Vehicle control method and device, controller, vehicle and storage medium

Abstract

The invention discloses a vehicle control method and device, a controller, a vehicle and a storage medium. If it is detected that the vehicle is in a deviation state, deviation adjustment information for rear wheels of the vehicle is determined; and controlling rear wheels of the vehicle to deflect according to the deviation adjustment information, so that the vehicle runs linearly. The rear wheels are controlled to deflect through the deviation adjusting information, the vehicle can run linearly, and the steering wheel of the vehicle can be located in the middle position.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a vehicle control method, device, vehicle and storage medium, wherein the storage medium is a computer-readable storage medium. Background Art

[0002] Vehicle deviation occurs when the driver puts the steering wheel of the vehicle in the middle position (i.e. neutral position), and the direction of the vehicle deviates from the longitudinal axis of the vehicle. The driver needs to apply a corrective force on the steering wheel to keep the vehicle moving in a straight line. This will cause the driver to spend more energy to control the vehicle and easily make the driver feel tired. Summary of the invention

[0003] Embodiments of the present application provide a vehicle control method, device, vehicle, and computer-readable storage medium, which can enable the vehicle to travel in a straight line with the steering wheel of the vehicle in a neutral position.

[0004] In order to achieve the above object, according to a first aspect of the present application, a vehicle control method is provided, comprising:

[0005] If it is detected that the vehicle is in a deviation state, determining deviation adjustment information for the rear wheels of the vehicle;

[0006] The rear wheels of the vehicle are controlled to deflect according to the deviation adjustment information so that the vehicle can travel in a straight line.

[0007] Optionally, the vehicle includes a power steering system and a rear wheel steering system, and if it is detected that the vehicle is in a deviation state, determining deviation adjustment information for the rear wheels of the vehicle includes:

[0008] If it is detected that the vehicle is in a deviation state, determining deviation adjustment information for the rear wheels of the vehicle through the power steering system;

[0009] The deviation adjustment information is sent to the rear-wheel steering system via a vehicle bus of the vehicle.

[0010] Optionally, controlling the rear wheels of the vehicle to deflect according to the deviation adjustment information includes:

[0011] The rear wheels of the vehicle are controlled to steer based on the deviation adjustment information through the rear wheel steering system.

[0012] Optionally, detecting whether the vehicle is in a deviation state at a preset period, and if the vehicle is detected to be in a deviation state, determining deviation adjustment information for rear wheels of the vehicle, comprises:

[0013] If the vehicle is detected to be in a deviation state in the current detection cycle, the deviation adjustment information corresponding to the current detection cycle is determined based on the historical deviation adjustment information corresponding to the historical detection cycle.

[0014] Optionally, the vehicle control method further includes:

[0015] If the vehicle is not detected in the deviation state in the current detection cycle, the historical deviation adjustment information determined in the previous detection cycle is used as the deviation adjustment information in the current detection cycle.

[0016] Optionally, if the vehicle is detected to be in a deviation state in the current detection cycle, determining the deviation adjustment information corresponding to the current detection cycle based on historical deviation adjustment information corresponding to historical detection cycles includes:

[0017] If the vehicle is detected to be in a deviation state in the current detection cycle, candidate deviation adjustment information is calculated based on historical deviation adjustment information corresponding to the previous detection cycle and a preset deviation adjustment increment;

[0018] If the candidate running deviation adjustment information does not meet the adjustment upper limit condition, the candidate running deviation adjustment information is used as the running deviation adjustment information corresponding to the current detection cycle.

[0019] Optionally, if the vehicle is detected to be in a deviation state in the current detection cycle, after calculating candidate deviation adjustment information based on historical deviation adjustment information corresponding to the previous detection cycle and a preset deviation adjustment increment, the vehicle control method further includes:

[0020] If the candidate running deviation adjustment information meets the adjustment upper limit condition, the historical running deviation adjustment information determined in the previous detection cycle is used as the running deviation adjustment information of the current detection cycle.

[0021] Optionally, if the candidate deviation adjustment information satisfies the adjustment upper limit condition, after the historical deviation adjustment information determined in the previous detection cycle is used as the deviation adjustment information of the current detection cycle, the vehicle control method further includes:

[0022] determining an assist torque for steering the front wheels of the vehicle according to driving information of the vehicle;

[0023] The front wheels of the vehicle are controlled to deflect according to the assist torque so that the vehicle travels in a straight line.

[0024] Optionally, the deflection of the rear wheels of the vehicle is controlled by moving a rear wheel lead screw of the vehicle, and the deviation adjustment information is the compensating displacement of the rear wheel lead screw.

[0025] Optionally, controlling the rear wheels of the vehicle to deflect according to the deviation adjustment information includes:

[0026] Determining a target displacement of a rear wheel lead screw of the vehicle according to a steering wheel angle of the vehicle;

[0027] Based on the compensation displacement and the target displacement, the superimposed displacement of the rear wheel screw is calculated;

[0028] The rear wheel lead screw is controlled to move based on the superimposed displacement.

[0029] Optionally, if it is detected that the vehicle is in a deviation state, before determining deviation adjustment information for the rear wheels of the vehicle, the vehicle control method further includes:

[0030] Acquiring driving information of the vehicle;

[0031] If the preset deviation condition is satisfied according to the driving information, determining that the vehicle is in a deviation state;

[0032] If the preset deviation condition is not satisfied according to the driving information, it is determined that the vehicle is not in a deviation state.

[0033] Optionally, the driving information includes at least one of the vehicle speed, steering wheel angle, power steering torque for the front wheels of the vehicle, torque acting on the steering wheel, operating status information of the power steering system, actual displacement of the rear wheel screw of the vehicle and the yaw angular velocity of the vehicle.

