Wheel control method, system, device and computer readable storage medium

Abstract

The application discloses a wheel control method, system, device and computer readable storage medium, and relates to the field of vehicle control, and specifically comprises the following steps: acquiring a real-time vehicle speed, a real-time steering wheel steering angle, a real-time driving mode and a driving mode switching signal; determining a target rear wheel steering angle based on the real-time driving mode, the real-time vehicle speed and the real-time steering wheel steering angle; and when it is detected through the real-time steering wheel steering angle and the driving mode switching signal that the target vehicle is in a steering state during the driving mode switching, controlling the current rear wheel steering angle to increase to the target rear wheel steering angle based on the real-time vehicle speed. The application can dynamically adjust the rear wheel steering angle, and effectively guarantee the stability of the whole vehicle when the driving mode is switched during steering.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of vehicle control, in particular to a wheel control method, system, device and computer readable storage medium. BACKGROUND

[0002] With the rapid development of intelligent driving technology and vehicle control system, rear wheel steering control system gradually becomes one of the key technologies to improve the stability and handling of the whole vehicle. However, the existing technology does not consider the real-time interaction between driving mode switching and steering operation, which may cause instability in handling when switching driving mode.

[0003] Therefore, there is an urgent need for a method to dynamically adjust the rear wheel steering angle to ensure the stability of the whole vehicle during steering when switching driving mode. SUMMARY

[0004] The present application provides a wheel control method, system, device and computer readable storage medium, which can dynamically adjust the rear wheel steering angle to ensure the stability of the whole vehicle during steering when switching driving mode.

[0005] In a first aspect, the present application provides a wheel control method, which comprises:

[0006] obtaining real-time vehicle speed, real-time steering wheel steering angle, real-time driving mode and driving mode switching signal;

[0007] determining a target rear wheel steering angle based on real-time driving mode, real-time vehicle speed and real-time steering wheel steering angle;

[0008] when detecting that the target vehicle is in steering state during driving mode switching through real-time steering wheel steering angle and driving mode switching signal, controlling the current rear wheel steering angle to increase to the target rear wheel steering angle based on real-time vehicle speed.

[0009] In combination with the first aspect, in an implementation mode, before the step of detecting that the target vehicle is in steering state during driving mode switching through real-time steering wheel steering angle and driving mode switching signal, the method further comprises:

[0010] when detecting that the target vehicle is in driving mode switching process according to the driving mode switching signal, determining an angle change value within a preset time based on the real-time steering wheel steering angle;

[0011] if the angle change value is within a preset steering wheel steering angle range, it is determined that the target vehicle is in steering state during driving mode switching.

[0012] In combination with the first aspect, in an implementation, the controlling the current rear wheel steering angle to increase to the target rear wheel steering angle based on the real-time vehicle speed comprises:

[0013] if the real-time vehicle speed is greater than the preset vehicle speed threshold, controlling the current rear wheel steering angle to increase to the target rear wheel steering angle at a preset first angle value;

[0014] if the real-time vehicle speed is less than or equal to the preset vehicle speed threshold, controlling the current rear wheel steering angle to increase to the target rear wheel steering angle at a preset second angle value, the first angle value being less than the second angle value.

[0015] In combination with the first aspect, in an implementation, in the process of controlling the current rear wheel steering angle to increase to the target rear wheel steering angle at the preset first angle value, further comprising:

[0016] obtaining a first real-time yaw rate, a first real-time front wheel steering angle, and a first real-time rear wheel steering angle;

[0017] if the first real-time yaw rate is greater than a preset first yaw rate threshold and the first real-time rear wheel steering angle is greater than a preset first rear wheel steering angle threshold, adjusting the first real-time rear wheel steering angle based on a first proportionality coefficient, the first real-time front wheel steering angle, a second proportionality coefficient, and the first real-time yaw rate to obtain a first current rear wheel steering angle, and controlling the first current rear wheel steering angle to increase to the target rear wheel steering angle at the first angle value;

[0018] if the first real-time yaw rate is not greater than the preset first yaw rate threshold or the first real-time rear wheel steering angle is not greater than the preset first rear wheel steering angle threshold, controlling the first real-time rear wheel steering angle to increase to the target rear wheel steering angle at the first angle value.

[0019] In combination with the first aspect, in an implementation, in the process of controlling the current rear wheel steering angle to increase to the target rear wheel steering angle at the preset second angle value, further comprising:

[0020] obtaining a second real-time yaw rate, a second real-time front wheel steering angle, and a second real-time rear wheel steering angle;

[0021] if the second real-time yaw rate is greater than a preset second yaw rate threshold and the second real-time rear wheel steering angle is greater than a preset second rear wheel steering angle threshold, adjusting the second real-time rear wheel steering angle based on the first proportionality coefficient, the second real-time front wheel steering angle, the second proportionality coefficient, and the second real-time yaw rate to obtain a second current rear wheel steering angle, and controlling the second current rear wheel steering angle to increase to the target rear wheel steering angle at the second angle value;

[0022] If the second real-time yaw rate is not greater than a preset second angular velocity threshold or the second real-time rear wheel steering angle is not greater than a preset second rear wheel steering angle threshold, the second real-time rear wheel steering angle is controlled to increase to the target rear wheel steering angle at the second angle value.

