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

Abstract

The invention discloses a vehicle control method, device and system, a storage medium, a controller and a vehicle. The method comprises the steps that it is determined that a rear wheel steering jamming fault occurs to the vehicle; and if the rear wheel steering jamming fault is that the rear wheel steering motors are jammed, the vehicle is controlled according to the number of the jammed rear wheel steering motors and the vehicle speed of the vehicle. According to the method, the vehicle state is judged when the rear wheel steering jamming fault occurs, corresponding control processing logic is adopted according to the number of the jammed rear wheel steering motors and the speed of the vehicle, the vehicle safety risk caused by jamming of the rear wheel steering gear is greatly reduced, and the method has the advantages of being wide in applicability and high in working condition coverage rate.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a vehicle control method, device, system and storage medium, controller, and vehicle. Background Art

[0002] Related steering redundancy technologies are mostly a combination of hardware and software, and rely heavily on hardware redundancy. The solution to the faulty part is relatively crude, just a simple "replacement". There are problems such as poor adaptability and poor coverage of different working conditions. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems in the related art to a certain extent. To this end, one purpose of the present invention is to propose a vehicle control method, which adopts different control processing logics for different working conditions, greatly reduces the vehicle safety risk caused by the stuck rear wheel steering gear, and has the advantages of wide applicability and high working condition coverage.

[0004] A second object of the present invention is to provide a control device for a vehicle.

[0005] A third object of the present invention is to provide a computer-readable storage medium.

[0006] A fourth object of the present invention is to provide a controller.

[0007] A fifth object of the present invention is to provide a vehicle control system.

[0008] A sixth object of the present invention is to provide a vehicle.

[0009] To achieve the above-mentioned purpose, an embodiment of the first aspect of the present invention proposes a vehicle control method, the method comprising: determining that a rear wheel steering jam fault occurs in the vehicle; if the rear wheel steering jam fault is caused by a rear wheel steering motor being jammed, controlling the vehicle according to the number of jammed rear wheel steering motors and the speed of the vehicle.

[0010] According to the vehicle control method of the embodiment of the present invention, the vehicle state is judged when the rear wheel steering jam occurs, and the corresponding control processing logic is adopted according to the number of jammed rear wheel steering motors and the vehicle speed, thereby greatly reducing the vehicle safety risk caused by the jamming of the rear wheel steering gear, and having the advantages of wide applicability and high working condition coverage.

[0011] In addition, the vehicle control method proposed in the above embodiment of the present invention may also have the following additional technical features:

[0012] According to one embodiment of the present invention, the vehicle is controlled according to the number of stuck rear-wheel steering motors and the vehicle speed, including: if the number of stuck rear-wheel steering motors is one, the vehicle speed is less than or equal to a first vehicle speed, and the rear wheel steering angle corresponding to the stuck rear-wheel steering motor is less than or equal to a preset deflection angle, then the unstuck rear-wheel steering motor is controlled to drive the corresponding rear wheel to return to the center position, and the vehicle speed is limited to below the first vehicle speed.

[0013] According to one embodiment of the present invention, the vehicle is controlled according to the number of stuck rear-wheel steering motors and the vehicle speed, including: if the number of stuck rear-wheel steering motors is one, the vehicle speed is less than or equal to a first vehicle speed, and the rear wheel steering angle corresponding to the stuck rear-wheel steering motor is greater than a preset deflection angle, then the unstuck rear-wheel steering motor is controlled to drive the corresponding rear wheel to return to the neutral position, and the vehicle speed is limited to below the first vehicle speed, and the vehicle is controlled to travel to a safe area.

[0014] According to one embodiment of the present invention, the vehicle is controlled according to the number of stuck rear-wheel steering motors and the vehicle speed, including: if the number of stuck rear-wheel steering motors is one, the vehicle speed is greater than a first vehicle speed and less than a second vehicle speed, and the rear wheel steering angle corresponding to the stuck rear-wheel steering motor is less than or equal to a preset deflection angle, then the unstuck rear-wheel steering motor is controlled to drive the corresponding rear wheel to return to the neutral position, and the vehicle is controlled to decelerate so that the vehicle speed is below the first vehicle speed, and the vehicle speed is limited to below the first vehicle speed.

[0015] According to one embodiment of the present invention, the vehicle is controlled according to the number of stuck rear-wheel steering motors and the vehicle speed, including: if the number of stuck rear-wheel steering motors is one, the vehicle speed is greater than a first vehicle speed and less than a second vehicle speed, and the rear wheel steering angle corresponding to the stuck rear-wheel steering motor is greater than a preset deflection angle, then the unstuck rear-wheel steering motor is controlled to drive the corresponding rear wheel to return to the neutral position, and the vehicle is controlled to decelerate so that the vehicle speed is below the first vehicle speed, and at the same time the vehicle speed is limited to below the first vehicle speed, and the vehicle is controlled to drive to a safe area.

