Vehicle steering auxiliary control method and device, electronic equipment and vehicle

Abstract

The invention discloses a vehicle steering auxiliary control method and device, electronic equipment and a vehicle, and belongs to the technical field of vehicles. The method comprises the steps that under the condition that a steering auxiliary function is started, a braking system is controlled to apply braking torque to a target wheel; and in the vehicle steering process, the target motor corresponding to the target wheel is controlled to output negative torque. According to the embodiment of the invention, through the synergistic effect of the braking system and the motor, the braking system applies the basic braking force to the target wheel, and the motor outputs the negative torque to adjust the braking force of the target wheel, so that when the vehicle turns, the adhesive force between the wheel and the road surface can be effectively improved, and slipping of the target wheel is reduced; therefore, the turning radius of the vehicle is reduced.

Description

Technical Field

[0001] The present application belongs to the field of vehicle technology, and in particular, relates to a vehicle steering assist control method, device, electronic equipment and vehicle. Background Art

[0002] The turning radius of a vehicle is the distance from the steering center to the point where the outer steering wheel of the vehicle contacts the ground when the vehicle turns. The turning radius is one of the important parameters to measure the maneuverability of a vehicle. Generally speaking, the smaller the turning radius, the stronger the vehicle's ability to complete a turn in a limited space.

[0003] In the related art, the turning method of the vehicle mainly relies on the front wheel steering system, that is, the steering angle of the front wheel is controlled by the steering wheel to realize the steering of the vehicle. However, this steering method has certain limitations, especially when the vehicle wheelbase is long or the body size is large, the turning radius is often large. Summary of the invention

[0004] The present application aims to solve at least one of the technical problems existing in the prior art. To this end, the present application proposes a vehicle steering assist control method, device, electronic device and vehicle to reduce the turning radius of the vehicle.

[0005] In a first aspect, the present application provides a vehicle steering assist control method, comprising:

[0006] When the steering assist function is turned on, the braking system is controlled to apply braking torque to the target wheel;

[0007] During the vehicle steering process, the target motor corresponding to the target wheel is controlled to output negative torque.

[0008] According to the vehicle steering assist control method of the present application, when the steering assist function is turned on, the braking system is controlled to apply a braking torque to the target wheel; during the vehicle steering process, the target motor corresponding to the target wheel is controlled to output a negative torque. In the embodiment of the present application, the braking system applies a basic braking force to the target wheel through the synergistic effect of the braking system and the motor, and the motor outputs a negative torque to adjust the braking force of the target wheel, so that when the vehicle turns, the target wheel is reduced in a locked state, which can effectively improve the adhesion between the wheel and the road surface, reduce the slip of the target wheel, and thus reduce the turning radius of the vehicle.

[0009] According to one embodiment of the present application, the steering assist function includes multiple steering assist modes; and the target wheel is determined according to the steering mode.

[0010] In this embodiment, by setting a plurality of steering assist modes and determining the target wheel according to different modes, the steering performance of the vehicle under different working conditions is improved.

[0011] According to one embodiment of the present application, in a first steering assist mode, the target wheel includes a rear wheel located on the steering outer side; in a second steering assist mode, the target wheel includes a front wheel located on the steering inner side and a rear wheel located on the steering inner side; in a third steering assist mode, the target wheel includes a front wheel located on the steering inner side.

[0012] In this embodiment, by setting three different steering assist modes and selecting different target wheels according to the modes, it can be flexibly switched according to different driving needs and working conditions, thereby improving the steering performance of the vehicle.

[0013] According to an embodiment of the present application, when the steering assist function is turned on, controlling the braking system to apply braking torque to the target wheel includes:

[0014] The steering assist function is turned on according to the steering assist mode selected by the user, and the braking system is controlled to apply braking torque to the target wheel corresponding to the steering assist mode selected by the user.

[0015] In this embodiment, by turning on the steering assist function according to the steering assist mode selected by the user and controlling the braking system to apply braking torque to the corresponding target wheel, different steering assist modes can be selected according to the user's actual needs and driving scenarios, thereby enhancing the user's driving safety.

[0016] According to one embodiment of the present application, before controlling the braking system to apply braking torque to the target wheel, the method includes:

[0017] Determine the turning direction according to the deflection direction of the front wheels of the vehicle;

[0018] The target wheel is determined according to the turning direction.

[0019] In this embodiment, the vehicle's turning intention is judged by detecting the deflection direction of the front wheel, so that the vehicle's upcoming turning action can be quickly and accurately identified, and the specific target wheel is determined according to the turning direction, so that the braking torque can be accurately applied to the target wheel, thereby improving the vehicle's steering performance.

[0020] According to an embodiment of the present application, controlling the target motor corresponding to the target wheel to output a negative torque includes:

[0021] In the case where the target wheel includes a rear wheel located on the outer side of the steering wheel, the front wheel is controlled to rotate forwardly by the first motor, and the rear wheel located on the inner side of the steering wheel is controlled to rotate reversely by the second motor;

[0022] The third motor is used as the target motor to output negative torque.