[0023] In combination with the first aspect, in an implementation, the target rear wheel steering angle is determined based on the real-time driving mode, the real-time vehicle speed and the real-time steering wheel steering angle, including:

[0024] The target rear wheel steering angle corresponding to the real-time vehicle speed, the real-time driving mode and the real-time steering wheel steering angle is obtained from a preset mapping relationship, the mapping relationship being a mapping relationship between the driving mode, the vehicle speed, the steering wheel steering angle and the rear wheel steering angle.

[0025] In combination with the first aspect, in an implementation, the method further includes:

[0026] When it is detected through the real-time steering wheel steering angle and the driving mode switching signal that the target vehicle is not in a steering state during switching of the driving mode, the current rear wheel steering angle is directly switched to the target rear wheel steering angle.

[0027] In the second aspect, an embodiment of the present application provides a wheel control system, including:

[0028] A first processing module is configured to obtain a real-time vehicle speed, a real-time steering wheel steering angle, a real-time driving mode and a driving mode switching signal;

[0029] A second processing module is configured to determine a target rear wheel steering angle based on the real-time driving mode, the real-time vehicle speed and the real-time steering wheel steering angle;

[0030] A third processing module is configured to, when it is detected through the real-time steering wheel steering angle and the driving mode switching signal that the target vehicle is in a steering state during switching of the driving mode, control the current rear wheel steering angle to increase to the target rear wheel steering angle based on the real-time vehicle speed.

[0031] In the third aspect, an embodiment of the present application provides a wheel control device, including a processor, a memory and a wheel control program stored in the memory and executable by the processor, wherein the wheel control program, when executed by the processor, implements the steps of the wheel control method according to any one of the preceding aspects.

[0032] In the fourth aspect, an embodiment of the present application provides a computer readable storage medium, having a wheel control program stored thereon, wherein the wheel control program, when executed by a processor, implements the steps of the wheel control method according to any one of the preceding aspects.

[0033] The technical scheme provided by the embodiment of the present application has the beneficial effects of:

[0034] The target rear wheel steering angle is determined by the acquired real-time vehicle speed, real-time steering wheel steering angle, real-time driving mode and driving mode switching signal; when the target vehicle is detected to be in the steering state in the driving mode switching process through the real-time steering wheel steering angle and the driving mode switching signal, the current rear wheel steering angle is controlled to increase to the target rear wheel steering angle based on the real-time vehicle speed, so as to realize the gradual adjustment of the rear wheel steering angle in the steering process, and further avoid sharp angle changes, thereby ensuring that the stability of the whole vehicle can be effectively guaranteed when the driving mode is switched in the steering process. BRIEF DESCRIPTION OF DRAWINGS

[0035] Figure 1 The flowchart of the wheel control method embodiment of the present application is shown.

[0036] Figure 2 The flowchart of determining that the vehicle is in the steering state in the driving mode switching process in the wheel control method of the present application is shown.

[0037] Figure 3 The detailed flowchart of step S30 in the present application Figure 1 is shown.

[0038] Figure 4 The functional module diagram of the wheel control system embodiment of the present application is shown.

[0039] Figure 5 The hardware structure diagram of the wheel control device involved in the embodiment of the present application is shown. DETAILED DESCRIPTION

[0040] In order for those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0041] In order to make the purpose, technical scheme and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings.

[0042] In a first aspect, the present application provides a wheel control method.

[0043] In an embodiment, with reference to Figure 1 , Figure 1 The flowchart of the wheel control method embodiment of the present application is shown.

[0044] As Figure 1 shown, the wheel control method comprises:

[0045] Step S10: acquiring real-time vehicle speed, real-time steering wheel steering angle, real-time driving mode and driving mode switching signal.

[0046] Exemplarily, in the embodiments of the present application, the real-time vehicle speed refers to the current driving speed of the vehicle, which can be measured by a wheel speed sensor; the real-time steering wheel steering angle refers to the current rotation angle of the steering wheel operated by the driver, which can be collected by a steering wheel sensor or an electric power steering system, and by acquiring the real-time steering wheel steering angle, the intention of the driver can be determined and the rear wheel steering angle of the vehicle can be adjusted based on the real-time steering wheel steering angle to provide better maneuverability and stability of the target vehicle; the real-time driving mode refers to the current mode of the vehicle, and common driving modes include economy mode, sports mode, comfort mode, etc., and different driving modes will affect the control strategy of the vehicle; the driving mode switching signal is used to represent the signal received by the vehicle electronic system when the driver selects to change the current driving mode, which indicates whether the driver wants to switch to a different driving mode, for example, when the driving mode switching signal received by the vehicle electronic system is 1, it means that the driver wants to switch the driving mode at this time; when the driving mode switching signal received by the vehicle electronic system is 0, it means that the driver does not want to switch the driving mode at this time.

[0047] Specifically, the real-time vehicle speed, the real-time steering wheel steering angle, the real-time driving mode and the driving mode switching signal are important input parameters in the vehicle control system, which can help the system to adjust the control strategy in real time and optimize the maneuvering performance, stability and safety of the vehicle.

[0048] Step S20: determining a target rear wheel steering angle based on the real-time driving mode, the real-time vehicle speed and the real-time steering wheel steering angle.

[0049] Exemplarily, in the embodiments of the present application, the control requirements and stability requirements of the vehicle are different under different driving situations, so the target rear wheel steering angle corresponding to the real-time driving mode, the real-time vehicle speed and the real-time steering wheel steering angle can be determined according to the relationship between the driving mode, the vehicle speed, the steering wheel steering angle and the rear wheel steering angle, to ensure the best maneuvering and stability of the target vehicle under different driving situations.