[0016] According to one embodiment of the present invention, controlling the vehicle to drive to a safe area includes: controlling the front-wheel steering system of the vehicle and an unstuck rear-wheel steering motor to drive the corresponding rear wheels through an advanced driver assistance ADAS system, and controlling the vehicle to drive at a speed lower than the first vehicle speed.

[0017] According to one embodiment of the present invention, the vehicle is controlled according to the number of stuck rear-wheel steering motors and the vehicle speed, including: if the number of stuck rear-wheel steering motors is two and the vehicle speed is less than a second vehicle speed, different torques are allocated to the front and rear wheels of the vehicle to keep the vehicle traveling in a straight line, and the vehicle is controlled to decelerate to 0, and the vehicle is controlled to travel to a safe area.

[0018] According to one embodiment of the present invention, the controlling of the vehicle according to the number of stuck rear-wheel steering motors and the vehicle speed includes: if the number of stuck rear-wheel steering motors is one and the vehicle speed is greater than or equal to a second vehicle speed, controlling the vehicle to decelerate so that the vehicle speed is below the second vehicle speed, controlling the unstuck rear-wheel steering motors to rotate to positions with opposite directions and the same angles, and after the vehicle speed is decelerated to below the first vehicle speed, driving the corresponding wheels of the unstuck rear-wheel steering motors to return to the neutral position.

[0019] According to one embodiment of the present invention, the vehicle is controlled according to the number of stuck rear-wheel steering motors and the vehicle speed, including: if the number of stuck rear-wheel steering motors is two and the vehicle speed is greater than or equal to a second vehicle speed, different torques are allocated to the front and rear wheels of the vehicle to keep the vehicle moving in a straight line, and the vehicle is controlled to decelerate so that the vehicle speed is below the first vehicle speed, and the vehicle is controlled to drive to a safe area.

[0020] According to an embodiment of the present invention, before controlling the vehicle to drive to a safe area, the method further comprises: rotating the front wheels of the vehicle to a position having the same direction and angle as the rear wheels through an advanced driver assistance system (ADAS).

[0021] According to an embodiment of the present invention, the method further includes: controlling an unstuck rear wheel steering motor to drive the corresponding rear wheel to return to a neutral position while controlling the vehicle to issue a first reminder message.

[0022] According to one embodiment of the present invention, the method further comprises: allocating different torques to the front and rear wheels of the vehicle while controlling the vehicle to issue a second reminder message.

[0023] According to one embodiment of the present invention, the first vehicle speed is the maximum vehicle speed at which the rear wheel steering motor is stuck without affecting driving safety, and the preset deflection angle is the maximum rear wheel stuck angle for the vehicle to continue driving after the other rear wheel returns to the neutral position.

[0024] According to an embodiment of the present invention, the method further comprises: if the rear wheel steering stuck fault is a fault of a primary rear wheel steering angle sensor, activating a backup rear wheel steering angle sensor for vehicle steering control.

[0025] To achieve the above-mentioned purpose, the second aspect of the embodiment of the present invention proposes a vehicle control device, which includes: a determination module, which determines that the vehicle has a rear wheel steering jam fault; a control module, which controls the vehicle according to the number of stuck rear wheel steering motors and the speed of the vehicle if the rear wheel steering jam fault is caused by the rear wheel steering motor being stuck.

[0026] To achieve the above objectives, a third aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the vehicle control method provided in the first aspect of the present invention is implemented.

[0027] To achieve the above-mentioned purpose, the fourth aspect of the present invention proposes a controller, including a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the vehicle control method proposed in the first aspect of the present invention is implemented.

[0028] To achieve the above-mentioned purpose, the fifth aspect of the present invention proposes a vehicle control system, which includes: a rear-wheel steering motor, a rear-wheel steering redundant system, and a control device proposed according to the second aspect of the present invention or a controller proposed according to the fourth aspect of the present invention; wherein, the control device or the controller is used to control the vehicle according to the number of stuck rear-wheel steering motors and the speed of the vehicle through the rear-wheel steering redundant system when the rear-wheel steering stuck fault is the stuck rear-wheel steering motor.

[0029] To achieve the above-mentioned purpose, a sixth aspect of the present invention provides a vehicle, comprising a control system according to the fifth aspect of the present invention.