[0034] Optionally, the preset deviation conditions include that the vehicle speed is greater than a preset speed threshold, the steering wheel angle is less than a preset angle threshold, the sum of the assist torque and the torque acting on the steering wheel is within a preset numerical range, the operating status information of the power steering system indicates that the power steering system is fault-free, the actual displacement of the rear wheel screw is 0, and the yaw angular velocity of the vehicle is less than a preset angular velocity threshold.

[0035] According to a second aspect of the present application, a vehicle control device is provided, comprising:

[0036] An information determination unit, configured to determine deviation adjustment information for rear wheels of the vehicle if it is detected that the vehicle is in a deviation state;

[0037] A deflection control unit is used to control the rear wheels of the vehicle to deflect according to the deviation adjustment information so that the vehicle can travel in a straight line.

[0038] According to a third aspect of the present application, a controller is provided, on which a computer program is stored, and when the computer program is executed by a processor, any vehicle control method provided in the embodiments of the present application is implemented.

[0039] According to a fourth aspect of the present application, a vehicle is provided, comprising a memory and a processor; the memory stores a computer program, and the processor is used to run the computer program in the memory to implement any vehicle control method provided in the application embodiments.

[0040] According to a fifth aspect of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium is used to store a computer program, and the computer program is loaded by a processor to implement any vehicle control method provided in the embodiments of the present application.

[0041] In the embodiment of the present application, if it is detected that the vehicle is in a deviation state, deviation adjustment information for the rear wheels of the vehicle is determined; the rear wheels of the vehicle are controlled to deflect according to the deviation adjustment information to make the vehicle run in a straight line. The present application controls the rear wheels to deflect by the deviation adjustment information, which can not only make the vehicle run in a straight line, but also make the steering wheel of the vehicle in a neutral position. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application, and those skilled in the art can obtain other drawings based on these drawings without creative work.

[0043] Figure 1 is a flow chart of a vehicle control method provided by an embodiment of the present application;

[0044] Figure 2 is a schematic diagram of system interaction provided in an embodiment of the present application;

[0045] Figure 3 is a system interaction timing diagram provided in an embodiment of the present application;

[0046] Figure 4 is a schematic diagram of the deviation compensation of the EPS system provided in an embodiment of the present application;

[0047] Figure 5 is a schematic diagram of a vehicle control device provided in an embodiment of the present application;

[0048] Figure 6 It is a schematic diagram of the structure of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0049] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of this application.

[0050] The embodiments of the present application provide a vehicle control method, a device, a vehicle, and a computer-readable storage medium. The vehicle control device can be integrated in a vehicle.

[0051] It should be noted that the description order of the following embodiments is not intended to limit the preferred order of the embodiments.

[0052] This embodiment will be described from the perspective of a vehicle control device, which may be specifically integrated into a vehicle.

[0053] The present application provides a vehicle control method, such as Figure 1 As shown, the specific process of the vehicle control method can be as follows:

[0054] 101. If it is detected that the vehicle is in a deviation state, determine deviation adjustment information for the rear wheels of the vehicle.

[0055] The deviation state may refer to that the driver puts the vehicle steering wheel freely in the middle position, and the vehicle's driving direction deviates from the longitudinal axis of the vehicle. The driver needs to apply a corrective force on the steering wheel to keep the vehicle going straight.

[0056] Among them, the deviation adjustment information can be used to compensate for the vehicle's deviation, correct the vehicle's deviation, or improve the degree of vehicle deviation. For example, the deviation adjustment information can include the vehicle's deflection compensation angle, or it can be the compensation displacement of the rear wheel screw. The displacement of the rear wheel screw can control the deflection of the vehicle's rear wheels.

[0057] In one embodiment, a vehicle may include a power steering system and a rear wheel steering system, wherein the power steering system may include an electric power steering system (Electric Power Steering, EPS), EPS is a power steering system that directly relies on a motor to provide auxiliary torque, the power steering system and the rear wheel steering system (Rear Wheel Steering, RWS) may communicate through a vehicle bus (CAN bus), the electric power steering system may determine deviation adjustment information and send it to the rear wheel steering system of the vehicle when detecting that the vehicle is in a deviation state, the rear wheel steering system may control the rear wheels to deflect based on the deviation adjustment information to improve the deviation of the vehicle, and the deviation of the vehicle may be compensated through the interaction between the power steering system and the rear wheel steering system, that is, the vehicle includes the power steering system and the rear wheel steering system, that is, the step of "if it is detected that the vehicle is in a deviation state, determining the deviation adjustment information for the rear wheels of the vehicle" may include:

[0058] If it is detected that the vehicle is in a deviation state, deviation adjustment information for the rear wheels of the vehicle is determined through the power steering system;

[0059] The deviation adjustment information is sent to the rear-wheel steering system via the vehicle's vehicle bus.

[0060] If it is detected that the vehicle is in a deviation state, the power steering system of the vehicle determines deviation adjustment information for the rear wheels of the vehicle; and sends the deviation adjustment information to the rear wheel steering system through the vehicle bus of the vehicle.

[0061] Among them, the method for determining the deviation adjustment information for the rear wheels of the vehicle can refer to the relevant content below and will not be elaborated here. The power steering system of the vehicle can determine the deviation adjustment information based on the method for determining the deviation adjustment information for the rear wheels of the vehicle provided in the embodiment of the present application.

[0062] Optionally, the power steering system may be used to detect whether the vehicle is in a deviation state. The specific detection method is referred to the relevant contents of the embodiments of the present application and will not be elaborated here.

[0063] After receiving the deviation adjustment information, the rear wheel steering system may control the rear wheels of the vehicle to deflect based on the deviation adjustment information. That is, in one embodiment, step 102 of "controlling the rear wheels of the vehicle to deflect according to the deviation adjustment information" may be:

[0064] The rear-wheel steering system controls the vehicle's rear wheels to steer based on the deviation adjustment information.