[0050] Step S30: when it is detected through the real-time steering wheel steering angle and the driving mode switching signal that the target vehicle is in a steering state during the driving mode switching process, controlling the current rear wheel steering angle to increment to the target rear wheel steering angle based on the real-time vehicle speed.

[0051] Exemplarily, in the embodiment of the present application, whether the target vehicle is in the steering state in the process of switching the driving mode can be determined according to the real-time steering wheel steering angle and the driving mode switching signal. If the target vehicle is in the steering state in the process of switching the driving mode, the rear wheel steering angle under the same steering wheel steering angle will change. In order to avoid that the rear wheel steering angle changes too fast when the vehicle has a certain speed, causing the vehicle to be unstable, a transition section of the rear wheel steering angle from the current rear wheel steering angle to the target rear wheel steering angle needs to be established.

[0052] Specifically, the current rear wheel steering angle can be dynamically adjusted according to the real-time vehicle speed, so that the current rear wheel steering angle gradually increases to the target rear wheel steering angle. In this process, the current rear wheel steering angle can be adjusted based on a fixed angle value increment (such as increasing by 5° each time) until the target rear wheel steering angle is reached. It should be noted that the corresponding relationship between the real-time vehicle speed and the rear wheel steering angle needs to be considered in this adjustment process, that is, at a higher vehicle speed, the adjustment range of the rear wheel steering angle will be smaller, and at a lower vehicle speed, the adjustment range of the rear wheel steering angle will be larger, so as to optimize the controllability and stability of the vehicle.

[0053] The present application determines the target rear wheel steering angle by the obtained real-time vehicle speed, real-time steering wheel steering angle, real-time driving mode and driving mode switching signal. When it is detected by the real-time steering wheel steering angle and the driving mode switching signal that the target vehicle is in the steering state in the process of switching the driving mode, the current rear wheel steering angle is controlled to increase to the target rear wheel steering angle based on the real-time vehicle speed, so as to gradually adjust the rear wheel steering angle in the steering process, thereby avoiding sharp angle changes, and ensuring that the stability of the vehicle can be effectively guaranteed when the driving mode is switched in the steering process.

[0054] Further, in an embodiment, referring to Fig. 1, before the step of detecting that the target vehicle is in the steering state in the process of switching the driving mode by the real-time steering wheel steering angle and the driving mode switching signal, the method further comprises: Figure 2

[0055] Step P10: When it is detected that the target vehicle is in the process of switching the driving mode according to the driving mode switching signal, an angle change value within a preset time period is determined based on the real-time steering wheel steering angle.

[0056] Step P20: If the angle change value is within a preset steering wheel steering angle range, it is determined that the target vehicle is in the steering state in the process of switching the driving mode.

[0057] ​Exemplarily, in the embodiments of the present application, the specific values of the preset time length and the preset steering wheel steering angle range can be determined according to actual requirements, which are not limited herein; if the vehicle electronic system receives a signal of 1, it indicates that the target vehicle is in the process of switching the driving mode, at this time, the change value of the steering wheel steering angle in the preset time length is calculated, and it is judged whether the change value of the steering wheel steering angle is in the preset steering wheel steering angle range; if the change value of the steering wheel steering angle is in the preset steering wheel steering angle range, it indicates that the target vehicle is in the steering state in the process of switching the driving mode, at this time, the rear wheel steering angle needs to be finely adjusted to ensure that the vehicle still remains stable in the steering process when switching the driving mode, so as to avoid unstable control feeling or uncomfortable driving experience; if the change value of the steering wheel steering angle is not in the preset steering wheel steering angle range, it indicates that the target vehicle is not in the steering state in the process of switching the driving mode, at this time, the rear wheel steering angle does not need to be finely adjusted.

[0058] Further, in an embodiment, referring to FIG. 4, the method for controlling the current rear wheel steering angle to increase to the target rear wheel steering angle based on the real-time vehicle speed comprises the following steps. Figure 3

[0059] Step S301: If it is detected that the real-time vehicle speed is greater than the preset vehicle speed threshold, the current rear wheel steering angle is controlled to increase to the target rear wheel steering angle at a preset first angle value.

[0060] Step S302: If it is detected that the real-time vehicle speed is less than or equal to the preset vehicle speed threshold, the current rear wheel steering angle is controlled to increase to the target rear wheel steering angle at a preset second angle value, and the first angle value is less than the second angle value.