[0030] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 is a flow chart of a vehicle control method according to an embodiment of the present invention;

[0032] Figure 2 is a flow chart of a vehicle control method according to a specific embodiment of the present invention;

[0033] Figure 3 is a schematic diagram of a vehicle control device according to an embodiment of the present invention;

[0034] Figure 4 is a structural block diagram of a controller according to an embodiment of the present invention;

[0035] Figure 5is a schematic diagram of a control system of a vehicle according to an embodiment of the present invention;

[0036] Figure 6 is a schematic diagram of a vehicle according to an embodiment of the present invention. DETAILED DESCRIPTION

[0037] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0038] The following is attached to the instruction manual Figure 1-6 And specific implementation methods are described in detail for the vehicle control method, device, system and storage medium, controller, and vehicle of the embodiments of the present invention.

[0039] Figure 1 FIG. 1 is a flow chart of a vehicle control method according to an embodiment of the present invention. Figure 1 As shown, the vehicle control method may include:

[0040] S101, determining that a rear wheel steering jam occurs on the vehicle;

[0041] S102: If the rear wheel steering stuck fault is caused by the rear wheel steering motor being stuck, the vehicle is controlled according to the number of stuck rear wheel steering motors and the vehicle speed.

[0042] It is feasible to obtain the vehicle speed and rear wheel steering information of the vehicle, and detect in real time whether the vehicle has a rear wheel steering stuck fault.

[0043] If the vehicle has a rear wheel steering jam fault, determine whether the rear wheel steering jam fault is non-mechanical jam.

[0044] If the machine is stuck, and the rear-wheel steering motor is stuck, the vehicle will be controlled by the rear-wheel steering redundancy system according to the number of stuck rear-wheel steering motors and the vehicle speed.

[0045] It should be noted that non-mechanical jamming at least includes rear wheel steering angle sensor failure, and mechanical jamming at least includes rear wheel steering motor jamming failure.

[0046] In an embodiment of the present invention, the first vehicle speed is the maximum vehicle speed at which the rear wheel steering motor is stuck without affecting driving safety, and the preset deflection angle is the maximum rear wheel stuck angle at which the vehicle continues to drive after the other rear wheel returns to the neutral position.

[0047] In an embodiment of the present invention, the second vehicle speed is greater than the first vehicle speed, wherein the second vehicle speed is a vehicle speed dividing line between a high-speed mode and a low-speed mode of the vehicle.

[0048] In one embodiment of the present invention, Figure 2 As shown, the vehicle is controlled according to the number of stuck rear wheel steering motors and the vehicle speed, including:

[0049] If there is only one stuck rear-wheel steering motor, the vehicle speed is less than or equal to the first speed, and the rear wheel steering angle corresponding to the stuck rear-wheel steering motor is less than or equal to the preset deflection angle, the unstuck rear-wheel steering motor is controlled to drive the corresponding rear wheel to return to the neutral position, and the vehicle speed is limited to below the first speed.

[0050] It is feasible that if the number of stuck rear-wheel steering motors is one, the vehicle speed is less than or equal to the first vehicle speed, and the rear wheel steering angle A corresponding to the stuck rear-wheel steering motor is less than or equal to the preset deflection angle A1, the vehicle enters the "Fault1" state, and the first fault state bit is sent to the vehicle's braking system through the rear-wheel steering redundant system, and the rear wheel corresponding to the rear wheel steering motor that is not stuck is driven to return to the center position through the motor control of the rear-wheel steering redundant system, and the vehicle's drive motor is controlled by the braking system to limit the vehicle's speed to below the first vehicle speed.

[0051] In one embodiment of the present invention, Figure 2 As shown, the vehicle is controlled according to the number of stuck rear wheel steering motors and the vehicle speed, including:

[0052] If there is only one stuck rear-wheel steering motor, the vehicle speed is less than or equal to the first speed, and the rear wheel steering angle corresponding to the stuck rear-wheel steering motor is greater than the preset deflection angle, the unstuck rear-wheel steering motor is controlled to drive the corresponding rear wheel to return to the neutral position, and the vehicle speed is limited to below the first speed, and the vehicle is controlled to drive to a safe area.

[0053] It is feasible that if the number of stuck rear-wheel steering motors is one, the vehicle speed is less than or equal to the first vehicle speed, and the rear wheel steering angle A corresponding to the stuck rear-wheel steering motor is greater than the preset deflection angle A1, the vehicle enters the "Fault2" state, and the second fault state bit is sent to the vehicle's braking system and advanced driving assistance system (ADAS) through the rear-wheel steering redundancy system, and the rear wheel corresponding to the unstuck rear-wheel steering motor is driven to return to the center position through the motor control of the rear-wheel steering redundancy system. At the same time, the vehicle's drive motor is controlled through the braking system to limit the vehicle's speed to below the first vehicle speed, and the vehicle is controlled to travel to a safe area through the ADAS system.