[0023] In this embodiment, when the target wheel is the rear wheel turned to the outside, the first motor controls the front wheel to rotate forward, and the second motor controls the rear wheel turned to the inside to rotate reversely. The steering torque distribution of the vehicle can be adjusted through the synergy of different motors and the braking system, and the third motor is used to output negative torque to adjust the braking force of the target wheel. When the vehicle turns, the target wheel is less likely to be locked, which can effectively improve the adhesion between the wheel and the road surface, reduce the slip of the target wheel, and thus reduce the turning radius of the vehicle.

[0024] According to an embodiment of the present application, controlling the target motor corresponding to the target wheel to output a negative torque includes:

[0025] In the case where the target wheel includes a front wheel located on the inner side of the steering wheel and a rear wheel located on the inner side of the steering wheel, the front wheel is controlled to rotate forwardly by the first motor, and the rear wheel located on the outer side of the steering wheel is controlled to rotate forwardly by the third motor;

[0026] The braking torque of the front wheel located on the inner side of the steering is reduced by the braking system, and the second motor is used as the target motor to output negative torque.

[0027] In this embodiment, when the target wheels include front wheels and rear wheels turning inward, the first motor controls the front wheels to rotate forward, and the third motor controls the rear wheels turning outward to rotate forward. The steering torque distribution of the vehicle can be adjusted through the synergy of different motors and the braking system, and the braking torque is adjusted by the braking system to control the slip rate of the front wheel turning inward within a preset range. The braking force of the target wheel is adjusted by outputting negative torque through the second motor, so that when the vehicle turns, the target wheel is reduced in a locked state, which can effectively improve the adhesion between the wheel and the road surface, reduce the slip of the target wheel, and thus reduce the turning radius of the vehicle.

[0028] According to an embodiment of the present application, controlling the target motor corresponding to the target wheel to output a negative torque includes:

[0029] In the case where the target wheel includes a front wheel located on the inner side of the steering wheel, the front wheel is controlled to rotate forwardly by the first motor, the rear wheel located on the outer side of the steering wheel is controlled to rotate forwardly by the second motor, and the rear wheel located on the inner side of the steering wheel is controlled to rotate reversely by the third motor;

[0030] The first motor is used as a target motor to output negative torque.

[0031] In this embodiment, when the target wheel is the front wheel turning inward, the first motor controls the front wheel to rotate forward, the second motor controls the rear wheel turning outward, and the third motor controls the rear wheel turning inward to rotate reversely. The steering torque distribution of the vehicle can be adjusted through the coordinated action of different motors and the braking system, so that the wheel can rotate around the front wheel turning inward. By using the first motor as the target motor to output negative torque, the braking force of the target wheel is adjusted, so that when the vehicle turns, the target wheel is less likely to be in a locked state, which can effectively improve the adhesion between the wheel and the road surface, reduce the slip of the target wheel, and thus reduce the turning radius of the vehicle.

[0032] According to an embodiment of the present application, controlling the target motor corresponding to the target wheel to output a negative torque includes:

[0033] During the driving of the vehicle, detecting whether the target wheel is slipping;

[0034] When the target wheel slips, the target motor corresponding to the target wheel is controlled to output negative torque.

[0035] In this embodiment, by detecting in real time whether the target wheel is slipping during vehicle driving, and adjusting the braking force of the target wheel by outputting negative torque through the target motor in the case of slipping, the target wheel is reduced in a locked state, which can effectively reduce wheel slip and maintain high adhesion between the wheel and the ground on the road surface, thereby improving the steering performance of the vehicle.

[0036] According to an embodiment of the present application, controlling the target motor corresponding to the target wheel to output a negative torque includes:

[0037] The slip rate of the target wheel is controlled within a preset range according to the negative torque output by the target motor.

[0038] In this embodiment, the target motor outputs negative torque to control the slip rate of the target wheel so that the slip rate of the target wheel is maintained within a preset range, thereby effectively improving the adhesion between the wheel and the road surface. When the vehicle turns, the slip of the target wheel can be reduced, thereby reducing the turning radius of the vehicle.

[0039] According to an embodiment of the present application, controlling the target motor corresponding to the target wheel to output a negative torque includes:

[0040] Obtaining a current slip rate of the target wheel;

[0041] The target torque value output by the motor is adjusted according to the current slip ratio.

[0042] In this embodiment, by monitoring the slip rate of the target wheel, the output torque of the motor can be dynamically adjusted according to the actual slip situation, so that the slip rate of the target wheel is within a preset range, thereby effectively improving the adhesion between the wheel and the road surface, and when the vehicle turns, the slip of the target wheel can be reduced, thereby reducing the turning radius of the vehicle.

[0043] In a second aspect, the present application provides a vehicle steering assist control device, comprising:

[0044] A first control module is used to control the braking system to apply a braking torque to the target wheel when the steering assist function is turned on;

[0045] The second control module is used to control the target motor corresponding to the target wheel to output negative torque during the vehicle steering process.