[0061] Exemplarily, in the embodiments of the present application, the specific value of the preset vehicle speed threshold can be determined according to actual requirements, which is not limited herein; the specific values of the preset first angle value and the preset second angle value can be determined according to actual requirements, which are not limited herein, as long as the first angle value is less than the second angle value; specifically, if it is detected that the real-time vehicle speed > the preset vehicle speed threshold, it indicates that the speed of the target vehicle is high at this time and the stability of the vehicle needs to be prioritized to avoid excessive control at high speed, the current rear wheel steering angle can be controlled to gradually increase to the target rear wheel steering angle at a smaller first angle value, and this gradual increasing process helps to ensure that the vehicle control is more stable, avoiding the instability of the vehicle caused by excessive steering change; if it is detected that the real-time vehicle speed ≤ the preset vehicle speed threshold, it indicates that the speed of the target vehicle is low at this time, the current rear wheel steering angle can be controlled to gradually increase to the target steering angle at a larger second angle value, and the larger steering angle increment (i.e. the second angle value) at low speed can make the rear wheel steering angle more easily adjusted, thereby providing better maneuverability when the vehicle turns or adjusts the driving direction. ​

[0062] Further, in an embodiment, in the process of controlling the current rear wheel steering angle to increase to the target rear wheel steering angle at the preset first angle value, further comprising:

[0063] obtaining a first real-time yaw rate, a first real-time front wheel steering angle, and a first real-time rear wheel steering angle;

[0064] if the first real-time yaw rate is greater than a preset first yaw rate threshold and the first real-time rear wheel steering angle is greater than a preset first rear wheel steering angle threshold, adjusting the first real-time rear wheel steering angle based on a first proportionality coefficient, the first real-time front wheel steering angle, a second proportionality coefficient, and the first real-time yaw rate to obtain a first current rear wheel steering angle, and controlling the first current rear wheel steering angle to increase to the target rear wheel steering angle at the first angle value;

[0065] if the first real-time yaw rate is not greater than the preset first yaw rate threshold or the first real-time rear wheel steering angle is not greater than the preset first rear wheel steering angle threshold, controlling the first real-time rear wheel steering angle to increase to the target rear wheel steering angle at the first angle value.

[0066] For example, in the process of adjusting the current rear wheel steering angle in an incremental manner, the sensor can be used to collect the yaw rate, the front wheel steering angle, and the rear wheel steering angle corresponding to each increment to obtain the first real-time yaw rate, the first real-time front wheel steering angle, and the first real-time rear wheel steering angle. The first real-time yaw rate refers to the lateral rotation speed of the vehicle, which reflects the steering or yaw characteristics of the vehicle. The first real-time front wheel steering angle refers to the current steering angle of the front wheel of the vehicle. The first real-time rear wheel steering angle refers to the current steering angle of the rear wheel of the vehicle. The preset first yaw rate threshold is a critical value of the yaw rate of the vehicle, and its specific value can be determined according to actual needs, which is not limited herein. When the first real-time yaw rate is greater than the first yaw rate threshold, it indicates that the yaw action of the vehicle is relatively violent, and more precise rear wheel steering adjustment is required. The preset first rear wheel steering angle threshold is a threshold of the current rear wheel steering angle, and its specific value can be determined according to actual needs, which is not limited herein.

[0067] It should be noted that the first proportionality coefficient and the second proportionality coefficient are proportionality coefficients for adjusting the rear wheel steering angle, which determine how to adjust the first real-time rear wheel steering angle based on the first real-time front wheel steering angle and the second real-time yaw acceleration. The first proportionality coefficient can be determined based on the front wheel equivalent cornering stiffness and the rear wheel equivalent cornering stiffness, and the second proportionality coefficient can be determined based on the vehicle mass, the real-time vehicle speed, the distance between the vehicle mass center and the front axle, the distance between the vehicle mass center and the rear axle, the front wheel equivalent cornering stiffness, and the rear wheel equivalent cornering stiffness.

[0068] Specifically, the first proportional coefficient is obtained by substituting the equivalent side slip stiffness of the front wheel and the equivalent side slip stiffness of the rear wheel into the following calculation formula:

[0069]

[0070] In the formula, k1 is the equivalent side slip stiffness of the front wheel; k2 is the equivalent side slip stiffness of the rear wheel; and K1 is the first proportional coefficient.

[0071] The second proportional coefficient is obtained by substituting the vehicle mass, the real-time vehicle speed, the distance between the vehicle mass center and the front axle, the distance between the vehicle mass center and the rear axle, the equivalent side slip stiffness of the front wheel, and the equivalent side slip stiffness of the rear wheel into the following calculation formula:

[0072]

[0073] In the formula, m is the vehicle mass; u is the real-time vehicle speed; a is the distance between the vehicle mass center and the front axle; b is the distance between the vehicle mass center and the rear axle; and K2 is the second proportional coefficient.

[0074] Specifically, the first real-time yaw rate, the first real-time front wheel steering angle, and the first real-time rear wheel steering angle are obtained; it is determined whether the first real-time yaw rate is greater than a first angular velocity threshold and whether the first real-time rear wheel steering angle is greater than a first rear wheel steering angle threshold; if the first real-time yaw rate > the first angular velocity threshold and the first real-time rear wheel steering angle > the first rear wheel steering angle threshold, it indicates that the vehicle is in a large dynamic steering state, and then the first real-time rear wheel steering angle is adjusted according to the first proportional coefficient, the second proportional coefficient, the first real-time front wheel steering angle, and the first real-time yaw rate to obtain a first current rear wheel steering angle, which can ensure fine control of the rear wheel steering angle to enhance the controllability and stability of the vehicle, wherein the specific way of adjusting the first real-time rear wheel steering angle is as follows:

[0075] The first current rear wheel steering angle is obtained by substituting the first proportional coefficient, the first real-time front wheel steering angle, the second proportional coefficient, and the first real-time yaw rate into the following calculation formula:

[0076] δ r = K1δ f + K2ω r

[0077] In the formula, K1 is the first proportional coefficient; δ f is the first real-time front wheel steering angle; K2 is the second proportional coefficient; ω r is the first real-time yaw rate; and δ r is the first current rear wheel steering angle.