[0054] In one embodiment of the present invention, controlling a vehicle to travel to a safe area includes:

[0055] Through the advanced driver assistance ADAS system, the vehicle's front-wheel steering system and the unstuck rear-wheel steering motors are controlled to drive the corresponding rear wheels, and the vehicle is controlled to travel at a speed below the first vehicle speed.

[0056] It is feasible that when the vehicle enters the "Fault2" state, the second fault status bit can be sent to the multimedia system through the rear-wheel steering redundant system. After the multimedia system receives the second fault status bit, a pop-up window and voice prompts the driver whether to choose to let the ADAS system take over the vehicle and park the vehicle in a safe area. After the ADAS system receives the second fault status bit and the takeover instruction, the ADAS system controls the vehicle's speed to be below the first speed, and drives the vehicle to a safe area by controlling the vehicle's front-wheel steering system and the rear wheels corresponding to the rear-wheel steering motor that is not stuck.

[0057] In one embodiment of the present invention, Figure 2 As shown, the vehicle is controlled according to the number of stuck rear wheel steering motors and the vehicle speed, including:

[0058] If there is only one stuck rear-wheel steering motor, the vehicle speed is greater than the first speed and less than the second speed, and the rear wheel steering angle corresponding to the stuck rear-wheel steering motor is less than or equal to the preset deflection angle, the unstuck rear-wheel steering motor is controlled to drive the corresponding rear wheel to return to the neutral position, and the vehicle is controlled to decelerate so that the vehicle speed is below the first speed, and the vehicle speed is limited to below the first speed.

[0059] It is feasible that if the number of stuck rear wheel steering motors is one, the vehicle speed is greater than the first speed and less than the second speed, and the rear wheel steering angle A corresponding to the stuck rear wheel steering motor is less than or equal to the preset deflection angle A1, the vehicle enters the "Fault3" state, and the third fault state bit can be sent to the vehicle's braking system through the rear wheel steering redundancy system. The rear wheel corresponding to the rear wheel steering motor that is not stuck is driven to return to the neutral position through the motor control of the rear wheel steering redundancy system, and the driving motor of the vehicle is controlled through the braking system to decelerate the driving motor at a certain rate, reduce the vehicle speed to below the first speed, and limit the vehicle speed to below the first speed.

[0060] In one embodiment of the present invention, Figure 2 As shown, the vehicle is controlled according to the number of stuck rear wheel steering motors and the vehicle speed, including:

[0061] If there is only one stuck rear-wheel steering motor, the vehicle speed is greater than the first speed and less than the second speed, and the rear wheel steering angle corresponding to the stuck rear-wheel steering motor is greater than the preset deflection angle, the unstuck rear-wheel steering motor is controlled to drive the corresponding rear wheel to return to the neutral position, and the vehicle is controlled to decelerate so that the vehicle speed is below the first speed, and the vehicle speed is limited to below the first speed, and the vehicle is controlled to drive to a safe area.

[0062] It is feasible that if there is only one stuck rear wheel steering motor, the vehicle speed is greater than the first speed and less than the second speed, and the rear wheel steering angle A corresponding to the stuck rear wheel steering motor is greater than the preset deflection angle A1, the vehicle enters the "Fault4" state, and the fourth fault state bit can be sent to the braking system and the ADAS system through the rear wheel steering redundancy system. The motor control of the rear wheel steering redundancy system drives the corresponding rear wheel of the unstuck rear wheel steering motor to return to the neutral position, and at the same time, the braking system controls the driving motor of the vehicle to decelerate the driving motor at a certain rate, reduce the vehicle speed to below the first speed, and limit the vehicle speed to below the first speed, and control the vehicle to drive to a safe area through the ADAS system.

[0063] In one embodiment of the present invention, controlling a vehicle to travel to a safe area includes:

[0064] Through the advanced driver assistance ADAS system, the vehicle's front-wheel steering system and the unstuck rear-wheel steering motors are controlled to drive the corresponding rear wheels, and the vehicle is controlled to travel at a speed below the first vehicle speed.

[0065] It is feasible that when the vehicle enters the "Fault4" state, the fourth fault status bit can be sent to the multimedia system through the rear-wheel steering redundant system. After the multimedia system receives the fourth fault status bit, a pop-up window and voice prompts the driver whether to choose to let the ADAS system take over the vehicle and park the vehicle in a safe area. After the ADAS system receives the fourth fault status bit and the takeover instruction, the ADAS system controls the vehicle's speed to be below the first speed, and drives the vehicle to a safe area by controlling the vehicle's front-wheel steering system and the rear wheels corresponding to the rear-wheel steering motor that is not stuck.

[0066] In one embodiment of the present invention, Figure 2 As shown, the vehicle is controlled according to the number of stuck rear wheel steering motors and the vehicle speed, including:

[0067] If the number of stuck rear wheel steering motors is two and the vehicle speed is less than the second vehicle speed, different torques are allocated to the front and rear wheels of the vehicle to keep the vehicle moving in a straight line, control the vehicle to decelerate to 0, and control the vehicle to drive to a safe area.