[0065] For the rear-wheel steering system controlling the rear wheels of the vehicle to steer, reference may be made to the relevant description of step 102, which will not be elaborated here.

[0066] If it is detected that the vehicle is in a deviation state, the deviation adjustment information for the rear wheels can be determined based on the steering wheel angle (turning angle). There can be a certain mapping relationship between the steering wheel angle and the rear wheel deviation adjustment information, and the vehicle steering wheel angle is obtained. The steering wheel angle can be the angle required for the driver to control the vehicle from deviation.

[0067] Alternatively, the vehicle deviation may be improved by continuously adding deviation adjustment information, so that the improvement of the vehicle deviation is gradual, and the users on the vehicle will not feel obvious vehicle deviation, thereby improving the comfort of the passengers on the vehicle. That is, in one embodiment, whether the vehicle is in a deviation state is detected at a preset period, and the step of "if the vehicle is detected to be in a deviation state, determining the deviation adjustment information for the rear wheels of the vehicle" may include:

[0068] If the vehicle is detected to be in a deviation state in the current detection cycle, deviation adjustment information corresponding to the current detection cycle is determined based on historical deviation adjustment information corresponding to historical detection cycles.

[0069] Whether the vehicle is in a deviation state is continuously detected in a preset detection cycle. If the vehicle is detected to be in a deviation state in the current detection cycle, the deviation adjustment information corresponding to the current detection cycle can be determined based on the historical deviation adjustment information corresponding to the historical detection cycle.

[0070] The historical detection cycle may be at least one detection cycle before the current detection cycle, for example, the previous detection cycle of the current detection cycle, or the two detection cycles before the current detection cycle, etc.

[0071] Among them, based on the historical deviation adjustment information corresponding to the historical detection cycles, the deviation adjustment information corresponding to the current detection cycle is determined. For example, the deviation adjustment information of the rear wheel of the vehicle in the previous detection cycle may be added to obtain the deviation adjustment information of the current detection cycle. For example, the deviation adjustment information of the previous detection cycle is 0.2, and the current detection cycle may be increased by 0.1 on the basis of 0.2, that is, the deviation adjustment information of the current detection cycle is 0.3. The added value may also be 0.2, 0.3 or 0.4, etc. It can be flexibly set according to needs and is not limited here.

[0072] Optionally, an upper limit condition for improving the deviation of the vehicle by the rear wheels of the vehicle may be set. When the deviation compensation by the rear wheel deflection reaches the upper limit condition, the deviation adjustment information is no longer added. That is, in one embodiment, the step of "if the vehicle is detected to be in a deviation state in the current detection cycle, then based on the historical deviation adjustment information corresponding to the historical detection cycle, determine the deviation adjustment information corresponding to the current detection cycle" may include:

[0073] If the vehicle is detected to be in a deviation state in the current detection cycle, candidate deviation adjustment information is calculated based on the historical deviation adjustment information corresponding to the previous detection cycle and the preset deviation adjustment increment;

[0074] If the candidate running deviation adjustment information does not meet the adjustment upper limit condition, the candidate running deviation adjustment information is used as the running deviation adjustment information corresponding to the current detection cycle.

[0075] The adjustment upper limit condition may include that the deviation adjustment information exceeds a preset threshold value, and the preset deviation adjustment increment may be a preset value.

[0076] If the current detection cycle detects that the vehicle is in a deviation state, a preset deviation adjustment increment is added to the historical deviation adjustment information corresponding to the previous detection cycle of the current detection cycle to obtain candidate deviation adjustment information. If the candidate deviation adjustment information does not exceed the preset threshold, the candidate deviation adjustment information is used as the deviation adjustment information corresponding to the current detection cycle.

[0077] Exemplarily, the deviation adjustment information of the previous detection cycle is 0.3, and the preset deviation adjustment increment is 0.1, then the candidate deviation adjustment information is 0.4. Further, if the adjustment upper limit condition is that the deviation adjustment information exceeds 0.4, then the candidate deviation adjustment information is used as the deviation adjustment information of the current detection cycle, that is, the deviation adjustment information of the current detection cycle is 0.4.

[0078] If the candidate deviation adjustment information meets the adjustment upper limit condition, no deviation adjustment information is added, and the historical deviation adjustment information of the current detection period can be used as the deviation adjustment information of the current detection period. That is, in one embodiment, after the step of "if the vehicle is detected to be in a deviation state in the current detection period, the candidate deviation adjustment information is calculated based on the historical deviation adjustment information corresponding to the previous detection period and the preset deviation adjustment increment", the vehicle control method provided in the embodiment of the present application can also include:

[0079] If the candidate deviation adjustment information meets the adjustment upper limit condition, the historical deviation adjustment information determined in the previous detection cycle is used as the deviation adjustment information of the current detection cycle.

[0080] For example, if the adjustment upper limit condition is that the deviation adjustment information exceeds 0.4, the deviation adjustment information of the previous detection cycle is 0.3, and the preset deviation adjustment increment is 0.2, then the candidate deviation adjustment information is 0.5, and the deviation adjustment information of the previous detection cycle is 0.3, and the deviation adjustment information of the current detection cycle is used as the deviation adjustment information of the current detection cycle, that is, the deviation adjustment information of the current detection cycle is 0.3.

[0081] If the vehicle is not detected to be in a deviation state, it means that the deviation of the vehicle can be corrected by the deflection of the rear wheel vehicle, and the deviation adjustment information of the rear wheel of the vehicle can be maintained. That is, in one embodiment, the vehicle control method provided in the embodiment of the present application may further include:

[0082] If the vehicle is not detected in the deviation state in the current detection cycle, the historical deviation adjustment information determined in the previous detection cycle is used as the deviation adjustment information of the current detection cycle.