[0078] It should be noted that after the first current rear wheel steering angle is obtained, the first current rear wheel steering angle is still gradually increased by the first angle value until the target rear wheel steering angle is reached, and this increasing process ensures the smoothness of adjustment and avoids unstable or uncomfortable driving experience caused by too large angle change; if the first real-time yaw rate is less than or equal to the first angle threshold or the first real-time rear wheel steering angle is less than or equal to the first rear wheel steering angle threshold, it is indicated that the vehicle is in a stable driving state, and the first real-time rear wheel steering angle is not adjusted in a complex manner, but directly controlled by the first angle value to gradually increase to the target rear wheel steering angle.

[0079] Further, in an embodiment, the process of controlling the current rear wheel steering angle to increase to the target rear wheel steering angle by the preset second angle value further includes:

[0080] obtaining a second real-time yaw rate, a second real-time front wheel steering angle and a second real-time rear wheel steering angle;

[0081] If the second real-time yaw rate is greater than the preset second angle threshold and the second real-time rear wheel steering angle is greater than the preset second rear wheel steering angle threshold, the second real-time rear wheel steering angle is adjusted based on the first proportion coefficient, the second real-time front wheel steering angle, the second proportion coefficient and the second real-time yaw rate to obtain a second current rear wheel steering angle, and the second current rear wheel steering angle is controlled to increase to the target rear wheel steering angle by the second angle value;

[0082] If the second real-time yaw rate is not greater than the preset second angle threshold or the second real-time rear wheel steering angle is not greater than the preset second rear wheel steering angle threshold, the second real-time rear wheel steering angle is controlled to increase to the target rear wheel steering angle by the second angle value.

[0083] For example, in the embodiment of the present application, in the process of adjusting the current rear wheel steering angle in an increasing manner, the yaw rate, the front wheel steering angle and the rear wheel steering angle corresponding to each increase can be collected by a sensor to obtain a second real-time yaw rate, a second real-time front wheel steering angle and a second real-time rear wheel steering angle, wherein the meanings of the second real-time yaw rate, the second real-time front wheel steering angle and the second real-time rear wheel steering angle are the same as those of the first real-time yaw rate, the first real-time front wheel steering angle and the first real-time rear wheel steering angle, and for the sake of brevity of description, they will not be described here; the specific values of the preset second angle threshold and the preset second rear wheel steering angle threshold can be determined according to actual needs, which are not limited here, wherein the first angle threshold is less than the second angle threshold, and the first rear wheel steering angle threshold is less than the second rear wheel steering angle threshold.

[0084] Specifically, the second real-time yaw rate, the second real-time front wheel steering angle, and the second real-time rear wheel steering angle are obtained, and it is determined whether the second real-time yaw rate is greater than a second yaw rate threshold and whether the second real-time rear wheel steering angle is greater than a second rear wheel steering angle threshold. If the second real-time yaw rate is greater than the second yaw rate threshold and the second real-time rear wheel steering angle is greater than the second rear wheel steering angle threshold, it indicates that the vehicle is in a large dynamic steering state. Then, the second real-time rear wheel steering angle can be adjusted according to the first proportional coefficient, the second proportional coefficient, the second real-time front wheel steering angle, and the second real-time yaw rate to obtain a second current rear wheel steering angle. The specific adjustment method of the second real-time rear wheel steering angle is as follows:

[0085] The first proportional coefficient, the second real-time front wheel steering angle, the second proportional coefficient, and the second real-time yaw rate are substituted into the following calculation formula to obtain the second current rear wheel steering angle. The calculation formula is as follows:

[0086] δ' r = K1δ' f + K2ω' r

[0087] In the formula, K1 is the first proportional coefficient; δ' f is the second real-time front wheel steering angle; K2 is the second proportional coefficient; ω' r is the second real-time yaw rate; and δ' r is the second current rear wheel steering angle.

[0088] It should be noted that after obtaining the second current rear wheel steering angle, the second current rear wheel steering angle is still gradually increased by the second angle value until the target rear wheel steering angle is reached. This incremental process ensures the smoothness of the adjustment and avoids excessive angle changes that may cause unstable or uncomfortable driving experience. If the second real-time yaw rate is less than or equal to the second yaw rate threshold or the second real-time rear wheel steering angle is less than or equal to the second rear wheel steering angle threshold, it indicates that the vehicle is in a stable driving state. In this case, the second real-time rear wheel steering angle is not adjusted in a complex manner, but is directly controlled by the second angle value to gradually increase to the target rear wheel steering angle.

[0089] Further, in an embodiment, the target rear wheel steering angle is determined based on the real-time driving mode, the real-time vehicle speed, and the real-time steering wheel steering angle, including:

[0090] The target rear wheel steering angle corresponding to the real-time vehicle speed, the real-time driving mode, and the real-time steering wheel steering angle is obtained from a preset mapping relationship. The mapping relationship is a mapping relationship between the driving mode, the vehicle speed, the steering wheel steering angle, and the rear wheel steering angle.