[0068] It is feasible that if there are two stuck rear wheel steering motors and the vehicle speed is less than the second vehicle speed, the vehicle enters the "Fault5" state. When the left and right rear wheel steering motors are stuck at the same time, the fifth fault state bit can be sent to the vehicle's body posture stabilization system and braking system through the rear wheel steering redundancy system. The body posture stabilization system uses the vehicle's yaw angular velocity as the control target to control the vehicle's drive motor to distribute different torques to the front and rear wheels to keep the vehicle moving in a straight line. At the same time, the vehicle's drive motor is controlled through the braking system to control the vehicle to decelerate until the vehicle stops. And the ADAS system controls the vehicle to drive to a safe area.

[0069] In one embodiment of the present invention, before controlling the vehicle to travel to the safety area, the method further includes:

[0070] The advanced driver assistance ADAS system turns the vehicle's front wheels to the same direction and angle as the rear wheels.

[0071] It is feasible that when the vehicle enters the "Fault5" state, the rear-wheel steering redundant system can also send the fifth fault status bit to the multimedia system. After the multimedia system receives the fifth fault status bit, a pop-up window and voice prompts the driver whether to choose to let the ADAS system take over the vehicle and park the vehicle in a safe area. After the ADAS system receives the fifth fault status bit and the takeover instruction, the EPS (front-wheel steering) system is controlled by the ADAS system to rotate the front wheels to the same direction and angle as the rear wheels, and the vehicle is controlled to drive the vehicle to a safe area in the "crab mode".

[0072] In one embodiment of the present invention, Figure 2 As shown, the vehicle is controlled according to the number of stuck rear wheel steering motors and the vehicle speed, including:

[0073] If there is only one stuck rear-wheel steering motor and the vehicle speed is greater than or equal to the second vehicle speed, the vehicle is controlled to decelerate so that the vehicle speed is below the second vehicle speed, and the rear-wheel steering motors that are not stuck are controlled to rotate to positions with opposite directions and the same angles, and after the vehicle speed is decelerated to below the first vehicle speed, the rear-wheel steering motors that are not stuck drive the corresponding wheels to return to the neutral position.

[0074] It is feasible that if the number of stuck rear wheel steering motors is one and the vehicle speed is greater than or equal to the second vehicle speed, the vehicle enters the "Fault6" state, and the fault state bit can be sent to the vehicle's braking system through the rear wheel steering redundant system. The vehicle's drive motor is controlled by the braking system to decelerate the drive motor at a certain rate, and the vehicle's speed is reduced to below the second vehicle speed. At the same time, the rear wheel steering redundant system's motor controls the unstuck rear wheel steering motor to rotate to a position with the opposite direction and the same angle (relative to the direction and angle of the stuck rear wheel steering motor), and after the vehicle speed is decelerated to below the first vehicle speed, the rear wheel steering redundant system's motor controls the unstuck rear wheel steering motor to drive the corresponding wheel back to the center position.

[0075] In one embodiment of the present invention, Figure 2 As shown, the vehicle is controlled according to the number of stuck rear wheel steering motors and the vehicle speed, including:

[0076] If there are two stuck rear wheel steering motors and the vehicle speed is greater than or equal to the second vehicle speed, different torques are allocated to the front and rear wheels of the vehicle to keep the vehicle moving in a straight line, and the vehicle is controlled to decelerate so that the vehicle speed is below the first vehicle speed, and the vehicle is controlled to drive to a safe area.

[0077] It is feasible if the number of stuck rear-wheel steering motors is two and the vehicle speed is greater than or equal to the second speed. If the motors on both sides are stuck, the vehicle enters the "Fault7" state, and the fault status bit can be sent to the vehicle's body posture stabilization system and braking system through the rear-wheel steering redundancy system. The body posture stabilization system uses the vehicle's yaw angular velocity as the control target to control the drive motor to distribute different torques to the front and rear wheels to keep the vehicle moving in a straight line. At the same time, the vehicle's drive motor is controlled through the braking system to decelerate the drive motor at a certain rate, reducing the vehicle's speed to below the first speed. And the ADAS system is used to control the vehicle to drive to a safe area.

[0078] In one embodiment of the present invention, before controlling the vehicle to travel to the safety area, the vehicle control method further includes:

[0079] The advanced driver assistance ADAS system turns the vehicle's front wheels to the same direction and angle as the rear wheels.