[0083] For example, assuming that the current detection cycle does not detect that the vehicle is in a deviation state, and the deviation adjustment information of the previous detection cycle is 0.3, the deviation adjustment information of the previous detection cycle can be 0.3 as the deviation adjustment information of the current detection cycle, that is, the deviation adjustment information of the current detection cycle is 0.3.

[0084] After the rear wheels have adjusted the deviation of the vehicle to the upper limit, the device on the vehicle can remind the user to perform a four-wheel alignment in time to eliminate the deviation of the vehicle. For example, a reminder voice can be played through the speaker on the vehicle, or a reminder message can be displayed through the display device on the vehicle; optionally, a reminder message can be sent to the user's mobile phone or computer to remind the user to perform a four-wheel alignment to eliminate the deviation of the vehicle. After the four-wheel alignment of the vehicle, the deviation adjustment information of the vehicle can be initialized through the vehicle fault diagnosis instrument (VDS).

[0085] Whether the vehicle is in a deviation state can be detected by obtaining the driving information of the vehicle and determining whether the vehicle is in a deviation state by whether the driving information satisfies a preset deviation condition. That is, in one embodiment, before the step of "if it is detected that the vehicle is in a deviation state, determining deviation adjustment information for the rear wheels of the vehicle", the vehicle control method provided in the embodiment of the present application may further include:

[0086] Obtain vehicle driving information;

[0087] If the preset deviation condition is met according to the driving information, it is determined that the vehicle is in a deviation state;

[0088] If the preset deviation condition is not satisfied according to the driving information, it is determined that the vehicle is not in a deviation state.

[0089] Among them, the driving information may include the vehicle's posture and the steering wheel angle of the vehicle. Whether the vehicle is in a deviation state can be determined through the vehicle's posture and the steering wheel angle. Specifically, the vehicle's driving image or driving trajectory can be obtained. According to the vehicle's posture or driving trajectory in the vehicle's driving image, it can be determined whether the vehicle is driving in a straight line. Combined with the steering wheel angle, it can be determined whether the vehicle is deviating. For example, if it is determined according to the vehicle's driving image or driving trajectory that the vehicle is driving in a straight line, and the steering wheel angle is less than a preset angle threshold, it can be determined that the vehicle is in a deviation state. If the vehicle is driving in a straight line but the steering wheel angle is not less than the preset angle threshold, it can be determined that the vehicle is not in a deviation state.

[0090] Optionally, whether the vehicle is running off the track can also be determined in combination with time. For example, if the vehicle is determined to be traveling in a straight line based on the vehicle's driving image or driving trajectory, and the steering wheel angle is less than a preset angle threshold, and this situation lasts for more than a preset time, then it is determined that the vehicle is in a running off track state. If this situation does not exceed the preset time, then it is determined that the vehicle is not in a running off track state.

[0091] Optionally, the vehicle's driving information may also include at least one of the vehicle's speed, steering wheel angle, power torque for front wheel steering of the vehicle, torque acting on the steering wheel, operating state information of the power steering system, actual displacement of the rear wheel lead screw of the vehicle, and yaw rate of the vehicle. The actual displacement may be obtained by subtracting the compensation displacement from the actual displacement of the rear wheel lead screw detected by the displacement sensor.

[0092] The preset deviation conditions may include the vehicle speed being greater than a preset speed threshold, the steering wheel angle being less than a preset angle threshold, the sum of the assist torque and the torque acting on the steering wheel being within a preset numerical range, the operating status information of the power steering system indicating that the power steering system has no faults, the actual displacement of the rear wheel lead screw being 0, and the vehicle's yaw angular velocity being less than a preset angular velocity threshold.

[0093] The vehicle's driving information and preset deviation conditions can be flexibly set according to the characteristics of the vehicle, which are not limited here. For example, in one embodiment, the vehicle's speed, steering wheel angle, power steering torque, torque acting on the steering wheel, operating status information of the power steering system, actual displacement of the vehicle's rear wheel screw and the vehicle's yaw angular velocity can be obtained. If the vehicle's speed is greater than a preset speed threshold, the steering wheel angle is less than a preset angle threshold, the sum of the power steering torque and the torque acting on the steering wheel is within a preset numerical range, the operating status information of the power steering system indicates that the power steering system is fault-free, the actual displacement of the rear wheel screw is 0, and the vehicle's yaw angular velocity is less than the preset angular velocity threshold, then it is determined that the vehicle is in a deviation state; otherwise, the vehicle is in a deviation state.

[0094] Optionally, it is also possible to determine whether the vehicle is running off the track based on time. For example, the vehicle's driving information can be continuously acquired, and it can be detected whether the vehicle's driving information meets a preset running off track condition. If the vehicle's driving information meets the preset running off track condition and the duration is greater than a preset time length, it is determined that the vehicle is in a running off track state. If this situation does not exceed the preset time length, it is determined that the vehicle is not in a running off track state.

[0095] Optionally, in order to prevent inaccurate vehicle deviation detection due to inconsistent road surface heights on both sides of the left and right wheels, the vehicle IMU (inertial measurement unit, used to measure the acceleration of the vehicle body in three directions and the angle value with the coordinate axis, etc.) signal is used to determine the vehicle's current roll angle. If the roll angle is less than a preset roll angle threshold, it is considered that the vehicle is on a straight road with no road interference, and the vehicle can be further detected to see whether it meets the preset deviation conditions. If the roll angle is not less than the preset roll angle threshold, it is considered that the uneven road surface will cause interference with the detection of the vehicle deviation, and the vehicle will not be detected or compensated for.

[0096] 102. Control the rear wheels of the vehicle to steer according to the deviation adjustment information so that the vehicle can move in a straight line.

