: The steering control system further comprises: A drive system, the drive system is used to drive the wheels to move; The control unit is specifically configured to: apply a first torque to the left rear wheel and a second torque to the right rear wheel based on the rotation information of the steering wheel.

27. The steering control system according to claim 26, characterized in that: When the first steering angle indicated by the steering wheel rotation information is greater than a steering angle threshold, there is a torque difference between the first torque and the second torque.

28. The steering control system according to claim 27, characterized in that: When the steering wheel rotation information indicates that the vehicle is turning left, the first torque is less than the second torque; or When the steering wheel rotation information indicates that the vehicle is turning right, the first torque is greater than the second torque.

29. The steering control system according to claim 27, characterized in that: The driving system comprises at least a first driving motor and a second driving motor, wherein the first driving motor is used to drive the left rear wheel to move, and the second motor is used to drive the right rear wheel to move; The control unit is specifically configured to: based on the rotation information of the steering wheel, control the first drive motor to output a first torque, and control the second drive motor to output a second torque.

30. The steering control system according to claim 29, characterized in that: The driving system further comprises a third driving motor, and the third driving motor is used for driving the front wheels to move.

31. A steering control system according to any one of claims 22 to 30, characterized in that: The steering control system further comprises: Braking system; The control unit is specifically configured to apply braking force to at least one front wheel based on the rotation information of the steering wheel to generate an additional yaw moment required for vehicle steering.

32. The steering control system according to claim 31, characterized in that: When the first steering angle indicated by the steering wheel rotation information is greater than a steering angle threshold, a braking force is applied to the at least one front wheel.

33. The steering control system according to claim 32, characterized in that: When the steering wheel rotation information indicates that the vehicle is turning left, applying a first braking force to the left front wheel; or When the steering wheel rotation information indicates that the vehicle is turning right, a second braking force is applied to the right front wheel.

34. The steering control system according to claim 32, characterized in that: When the steering wheel rotation information indicates that the vehicle is turning left, the first braking force is applied to the left front wheel, and the second braking force is applied to the right front wheel, wherein the first braking force is greater than the second braking force; or, When the steering wheel rotation information indicates that the vehicle is turning right, the first braking force is applied to the left front wheel and the second braking force is applied to the right front wheel, and the first braking force is smaller than the second braking force.

35. The steering control system according to claim 21, characterized in that: The steering control system further comprises: Hand feel simulation unit; The control unit is specifically configured to: based on the rotation information of the steering wheel, control the hand feeling simulation unit to provide damping when the steering wheel moves, so as to provide a steering simulation hand feeling.

36. The steering control system according to claim 35, characterized in that: The damping magnitude provided by the hand feeling simulation unit is related to the first steering angle indicated by the rotation information of the steering wheel.

37. The steering control system according to claim 36, characterized in that: The steering wheel rotation information includes the torque and / or the steering wheel angle.

38. The steering control system according to claim 21, characterized in that: The steering control system further comprises: Steering gear on / off device; The control unit is specifically configured to control the steering gear on-off device to disconnect the connection between the steering wheel and the front axle wheel steering system.

39. The steering control system according to any one of claims 21 to 38, characterized in that: The steering control system is used to implement the method according to any one of claims 1-20.

40. An electronic device, characterized in that: include: A processor and a memory for storing instructions executable by the processor; wherein the processor is configured to execute the instructions to implement the method according to any one of claims 1 to 20.

41. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and when the computer instructions are executed on a computer, the computer is caused to perform the method according to any one of claims 1 to 20.

42. A vehicle, characterized in that: include: A controller, the controller being used to execute the method according to any one of claims 1 to 20; or, a steering control system according to any one of claims 21 to 39; Or, the electronic device described in claim 40; or, the computer-readable storage medium described in claim 41.

43. A computer program product, characterized in that The computer program product comprises computer instructions, and when the computer instructions are run on a computer, the computer is caused to perform the method according to any one of claims 1 to 20.

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