[0080] It is feasible that when the vehicle enters the "Fault7" state, the seventh fault status bit can be sent to the multimedia system through the rear-wheel steering redundant system. After the multimedia system receives the seventh fault status bit, a pop-up window and voice prompts the driver whether to choose to let the ADAS system take over the vehicle and park the vehicle in a safe area. After the ADAS system receives the seventh fault status bit and the takeover instruction, the EPS (front-wheel steering) system is controlled by the ADAS system to rotate the front wheels to the same direction and angle as the rear wheels, and the vehicle is controlled to drive the vehicle to a safe area in the "crab mode".

[0081] It should be noted that the vehicle speed is greater than or equal to the second vehicle speed and is in high-speed mode. In this mode, the deflection angle of the rear-wheel steering motor cannot exceed the preset deflection angle.

[0082] In one embodiment of the present invention, the vehicle control method further includes: controlling the unstuck rear wheel steering motor to drive the corresponding rear wheel to return to the neutral position while controlling the vehicle to issue a first reminder message.

[0083] It can be implemented that when the vehicle enters the "Fault1" or "Fault3" state, the first fault state bit or the third fault state bit can be sent to the multimedia system through the rear wheel steering redundancy system to issue an alarm to remind the driver through the multimedia system.

[0084] In one embodiment of the present invention, the vehicle control method further includes: allocating different torques to the front and rear wheels of the vehicle while controlling the vehicle to issue a second reminder message.

[0085] It is feasible that when the vehicle enters the "Fault 5" or "Fault 7" state, the fifth fault state bit or the seventh fault state bit may be sent to the lighting control system through the rear wheel steering redundancy system, and the double flash warning lights may be turned on through the lighting control system.

[0086] In one embodiment of the present invention, Figure 2 As shown, the vehicle control method also includes:

[0087] If the rear wheel steering stuck fault is caused by a main rear wheel angle sensor failure, the backup rear wheel angle sensor will be activated for vehicle steering control.

[0088] It is feasible to obtain the rear wheel angle sensor check bit information while obtaining the vehicle speed and rear wheel steering information, so that when the vehicle has a rear wheel steering stuck fault and it is determined that the rear wheel steering stuck fault is non-mechanical, it is determined whether the main rear wheel angle sensor is faulty according to the rear wheel angle sensor check bit information. When it is determined that the main rear wheel angle sensor is faulty, the backup rear wheel angle sensor is enabled for vehicle steering control.

[0089] The redundant rear-wheel steering system in the embodiment of the present invention can match different control schemes according to different vehicle operating conditions when the rear-wheel steering motor is stuck, thereby improving the vehicle operation safety.

[0090] The vehicle control method of the embodiment of the present invention formulates different control schemes for different vehicle states when the rear wheel steering gear is stuck with different types and degrees. The vehicle state is judged in detail when the rear wheel steering is stuck, and after the rear wheel steering stuck fault judgment is completed, different control processing logics are adopted for different working conditions, which greatly reduces the vehicle safety risk caused by the stuck rear wheel steering gear, and has the advantages of wide applicability and high working condition coverage.

[0091] The invention provides a control device for a vehicle.

[0092] Figure 3 Schematic diagram of a vehicle control device according to an embodiment of the present invention. Figure 3 As shown, the control device 100 of the vehicle may include a determination module 10 and a control module 20 .

[0093] The determination module 10 determines that the vehicle has a rear wheel steering stuck fault; the control module 20 controls the vehicle according to the number of stuck rear wheel steering motors and the vehicle speed if the rear wheel steering stuck fault is caused by the stuck rear wheel steering motor.

[0094] It should be noted that other specific implementations of the vehicle control device provided in the embodiment of the present invention may refer to other specific implementations of the vehicle control method in the above-mentioned embodiment of the present invention.

[0095] The vehicle control device of the embodiment of the present invention has formulated different control schemes for different vehicle states when the rear wheel steering gear has different types and degrees of stuck faults. The vehicle state is judged in detail when the rear wheel steering stuck fault occurs. After the rear wheel steering stuck fault judgment is completed, different control processing logics are adopted for different working conditions, which greatly reduces the vehicle safety risk caused by the stuck rear wheel steering gear, and has the advantages of wide applicability and high working condition coverage.

[0096] The present invention provides a computer-readable storage medium.

[0097] In this embodiment, a computer program is stored on a computer-readable storage medium, and when the computer program is executed by a processor, the vehicle control method as described above is implemented.

[0098] The invention provides a controller.

[0099] In this embodiment, a memory and a processor are included. A computer program is stored in the memory. When the computer program is executed by the processor, the vehicle control method as described above is implemented.

[0100] Figure 4 4 is a structural block diagram of a controller according to an embodiment of the present invention.

[0101] like Figure 4 As shown, the controller 500 includes: a processor 501 and a memory 503. The processor 501 and the memory 503 are connected, such as through a bus 502. Optionally, the controller 500 may also include a transceiver 504. It should be noted that in actual applications, the transceiver 504 is not limited to one, and the structure of the controller 500 does not constitute a limitation on the embodiments of the present invention.