[0097] According to the structure of the vehicle, the rear wheel can be controlled to deflect by a device related to controlling the deflection of the rear wheel. For example, some vehicles control the deflection of the rear wheel of the vehicle by the displacement of the rear wheel lead screw. Then the deflection adjustment information can be the compensation displacement of the rear wheel lead screw. That is, in one embodiment, the deflection of the rear wheel of the vehicle is controlled by the movement of the rear wheel lead screw of the vehicle, and the deviation adjustment information is the compensation displacement of the rear wheel lead screw. Controlling the deviation of the rear wheel of the vehicle by the compensation displacement can specifically include:

[0098] Determining a target displacement of a rear wheel lead screw of the vehicle according to a steering wheel angle of the vehicle;

[0099] Based on the compensation displacement and the target displacement, the superimposed displacement of the rear wheel screw is calculated;

[0100] The rear wheel lead screw is controlled to move based on the superimposed displacement.

[0101] Among them, the target displacement is used to control the rear wheels of the vehicle to deflect as the steering wheel of the vehicle turns. There is a certain relationship between the steering angle of the vehicle steering wheel and the deflection angle of the rear wheels. For example, the steering angle of the vehicle steering wheel and the deflection angle of the rear wheels have a linear relationship. For example, when the steering wheel turns 180° to the left, the rear wheels turn 5° to the right; when the steering wheel turns 360° to the left, the rear wheels turn 10° to the right, etc.

[0102] The target displacement of the rear wheel screw of the vehicle is determined according to the steering wheel angle of the vehicle, the compensation displacement and the target displacement are added to obtain the superimposed displacement of the rear wheel screw, and then the displacement of the rear wheel screw is controlled to be the target displacement.

[0103] In one embodiment, the RWS may add the compensation displacement and the target displacement to obtain the superimposed displacement of the rear wheel screw, and then send the superimposed displacement to the motor, which controls the displacement of the rear wheel screw.

[0104] In one embodiment, the compensation displacement and the target displacement may be sent to the RWS by the power assist system. Taking the power assist system as an electric power steering system (EPS) as an example, the power assist system and the rear wheel steering system jointly compensate for the vehicle deviation. Figure 2 As shown, the torque and angle sensor (TAS) in the EPS can detect the steering wheel angle of the vehicle and send the steering wheel angle to the deviation detection and calculation module and to the RWS.

[0105] The deviation detection and calculation module can detect whether the vehicle is in a deviation state, and determine the compensation displacement and send it to the RWS. Optionally, if the vehicle is not detected to be in a deviation state, the compensation displacement of the previous detection cycle is sent to the RWS, and the steering torque for the front wheels of the vehicle is calculated.

[0106] The rear wheel angle calculation module in RWS calculates the target displacement of the rear wheel screw according to the vehicle steering wheel angle sent by EPS, and superimposes the target displacement and the compensation displacement camera to obtain the superimposed displacement, which is then input to the motor for execution.

[0107] Optionally, the RWS may also include a displacement sensor, which can detect the actual displacement of the rear wheel screw when the motor rotates. The displacement processing module can subtract the compensation displacement from the actual displacement of the rear wheel screw to obtain the actual displacement of the rear wheel screw, and send the calculated actual displacement and compensation displacement to the EPS.

[0108] Optionally, the RWS system has a power-off storage function for the compensation displacement, storing the current compensation displacement when the power is off, and reading the compensation displacement when the power is on again.

[0109] Assuming that when the vehicle is in a state of deviation, the actual displacement of the rear wheel lead screw of the vehicle is 0, the timing diagram of the signal interaction between the EPS system and the RWS system can be as follows: Figure 3As shown, first, RWS sends the actual displacement of the rear wheel screw to EPS. At this time, the actual displacement of the rear wheel screw is 0mm, and the compensation displacement determined by EPS is 0mm. The compensation displacement of 0mm is sent to RWS. Since the compensation displacement is 0mm, RWS does not compensate for the vehicle filming. If EPS detects that the vehicle is in a state of deviation, and the actual displacement of the rear wheel screw is 0mm, EPS determines that the compensation displacement is 0.2mm, EPS sends 0.2mm to RWS, RWS compensates for the vehicle deviation based on 0.2mm, and the displacement detected by the displacement sensor is 0.2mm. If RWS sends the actual displacement of the rear wheel screw of the vehicle to EPS as 6mm, it is determined that the vehicle is not in a state of deviation, and the compensation displacement is maintained unchanged, that is, the compensation of 0.2mm is sent to RWS. RWS adds the actual displacement of the rear wheel screw of the vehicle and the compensation displacement to obtain 6.2mm, and controls the displacement of the rear wheel screw to be 6.2mm. At this time, the displacement detected by the displacement sensor is 6.2mm.

[0110] Optionally, if an adjustment upper limit condition is set for the rear wheel compensation for vehicle deviation, then after the adjustment upper limit condition is reached, the vehicle deviation can be continuously compensated by the front wheels of the vehicle, and the vehicle deviation can be corrected by the front and rear wheels of the vehicle, thereby improving the deviation correction effect. That is, in one embodiment, after the step of "if the candidate deviation adjustment information meets the adjustment upper limit condition, the historical deviation adjustment information determined in the previous detection cycle is used as the deviation adjustment information of the current detection cycle", the method further includes:

[0111] determining a power assist torque for front wheel steering of the vehicle according to driving information of the vehicle;

[0112] The front wheels of the vehicle are controlled to steer according to the assist torque, so that the vehicle moves in a straight line.

[0113] The power assist torque for the front wheels of the vehicle is determined according to the driving information of the vehicle; the front wheels of the vehicle are controlled to deflect according to the power assist torque so that the vehicle travels in a straight line.