[0091] Exemplarily, in the embodiment of the present application, the preset mapping relationship is a mapping relationship among the driving mode, the vehicle speed, the steering wheel steering angle and the rear wheel steering angle, which can be determined according to actual requirements, without limitation. For example, the driving mode is the economy mode, the vehicle speed is 30 km / h, the steering wheel steering angle is 340°, and the corresponding rear wheel steering angle is 5° at this time; the driving mode is the comfort mode, the vehicle speed is 25 km / h, the steering wheel steering angle is 320°, and the corresponding rear wheel steering angle is 3° at this time; the driving mode is the high-energy mode, the vehicle speed is 20 km / h, the steering wheel steering angle is 270°, and the corresponding rear wheel steering angle is 2° at this time; and the target rear wheel steering angle corresponding to the real-time vehicle speed, the real-time driving mode and the real-time steering wheel steering angle is obtained from the above mapping relationship. Assuming that the real-time vehicle speed is 25 km / h, the real-time driving mode is the comfort mode and the real-time steering wheel steering angle is 320°, the target rear wheel steering angle at this time is 3°.

[0092] Further, in an embodiment, the method further comprises:

[0093] When it is detected through the real-time steering wheel steering angle and the driving mode switching signal that the target vehicle is not in the steering state in the process of switching the driving mode, the current rear wheel steering angle is directly switched to the target rear wheel steering angle.

[0094] Exemplarily, in the embodiment of the present application, if the vehicle electronic system receives a signal of 1, it indicates that the target vehicle is not in the process of switching the driving mode, at this time, the change value of the steering wheel steering angle within the preset time length is calculated, and it is judged whether the change value of the steering wheel steering angle is within the preset steering wheel steering angle range. If not, it indicates that the target vehicle is not in the steering state in the process of switching the driving mode, at this time, the rear wheel steering angle does not need to be dynamically adjusted, and the current rear wheel steering angle can be directly switched to the target rear wheel steering angle.

[0095] In a second aspect, the embodiment of the present application further provides a wheel control system.

[0096] In an embodiment, with reference to Figure 4 , Figure 4 FIG. 1 is a schematic diagram of a functional module of the wheel control system embodiment of the present application. As shown in FIG. 1, the wheel control system comprises: Figure 4

[0097] A first processing module, configured to obtain a real-time vehicle speed, a real-time steering wheel steering angle, a real-time driving mode and a driving mode switching signal;

[0098] A second processing module, configured to determine a target rear wheel steering angle based on the real-time driving mode, the real-time vehicle speed and the real-time steering wheel steering angle;

[0099] ​a third processing module configured to control the current rear wheel steering angle to increase to the target rear wheel steering angle based on a real-time vehicle speed when it is detected that the target vehicle is in a steering state during the driving mode switching process according to the real-time steering wheel steering angle and the driving mode switching signal.

[0100] Further, in an embodiment, the second processing module is specifically configured to:

[0101] determine an angle change value within a preset time period based on the real-time steering wheel steering angle when it is detected that the target vehicle is in a driving mode switching process according to the driving mode switching signal;

[0102] if the angle change value is within a preset steering wheel steering angle range, it is determined that the target vehicle is in a steering state during the driving mode switching process.

[0103] Further, in an embodiment, the third processing module is specifically configured to:

[0104] if it is detected that the real-time vehicle speed is greater than a preset vehicle speed threshold, control the current rear wheel steering angle to increase to the target rear wheel steering angle at a preset first angle value;

[0105] if it is detected that the real-time vehicle speed is less than or equal to the preset vehicle speed threshold, control the current rear wheel steering angle to increase to the target rear wheel steering angle at a preset second angle value, the first angle value being less than the second angle value.

[0106] Further, in an embodiment, the third processing module is specifically configured to further:

[0107] obtain a first real-time yaw rate, a first real-time front wheel steering angle, and a first real-time rear wheel steering angle;

[0108] if the first real-time yaw rate is greater than a preset first yaw rate threshold and the first real-time rear wheel steering angle is greater than a preset first rear wheel steering angle threshold, adjust the first real-time rear wheel steering angle based on a first proportionality coefficient, the first real-time front wheel steering angle, a second proportionality coefficient, and the first real-time yaw rate to obtain a first current rear wheel steering angle, and control the first current rear wheel steering angle to increase to the target rear wheel steering angle at the first angle value;

[0109] if the first real-time yaw rate is not greater than the preset first yaw rate threshold or the first real-time rear wheel steering angle is not greater than the preset first rear wheel steering angle threshold, control the first real-time rear wheel steering angle to increase to the target rear wheel steering angle at the first angle value.

[0110] Further, in an embodiment, the third processing module is specifically configured to further:

[0111] acquire a second real-time yaw rate, a second real-time front wheel steering angle, a second real-time rear wheel steering angle;

[0112] if the second real-time yaw rate is greater than a preset second yaw rate threshold and the second real-time rear wheel steering angle is greater than a preset second rear wheel steering angle threshold, then adjusting the second real-time rear wheel steering angle based on the first proportion coefficient, the second real-time front wheel steering angle, the second proportion coefficient and the second real-time yaw rate to obtain a second current rear wheel steering angle, and controlling the second current rear wheel steering angle to increase to a target rear wheel steering angle at the second angle value;

[0113] if the second real-time yaw rate is not greater than the preset second yaw rate threshold or the second real-time rear wheel steering angle is not greater than the preset second rear wheel steering angle threshold, then controlling the second real-time rear wheel steering angle to increase to the target rear wheel steering angle at the second angle value.