[0102] Processor 501 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It may implement or execute various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of the present invention. Processor 501 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and the like.

[0103] The bus 502 may include a path to transmit information between the above components. The bus 502 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The bus 502 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 4 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0104] The memory 503 is used to store a computer program corresponding to the vehicle control method of the above embodiment of the present invention, and the computer program is controlled and executed by the processor 501. The processor 501 is used to execute the computer program stored in the memory 503 to implement the content shown in the above method embodiment.

[0105] Among them, the controller 500 includes but is not limited to: mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 4 The controller 500 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0106] The computer-readable storage medium and controller of the embodiments of the present invention utilize the above vehicle control method to adopt different control processing logics when the rear wheel steering is stuck in the vehicle, so as to greatly reduce the vehicle safety risks caused by the stuck rear wheel steering gear.

[0107] The invention provides a control system for a vehicle.

[0108] Figure 5 FIG. 1 is a schematic diagram of a vehicle control system according to an embodiment of the present invention. Figure 5 As shown, the control system 200 of the vehicle includes: a rear-wheel steering motor 300, a rear-wheel steering redundant system 400, and a control device 100 according to the above or a controller 500 according to the above; wherein the control device or the controller is used to control the vehicle according to the number of stuck rear-wheel steering motors and the speed of the vehicle through the rear-wheel steering redundant system when the rear-wheel steering stuck fault is the stuck rear-wheel steering motor.

[0109] The control system of the vehicle of the embodiment of the present invention has formulated different control schemes for different vehicle states when the rear wheel steering gear has different types and degrees of stuck faults. The vehicle state when the rear wheel steering stuck fault occurs is judged in detail, and after the rear wheel steering stuck fault judgment is completed, different control processing logics are adopted for different working conditions, which greatly reduces the vehicle safety risk caused by the stuck rear wheel steering gear, and has the advantages of wide applicability and high working condition coverage.

[0110] The present invention provides a vehicle.

[0111] Figure 6 FIG. 1 is a schematic diagram of a vehicle according to an embodiment of the present invention. Figure 6 As shown, vehicle 1000 includes a control system 200 according to the above.

[0112] The vehicle of the embodiment of the present invention uses the above control system to control the vehicle. When the rear wheel steering is stuck, different control processing logic is adopted, which greatly reduces the vehicle safety risk caused by the jamming of the rear wheel steering gear, and has the advantages of wide applicability and high working condition coverage.

[0113] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection portion with one or more wirings (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0114] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0115] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0116] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0117] In addition, 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 the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0118] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0119] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0120] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A vehicle control method, characterized in that: The method comprises: It is confirmed that the vehicle has a rear wheel steering jam fault; If the rear wheel steering stuck fault is caused by the rear wheel steering motor being stuck, the vehicle is controlled according to the number of stuck rear wheel steering motors and the vehicle speed.

2. The vehicle control method according to claim 1, characterized in that: The controlling of the vehicle according to the number of stuck rear wheel steering motors and the speed of the vehicle comprises: If the number of the stuck rear-wheel steering motors is one, the vehicle speed is less than or equal to the first vehicle speed, and the rear wheel steering angle corresponding to the stuck rear-wheel steering motor is less than or equal to the preset deflection angle, the unstuck rear-wheel steering motor is controlled to drive the corresponding rear wheel to return to the neutral position, and the vehicle speed is limited to below the first vehicle speed.

3. The vehicle control method according to claim 2, characterized in that: The controlling the vehicle according to the number of stuck rear wheel steering motors and the speed of the vehicle comprises: If the number of the stuck rear-wheel steering motors is one, the vehicle speed is less than or equal to the first vehicle speed, and the rear wheel steering angle corresponding to the stuck rear-wheel steering motor is greater than the preset deflection angle, the unstuck rear-wheel steering motor is controlled to drive the corresponding rear wheel to return to the neutral position, and the vehicle speed is limited to below the first vehicle speed, and the vehicle is controlled to drive to a safe area.

4. The vehicle control method according to claim 3, characterized in that: The controlling of the vehicle according to the number of stuck rear wheel steering motors and the speed of the vehicle comprises: If the number of stuck rear-wheel steering motors is one, the vehicle speed is greater than the first speed and less than the second speed, and the rear wheel steering angle corresponding to the stuck rear-wheel steering motor is less than or equal to a preset deflection angle, the unstuck rear-wheel steering motor is controlled to drive the corresponding rear wheel to return to the neutral position, and the vehicle is controlled to decelerate so that the vehicle speed is below the first speed, and the vehicle speed is limited to below the first speed.