[0114] In one embodiment, if Figure 4 As shown, the EPS can be used to determine the assist torque and control the deviation of the front wheels of the vehicle. Specifically, after detecting that the vehicle is in a deviation state, the electric power steering is used to provide a deviation compensation amount adapted to the deviation degree. For example, in one embodiment, the torque applied by the driver to the steering wheel of the vehicle can be obtained, and the torque can be determined as the assist torque of the EPS system, and the deviation of the vehicle can be compensated based on the assist torque. Then, it is continuously detected whether the vehicle is still in a deviation state. If the vehicle is still in a deviation state, the assist torque can be adjusted, for example, gradually reduced or increased, until the vehicle does not deviate.

[0115] As can be seen from the above, in the embodiment of the present application, if it is detected that the vehicle is in a deviation state, deviation adjustment information for the rear wheels of the vehicle is determined; the rear wheels of the vehicle are controlled to deflect according to the deviation adjustment information to make the vehicle run in a straight line. The present application controls the rear wheels to deflect by the deviation adjustment information, which can not only make the vehicle run in a straight line, but also make the steering wheel of the vehicle in a neutral position.

[0116] In order to better implement the vehicle control method provided in the embodiment of the present application, a vehicle control device is also provided in one embodiment. The meanings of the terms are the same as those in the above vehicle control method, and the specific implementation details can refer to the description in the method embodiment.

[0117] The vehicle control device may be integrated in a vehicle, such as Figure 5 As shown, the vehicle control device may include: an information determination unit 301 and a deflection control unit 302, specifically as follows:

[0118] The information determination unit 301 is used to determine deviation adjustment information for the rear wheels of the vehicle if it is detected that the vehicle is in a deviation state.

[0119] In one embodiment, the vehicle includes a power steering system and a rear-wheel steering system, and the information determination unit 301 may also be used to:

[0120] If it is detected that the vehicle is in a deviation state, determining deviation adjustment information for the rear wheels of the vehicle through the power steering system;

[0121] The deviation adjustment information is sent to the rear wheel steering system via the vehicle bus of the vehicle. In one embodiment, the vehicle is detected at a preset period to determine whether it is in a deviation state. The information determination unit 301 may also be used to:

[0122] If the vehicle is detected to be in a deviation state during the current detection cycle, the deviation adjustment information corresponding to the current detection cycle is determined based on the historical deviation adjustment information corresponding to the historical detection cycles.

[0123] In one embodiment, the information determining unit 301 may also be used to:

[0124] If the vehicle is detected to be in a deviation state in the current detection cycle, candidate deviation adjustment information is calculated based on the historical deviation adjustment information corresponding to the previous detection cycle and the preset deviation adjustment increment;

[0125] If the candidate running deviation adjustment information does not meet the adjustment upper limit condition, the candidate running deviation adjustment information is used as the running deviation adjustment information corresponding to the current detection cycle.

[0126] In one embodiment, the information determining unit 301 may also be used to:

[0127] If the candidate deviation adjustment information meets the adjustment upper limit condition, the historical deviation adjustment information determined in the previous detection cycle is used as the deviation adjustment information of the current detection cycle.

[0128] The deflection control unit 302 is used to control the rear wheels of the vehicle to deflect according to the deviation adjustment information so as to make the vehicle travel in a straight line.

[0129] In one embodiment, the deflection control unit 302 may also be used to:

[0130] The rear wheel steering system controls the rear wheels of the vehicle to steer based on the deviation adjustment information.

[0131] In one embodiment, the deflection of the rear wheels of the vehicle is controlled by moving a rear wheel screw of the vehicle, and the deviation adjustment information is the compensation displacement of the rear wheel screw.

[0132] In one embodiment, the deflection control unit 302 may also be used to:

[0133] Determining a target displacement of a rear wheel lead screw of the vehicle according to a steering wheel angle of the vehicle;

[0134] Based on the compensation displacement and the target displacement, the superimposed displacement of the rear wheel screw is calculated;

[0135] Based on the superimposed displacement, the rear wheel screw is controlled to move.

[0136] In one embodiment, the vehicle control device may further include:

[0137] The compensation position unit is used to use the historical deviation adjustment information determined in the previous detection cycle as the deviation adjustment information of the current detection cycle if the current detection cycle does not detect that the vehicle is in a deviation state.

[0138] In one embodiment, the vehicle control device may further include:

[0139] A power assist torque determination unit, used to determine a power assist torque for front wheel steering of the vehicle according to driving information of the vehicle;

[0140] The front wheel deflection unit is used to control the front wheels of the vehicle to deflect according to the assist torque so that the vehicle can travel in a straight line.

[0141] In one embodiment, the vehicle control device may further include:

[0142] An acquisition unit, used to acquire the driving information of the above vehicle;

[0143] A first detection unit, configured to determine that the vehicle is in a deviation state if a preset deviation condition is satisfied according to the driving information;

[0144] The second detection unit is used to determine that the vehicle is not in a deviation state if the preset deviation condition is not satisfied according to the driving information.

[0145] In one embodiment, the driving information includes at least one of the vehicle speed, the steering wheel angle, the power steering torque for the front wheels of the vehicle, the torque acting on the steering wheel, the operating status information of the power steering system, the actual displacement of the rear wheel screw of the vehicle and the yaw angular velocity of the vehicle.

[0146] In one embodiment, the preset deviation conditions include that the vehicle speed is greater than a preset speed threshold, the steering wheel angle is less than a preset angle threshold, the sum of the assist torque and the torque acting on the steering wheel is within a preset numerical range, the operating status information of the power steering system indicates that the power steering system has no faults, the actual displacement of the rear wheel screw is 0, and the yaw angular velocity of the vehicle is less than a preset angular velocity threshold.