[0114] Further, in an embodiment, the second processing module is specifically configured to:

[0115] acquire a target rear wheel steering angle corresponding to the real-time vehicle speed, the real-time driving mode and the real-time steering wheel steering angle from a preset mapping relationship, the mapping relationship being a mapping relationship between the driving mode, the vehicle speed, the steering wheel steering angle and the rear wheel steering angle.

[0116] Further, in an embodiment, the third processing module is specifically further configured to:

[0117] when it is detected through the real-time steering wheel steering angle and the driving mode switching signal that the target vehicle is not in a steering state in the driving mode switching process, controlling the current rear wheel steering angle to directly switch to the target rear wheel steering angle.

[0118] The present application determines the target rear wheel steering angle through the acquired real-time vehicle speed, real-time steering wheel steering angle, real-time driving mode and driving mode switching signal; when it is detected through the real-time steering wheel steering angle and the driving mode switching signal that the target vehicle is in a steering state in the driving mode switching process, controlling the current rear wheel steering angle to increase to the target rear wheel steering angle based on the real-time vehicle speed, so as to realize gradual adjustment of the rear wheel steering angle in the steering process, thereby avoiding sharp angle change, and ensuring that the stability of the whole vehicle can be effectively guaranteed when the driving mode is switched in the steering process.

[0119] Correspondingly, the functions of each module in the above vehicle wheel control system correspond to each step in the above vehicle wheel control method embodiment, and the functions and implementation processes will not be repeated here.

[0120] In a third aspect, an embodiment of the present application provides a wheel control device. The wheel control device can be a personal computer (PC), a notebook computer, a server, or the like device having a data processing function.

[0121] Referring to Figure 5 , Figure 5 FIG. 1 is a schematic diagram of a hardware structure of a wheel control device according to an embodiment of the present application. In the embodiment of the present application, the wheel control device can include a processor, a memory, a communication interface, and a communication bus.

[0122] The communication bus can be of any type, and is used to interconnect the processor, the memory, and the communication interface.

[0123] The communication interface includes an input / output (I / O) interface, a physical interface, and a logical interface, and the like interface used to interconnect devices inside the wheel control device, and an interface used to interconnect the wheel control device with other devices (for example, other computing devices or user devices). The physical interface can be an Ethernet interface, a fiber interface, an ATM interface, or the like. The user device can be a display screen (Display), a keyboard (Keyboard), or the like.

[0124] The memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), or the like.

[0125] The processor can be a general-purpose processor, which can invoke a wheel control program stored in the memory and execute the wheel control method provided by the embodiment of the present application. For example, the general-purpose processor can be a central processing unit (CPU). The method executed by the wheel control program when invoked can refer to each embodiment of the wheel control method of the present application, and will not be described here.

[0126] Those skilled in the art can understand that the hardware structure shown in the above Figure 5 does not constitute a limitation on the present application, and can include more or fewer components than those shown in the figure, or combine certain components, or different component arrangements.

[0127] In a fourth aspect, the embodiments of the present application further provide a readable storage medium.

[0128] The readable storage medium of the present application stores a wheel control program, wherein the wheel control program is executed by a processor to implement the steps of the wheel control method as described above.

[0129] The method implemented when the wheel control program is executed can refer to the embodiments of the wheel control method of the present application, which will not be repeated here.

[0130] The terms "comprising" and "having" and any variations thereof in the specification and claims of the present application and the above-described drawings are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units is not limited to the listed steps or units, but can optionally further include steps or units not listed, or can optionally further include other steps or units inherent to the process, method, product or device. The terms "first", "second" and "third" and the like descriptions are used to distinguish different objects, which do not represent the order or limit the types of "first", "second" and "third".

[0131] In the description of the embodiments of the present application, "exemplary", "for example" or "for instance" is used to mean as an example, illustration or description. Any embodiment or design scheme described as "exemplary", "for example" or "for instance" in the embodiments of the present application should not be interpreted as more preferred or more advantageous than other embodiments or design schemes. Rather, the words "exemplary", "for example" or "for instance" are used to present the relevant concept in a specific manner.

[0132] In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B; "and / or" in the text only describes the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B can mean that A exists alone, A and B exist together, and B exists alone, in addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0133] In some of the processes described in the embodiments of the present application, a plurality of operations or steps are included in a specific order, but it should be understood that these operations or steps can be executed or performed in parallel or in an order different from that in which they appear in the embodiments of the present application, and the serial number of the operation is only used to distinguish different operations, and the serial number itself does not represent any execution order. In addition, these processes can include more or fewer operations, and these operations or steps can be executed in sequence or in parallel, and these operations or steps can be combined.

[0134] It should be noted that the above application embodiment serial number is only for description, not representing the pros and cons of the embodiment.

[0135] Through the above description of the embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment method can be realized by means of software and the necessary general hardware platform, of course, it can also be realized by hardware, but in many cases the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a plurality of instructions to make a terminal device execute the method described in each embodiment of the present application.