5. The vehicle control method according to claim 4, characterized in that: The controlling of the vehicle according to the number of stuck rear wheel steering motors and the speed of the vehicle comprises: If the number of stuck rear-wheel steering motors is one, the vehicle speed is greater than the first speed and less than the second speed, and the rear wheel steering angle corresponding to the stuck rear-wheel steering motor is greater than the preset deflection angle, the unstuck rear-wheel steering motor is controlled to drive the corresponding rear wheel to return to the neutral position, and the vehicle is controlled to decelerate so that the vehicle speed is below the first speed, and at the same time the vehicle speed is limited to below the first speed, and the vehicle is controlled to drive to a safe area.

6. The vehicle control method according to claim 3 or 5, characterized in that: The controlling the vehicle to travel to a safe area includes: Through the advanced driver assistance ADAS system, the front wheel steering system of the vehicle and the unstuck rear wheel steering motor are controlled to drive the corresponding rear wheels, and the vehicle is controlled to travel at a speed lower than the first vehicle speed.

7. The vehicle control method according to claim 5, characterized in that: The controlling of the vehicle according to the number of stuck rear wheel steering motors and the speed of the vehicle comprises: If the number of the stuck rear wheel steering motors is two and the vehicle speed is less than the second vehicle speed, different torques are allocated to the front and rear wheels of the vehicle to keep the vehicle moving in a straight line, control the vehicle to decelerate to 0, and control the vehicle to drive to a safe area.

8. The vehicle control method according to claim 7, characterized in that: The controlling of the vehicle according to the number of stuck rear wheel steering motors and the speed of the vehicle comprises: If the number of stuck rear-wheel steering motors is one and the vehicle speed is greater than or equal to the second vehicle speed, the vehicle is controlled to decelerate so that the vehicle speed is below the second vehicle speed, and the rear-wheel steering motors that are not stuck are controlled to rotate to positions with opposite directions and the same angle, and after the vehicle speed is decelerated to below the first vehicle speed, the rear-wheel steering motors that are not stuck drive the corresponding wheels to return to the neutral position.

9. The vehicle control method according to claim 8, characterized in that: The controlling of the vehicle according to the number of stuck rear wheel steering motors and the speed of the vehicle comprises: If the number of the stuck rear wheel steering motors is two and the vehicle speed is greater than or equal to the second vehicle speed, different torques are allocated to the front and rear wheels of the vehicle to keep the vehicle moving in a straight line, and the vehicle is controlled to decelerate so that the vehicle speed is below the first vehicle speed, and the vehicle is controlled to drive to a safe area.

10. The vehicle control method according to claim 7 or 9, characterized in that: Before controlling the vehicle to travel to a safe area, the method further includes: The front wheels of the vehicle are turned to a position with the same direction and angle as the rear wheels through an advanced driving assistance ADAS system.

11. The vehicle control method according to claim 2 or 4, characterized in that: The method further includes: controlling an unstuck rear wheel steering motor to drive the corresponding rear wheel to return to a neutral position while controlling the vehicle to issue a first reminder message.

12. The vehicle control method according to claim 7 or 9, characterized in that: The method further includes: controlling the vehicle to issue a second reminder message while allocating different torques to the front and rear wheels of the vehicle.

13. The vehicle control method according to claim 2, characterized in that: The first vehicle speed is the maximum vehicle speed at which the rear wheel steering motor is stuck without affecting driving safety, and the preset deflection angle is the maximum rear wheel stuck angle for the vehicle to continue driving after the other rear wheel returns to the neutral position.

14. The vehicle control method according to claim 1, characterized in that: The method further comprises: If the rear wheel steering stuck fault is caused by a main rear wheel steering angle sensor failure, the backup rear wheel steering angle sensor is activated for vehicle steering control.

15. A vehicle control device, characterized in that: The control device comprises: Determine the module and determine that the vehicle has a rear wheel steering stuck fault; The control module controls the vehicle according to the number of stuck rear wheel steering motors and the speed of the vehicle if the rear wheel steering stuck fault is caused by the stuck rear wheel steering motors.

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

17. A controller, comprising a memory and a processor, wherein a computer program is stored in the memory, characterized in that: When the computer program is executed by the processor, the vehicle control method according to any one of claims 1 to 14 is implemented.

18. A vehicle control system, characterized in that: The system comprises: a rear wheel steering motor, a rear wheel steering redundant system, and a control device according to claim 15 or a controller according to claim 17; wherein, The control device or the controller is used to control the vehicle according to the number of stuck rear wheel steering motors and the vehicle speed through the rear wheel steering redundancy system when the rear wheel steering stuck fault is caused by the stuck rear wheel steering motor.

19. A vehicle, characterized in that: Comprising a control system according to claim 18.

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