[0147] As can be seen from the above, if the vehicle control device in the embodiment of the present application detects that the vehicle is in a deviation state, the deviation adjustment information for the rear wheels of the vehicle is determined by the information determination unit 301; the deflection control unit 302 controls the rear wheels of the vehicle to deflect according to the deviation adjustment information, so that the vehicle can run in a straight line. The present application controls the rear wheels to deflect by the deviation adjustment information, which can not only make the vehicle run in a straight line, but also make the steering wheel of the vehicle in a neutral position.

[0148] The present application also provides a controller having a computer program stored thereon. When the computer program is executed by the controller, various functions are implemented as follows:

[0149] If it is detected that the vehicle is in a deviation state, determining deviation adjustment information for the rear wheels of the vehicle;

[0150] The rear wheels of the vehicle are controlled to steer according to the deviation adjustment information so that the vehicle can move in a straight line.

[0151] The specific implementation of the above operations can be found in the previous embodiments and will not be described in detail here.

[0152] As can be seen from the above, in the embodiment of the present application, if it is detected that the vehicle is in a deviation state, deviation adjustment information for the rear wheels of the vehicle is determined; the rear wheels of the vehicle are controlled to deflect according to the deviation adjustment information to make the vehicle run in a straight line. The present application controls the rear wheels to deflect by the deviation adjustment information, which can not only make the vehicle run in a straight line, but also make the steering wheel of the vehicle in a neutral position.

[0153] The embodiment of the present application also provides a vehicle, which may be a fuel vehicle, a plug-in hybrid vehicle, or a new energy vehicle, etc., and the present application does not make any specific limitation on this. Figure 6 As shown, it shows a schematic diagram of the structure of a vehicle involved in an embodiment of the present application, specifically:

[0154] The vehicle may include components such as a processor 1001 of one or more processing cores, a memory 1002 of one or more computer-readable storage media, a power supply 1003, and an input unit 1004. Those skilled in the art will appreciate that Figure 6 The vehicle structure shown in the figure does not constitute a limitation on the vehicle, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently. For example, the vehicle may also include a controller. Among them:

[0155] The processor 1001 is the control center of the vehicle, and uses various interfaces and lines to connect various parts of the entire vehicle. By running or executing software programs and / or modules stored in the memory 1002, and calling data stored in the memory 1002, it performs various functions of the vehicle and processes data, thereby monitoring the vehicle as a whole. Optionally, the processor 1001 may include one or more processing cores; preferably, the processor 1001 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and computer programs, etc., and the modem processor mainly processes wireless communications. It is understandable that the above-mentioned modem processor may not be integrated into the processor 1001.

[0156] The memory 1002 can be used to store software programs and modules. The processor 1001 executes various functional applications and data processing by running the software programs and modules stored in the memory 1002. The memory 1002 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, a computer program required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area may store data created according to the use of the vehicle, etc. In addition, the memory 1002 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. Accordingly, the memory 1002 may also include a memory controller to provide the processor 1001 with access to the memory 1002.

[0157] The vehicle further includes a power supply 1003 for supplying power to various components. Preferably, the power supply 1003 can be logically connected to the processor 1001 through a power management system, so as to manage charging, discharging, and power consumption through the power management system. The power supply 1003 can also include any components such as one or more DC or AC power supplies, recharging systems, power failure detection circuits, power converters or inverters, and power status indicators.

[0158] The vehicle may further include an input unit 1004, which may be used to receive input digital or character information and generate signal input related to user settings and function control.

[0159] Although not shown, the vehicle may also include a display unit, etc., which will not be described in detail here. Specifically in this embodiment, the processor 1001 in the vehicle will load the executable files corresponding to the processes of one or more computer programs into the memory 1002 according to the following instructions, and the processor 1001 will run the computer programs stored in the memory 1002 to achieve various functions, as follows:

[0160] If it is detected that the vehicle is in a deviation state, determining deviation adjustment information for the rear wheels of the vehicle;

[0161] The rear wheels of the vehicle are controlled to steer according to the deviation adjustment information so that the vehicle can move in a straight line.

[0162] The specific implementation of the above operations can be found in the previous embodiments and will not be described in detail here.

[0163] As can be seen from the above, in the embodiment of the present application, if it is detected that the vehicle is in a deviation state, deviation adjustment information for the rear wheels of the vehicle is determined; the rear wheels of the vehicle are controlled to deflect according to the deviation adjustment information to make the vehicle run in a straight line. The present application controls the rear wheels to deflect by the deviation adjustment information, which can not only make the vehicle run in a straight line, but also make the steering wheel of the vehicle in a neutral position.

[0164] According to one aspect of the present application, a computer program product or computer program is provided, the computer program product or computer program including computer instructions, the computer instructions being stored in a computer-readable storage medium. A processor of a vehicle reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the vehicle executes the methods provided in various optional implementations in the above-mentioned embodiments.

[0165] Those skilled in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be completed by a computer program, or by controlling related hardware through a computer program. The computer program may be stored in a computer-readable storage medium and loaded and executed by a processor.

[0166] To this end, an embodiment of the present application provides a computer-readable storage medium, in which a computer program is stored. The computer program can be loaded by a processor to execute any vehicle control method provided in the embodiment of the present application.

[0167] The specific implementation of the above operations can be found in the previous embodiments, which will not be described in detail here.

[0168] The computer-readable storage medium may include: a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0169] Since the computer program stored in the computer-readable storage medium can execute any one of the vehicle control methods provided in the embodiments of the present application, the beneficial effects that can be achieved by any one of the vehicle control methods provided in the embodiments of the present application can be achieved. Please refer to the previous embodiments for details and will not be repeated here.

[0170] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0171] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0172] The embodiments, implementation methods and related technical features of the present application can be combined and replaced with each other without conflict.

[0173] The above are only preferred embodiments of the present application and do not constitute any form of limitation to the present application. However, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present application without departing from the content of the technical solution of the present application are still within the scope of the technical solution of the present application.