[0136] The above is only the preferred embodiment of the present application, and does not limit the patent scope of the present application, and any equivalent structure or equivalent process transformation using the content of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A wheel control method, characterized in that: The wheel control method comprises: Obtain real-time vehicle speed, real-time steering wheel angle, real-time driving mode and driving mode switching signal; Determine the target rear wheel steering angle based on the real-time driving mode, real-time vehicle speed and real-time steering wheel steering angle; When it is detected through the real-time steering wheel angle and the driving mode switching signal that the target vehicle is in a steering state during the driving mode switching process, the current rear wheel steering angle is controlled to increase to the target rear wheel steering angle based on the real-time vehicle speed; The step of controlling the current rear wheel steering angle to increase to the target rear wheel steering angle based on the real-time vehicle speed includes: If it is detected that the real-time vehicle speed is greater than the preset vehicle speed threshold, the current rear wheel steering angle is controlled to increase to the target rear wheel steering angle at a preset first angle value; If it is detected that the real-time vehicle speed is less than or equal to the preset vehicle speed threshold, the current rear wheel steering angle is controlled to increase to the target rear wheel steering angle at a preset second angle value, and the first angle value is less than the second angle value.

2. The wheel control method according to claim 1, wherein: Before the step of detecting that the target vehicle is in a steering state during the driving mode switching process through the real-time steering wheel steering angle and the driving mode switching signal, the method further includes: When it is detected according to the driving mode switching signal that the target vehicle is in the process of switching the driving mode, determining an angle change value within a preset time period based on the real-time steering wheel steering angle; If the angle change value is within the preset steering wheel steering angle range, it is determined that the target vehicle is in a steering state during the driving mode switching process.

3. The wheel control method according to claim 1, wherein: The process of controlling the current rear wheel steering angle to increase to the target rear wheel steering angle at the preset first angle value further includes: Obtaining a first real-time yaw angular velocity, a first real-time front wheel steering angle, and a first real-time rear wheel steering angle; If the first real-time yaw rate is greater than a preset first angular rate threshold and the first real-time rear-wheel steering angle is greater than a preset first rear-wheel steering angle threshold, adjusting the first real-time rear-wheel steering angle based on the first proportional coefficient, the first real-time front-wheel steering angle, the second proportional coefficient, and the first real-time yaw rate to obtain a first current rear-wheel steering angle, and controlling the first current rear-wheel steering angle to increase to a target rear-wheel steering angle using the first angle value; If the first real-time yaw angular velocity is not greater than a preset first angular velocity threshold or the first real-time rear-wheel steering angle is not greater than a preset first rear-wheel steering angle threshold, the first real-time rear-wheel steering angle is controlled to increase to a target rear-wheel steering angle using the first angle value.

4. The wheel control method according to claim 1, wherein: The process of controlling the current rear wheel steering angle to increase to the target rear wheel steering angle by using the preset second angle value further includes: Obtaining a second real-time yaw angular velocity, a second real-time front wheel steering angle, and a second real-time rear wheel steering angle; If the second real-time yaw rate is greater than a preset second angular rate threshold and the second real-time rear-wheel steering angle is greater than a preset second rear-wheel steering angle threshold, adjusting the second real-time rear-wheel steering angle based on the first proportional coefficient, the second real-time front-wheel steering angle, the second proportional coefficient, and the second real-time yaw rate to obtain a second current rear-wheel steering angle, and controlling the second current rear-wheel steering angle to increase to a target rear-wheel steering angle based on the second angle value; If the second real-time yaw rate is not greater than a preset second angular rate threshold or the second real-time rear-wheel steering angle is not greater than a preset second rear-wheel steering angle threshold, the second real-time rear-wheel steering angle is controlled to increase to the target rear-wheel steering angle according to the second angle value.

5. The wheel control method according to claim 1, wherein: The determining of the target rear wheel steering angle based on the real-time driving mode, the real-time vehicle speed, and the real-time steering wheel steering angle includes: The target rear wheel steering angle corresponding to the real-time vehicle speed, real-time driving mode, and real-time steering wheel steering angle is obtained from a preset mapping relationship, wherein the mapping relationship is a mapping relationship between the driving mode, vehicle speed, steering wheel steering angle, and rear wheel steering angle.

6. The wheel control method according to claim 1, wherein: The method further comprises: When it is detected through the real-time steering wheel steering angle and the driving mode switching signal that the target vehicle is not in a steering state during the driving mode switching process, the current rear wheel steering angle is controlled to be directly switched to the target rear wheel steering angle.

7. A wheel control system, characterized in that: The wheel control system comprises: A first processing module is used to obtain real-time vehicle speed, real-time steering wheel angle, real-time driving mode and driving mode switching signal; a second processing module, configured to determine a target rear wheel steering angle based on the real-time driving mode, the real-time vehicle speed, and the real-time steering wheel steering angle; a third processing module configured to control the current rear wheel steering angle to increase to a target rear wheel steering angle based on the real-time vehicle speed when detecting that the target vehicle is in a steering state during the driving mode switching process based on the real-time steering wheel steering angle and the driving mode switching signal; The third processing module is specifically configured to: If it is detected that the real-time vehicle speed is greater than the preset vehicle speed threshold, the current rear wheel steering angle is controlled to increase to the target rear wheel steering angle at a preset first angle value; If it is detected that the real-time vehicle speed is less than or equal to the preset vehicle speed threshold, the current rear wheel steering angle is controlled to increase to the target rear wheel steering angle at a preset second angle value, and the first angle value is less than the second angle value.

8. A wheel control device, characterized in that: The wheel control device includes a processor, a memory, and a wheel control program stored in the memory and executable by the processor, wherein when the wheel control program is executed by the processor, the steps of the wheel control method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a wheel control program, wherein when the wheel control program is executed by the processor, the steps of the wheel control method according to any one of claims 1 to 6 are implemented.

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