[0174] The above is a detailed introduction to a vehicle control method, device, vehicle and computer-readable storage medium provided in the embodiments of the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for technical personnel in this field, according to the ideas of the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A vehicle control method, characterized in that: include: If it is detected that the vehicle is in a deviation state, determining deviation adjustment information for the rear wheels of the vehicle; The rear wheels of the vehicle are controlled to deflect according to the deviation adjustment information so that the vehicle can travel in a straight line.

2. The method according to claim 1, characterized in that The vehicle includes a power steering system and a rear wheel steering system. If it is detected that the vehicle is in a deviation state, determining deviation adjustment information for the rear wheels of the vehicle includes: If it is detected that the vehicle is in a deviation state, determining deviation adjustment information for the rear wheels of the vehicle through the power steering system; The deviation adjustment information is sent to the rear-wheel steering system via a vehicle bus of the vehicle.

3. The method according to claim 2, characterized in that The controlling the rear wheels of the vehicle to deflect according to the deviation adjustment information includes: The rear wheels of the vehicle are controlled to steer based on the deviation adjustment information through the rear wheel steering system.

4. The method according to claim 1, characterized in that: Detecting whether the vehicle is in a deviation state at a preset period, and determining deviation adjustment information for rear wheels of the vehicle if the vehicle is detected to be in a deviation state, including: If the vehicle is detected to be in a deviation state in the current detection cycle, the deviation adjustment information corresponding to the current detection cycle is determined based on the historical deviation adjustment information corresponding to the historical detection cycle.

5. The method according to claim 4, characterized in that The method further comprises: If the vehicle is not detected in the deviation state in the current detection cycle, the historical deviation adjustment information determined in the previous detection cycle is used as the deviation adjustment information in the current detection cycle.

6. The method according to claim 4, characterized in that If the vehicle is detected to be in a deviation state in the current detection cycle, the deviation adjustment information corresponding to the current detection cycle is determined based on the historical deviation adjustment information corresponding to the historical detection cycle, including: If the vehicle is detected to be in a deviation state in the current detection cycle, candidate deviation adjustment information is calculated based on historical deviation adjustment information corresponding to the previous detection cycle and a preset deviation adjustment increment; If the candidate running deviation adjustment information does not meet the adjustment upper limit condition, the candidate running deviation adjustment information is used as the running deviation adjustment information corresponding to the current detection cycle.

7. The method according to claim 6, characterized in that If the vehicle is detected to be in a deviation state in the current detection cycle, after calculating candidate deviation adjustment information based on historical deviation adjustment information corresponding to the previous detection cycle and a preset deviation adjustment increment, the method further includes: If the candidate running deviation adjustment information meets the adjustment upper limit condition, the historical running deviation adjustment information determined in the previous detection cycle is used as the running deviation adjustment information of the current detection cycle.

8. The method according to claim 7, characterized in that If the candidate deviation adjustment information meets the adjustment upper limit condition, the historical deviation adjustment information determined in the previous detection cycle is used as the deviation adjustment information of the current detection cycle, and the method further includes: determining an assist torque for steering the front wheels of the vehicle according to driving information of the vehicle; The front wheels of the vehicle are controlled to deflect according to the assist torque so that the vehicle travels in a straight line.

9. The method according to claim 1, characterized in that: The deflection of the rear wheels of the vehicle is controlled by moving the rear wheel lead screw of the vehicle, and the deviation adjustment information is the compensation displacement of the rear wheel lead screw.

10. The method according to claim 9, characterized in that The controlling the rear wheels of the vehicle to deflect according to the deviation adjustment information includes: Determining a target displacement of a rear wheel lead screw of the vehicle according to a steering wheel angle of the vehicle; Based on the compensation displacement and the target displacement, the superimposed displacement of the rear wheel screw is calculated; The rear wheel lead screw is controlled to move based on the superimposed displacement.

11. The method according to any one of claims 1 to 10, characterized in that: If it is detected that the vehicle is in a deviation state, before determining deviation adjustment information for the rear wheels of the vehicle, the method further includes: Acquiring driving information of the vehicle; If the preset deviation condition is satisfied according to the driving information, determining that the vehicle is in a deviation state; If the preset deviation condition is not satisfied according to the driving information, it is determined that the vehicle is not in a deviation state.

12. The method according to claim 11, characterized in that The driving information includes at least one of the vehicle speed, steering wheel angle, power steering torque for the front wheels of the vehicle, torque acting on the steering wheel, operating status information of the power steering system, actual displacement of the rear wheel screw of the vehicle and the yaw angular velocity of the vehicle.

13. The method according to claim 11, characterized in that The preset deviation conditions include that the vehicle speed is greater than a preset speed threshold, the steering wheel angle is less than a preset angle threshold, the sum of the assist torque and the torque acting on the steering wheel is within a preset numerical range, the operating status information of the power steering system indicates that the power steering system has no faults, the actual displacement of the rear wheel screw is 0, and the yaw angular velocity of the vehicle is less than a preset angular velocity threshold.

14. A vehicle control device, characterized in that: include: An information determination unit, configured to determine deviation adjustment information for rear wheels of the vehicle if it is detected that the vehicle is in a deviation state; A deflection control unit is used to control the rear wheels of the vehicle to deflect according to the deviation adjustment information so that the vehicle can travel in a straight line.

15. A controller having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the vehicle control method according to any one of claims 1 to 13 is implemented.

16. A vehicle, characterized in that: It comprises the controller, memory and processor as described in claim 15; the memory stores a computer program, and the processor is used to run the computer program in the memory to execute the vehicle control method as described in any one of claims 1 to 13.

17. A computer-readable storage medium, characterized in that: The computer-readable storage medium is used to store a computer program, and the computer program is loaded by a processor to execute the vehicle control method according to any one of claims 1 to 13.

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