[0046] According to the vehicle steering assist control device of the present application, when the steering assist function is turned on, the braking system is controlled to apply braking torque to the target wheel; during the vehicle steering process, the target motor corresponding to the target wheel is controlled to output negative torque. In the embodiment of the present application, the braking system applies basic braking force to the target wheel through the synergistic effect of the braking system and the motor, and the motor outputs negative torque to adjust the braking force of the target wheel, so that when the vehicle turns, the target wheel is reduced in a locked state, which can effectively improve the adhesion between the wheel and the road surface, reduce the slip of the target wheel, and thus reduce the turning radius of the vehicle.

[0047] In a third aspect, the present application provides an electronic device comprising a processor, wherein the processor is connected to a memory, wherein the memory stores a computer program that can be run on the processor, and when the processor executes the computer program, the vehicle steering assist control method as described in the first aspect above is implemented.

[0048] In a fourth aspect, the present application provides a vehicle, comprising a plurality of motors, a braking system and a controller;

[0049] The controller is used to execute the vehicle steering assist control method as described in the first aspect above.

[0050] According to one embodiment of the present application, the plurality of motors include a first motor, a second motor and a third motor;

[0051] The first motor is used to control the movement of the front wheels of the vehicle;

[0052] The second motor is used to control the movement of the rear wheel on the first side of the vehicle;

[0053] The third motor is used to control the movement of the second side rear wheel of the vehicle.

[0054] In a fifth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the vehicle steering assist control method as described in the first aspect above is implemented.

[0055] In a sixth aspect, the present application provides a chip, comprising a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run a program or instruction to implement the vehicle steering assist control method as described in the first aspect above.

[0056] In a seventh aspect, the present application provides a computer program product, comprising a computer program, which, when executed by a processor, implements the vehicle steering assist control method as described in the first aspect above.

[0057] The above one or more technical solutions in the embodiments of the present application have at least one of the following technical effects:

[0058] According to the vehicle steering assist control method of the present application, when the steering assist function is turned on, the braking system is controlled to apply a braking torque to the target wheel; during the vehicle steering process, the target motor corresponding to the target wheel is controlled to output a negative torque. In the embodiment of the present application, the braking system applies a basic braking force to the target wheel through the synergistic effect of the braking system and the motor, and the motor outputs a negative torque to adjust the braking force of the target wheel, so that when the vehicle turns, the target wheel is reduced in a locked state, which can effectively improve the adhesion between the wheel and the road surface, reduce the slip of the target wheel, and thus reduce the turning radius of the vehicle.

[0059] Furthermore, in some embodiments, by setting a plurality of steering assist modes and determining the target wheel according to different modes, the steering performance of the vehicle under different working conditions is improved.

[0060] Furthermore, in some embodiments, by setting three different steering assist modes and selecting different target wheels according to the modes, it is possible to flexibly switch according to different driving needs and working conditions, thereby improving the steering performance of the vehicle.

[0061] Furthermore, in some embodiments, by turning on the steering assist function according to the steering assist mode selected by the user and controlling the braking system to apply braking torque to the corresponding target wheel, different steering assist modes can be selected according to the user's actual needs and driving scenarios, thereby enhancing the user's driving safety.

[0062] Furthermore, in some embodiments, the vehicle's turning intention is determined by detecting the deflection direction of the front wheels, so that the vehicle's upcoming turning action can be quickly and accurately identified, and the specific target wheel is determined according to the turning direction, so that the braking torque can be accurately applied to the target wheel, thereby improving the vehicle's steering performance.

[0063] Furthermore, in some embodiments, when the target wheel is the rear wheel turning to the outside, the first motor controls the front wheel to rotate forward, and the second motor controls the rear wheel turning to the inside to rotate reversely. The steering torque distribution of the vehicle can be adjusted through the synergy of different motors and the braking system, and the third motor is used to output negative torque to adjust the braking force of the target wheel. When the vehicle turns, the target wheel is less likely to be locked, which can effectively improve the adhesion between the wheel and the road surface, reduce the slip of the target wheel, and thus reduce the turning radius of the vehicle.

[0064] Furthermore, in some embodiments, when the target wheels include a front wheel and a rear wheel turning inward, the first motor controls the front wheel to rotate forward, and the third motor controls the rear wheel turning outward to rotate forward. The steering torque distribution of the vehicle can be adjusted through the synergy of different motors and the braking system, and the braking torque is adjusted by the braking system to control the slip rate of the front wheel turning inward within a preset range. The braking force of the target wheel is adjusted by outputting negative torque through the second motor, so that when the vehicle turns, the target wheel is reduced in a locked state, which can effectively improve the adhesion between the wheel and the road surface, reduce the slip of the target wheel, and thus reduce the turning radius of the vehicle.

[0065] Furthermore, in some embodiments, when the target wheel is the front wheel turning inward, the first motor controls the front wheel to rotate forward, the second motor controls the rear wheel turning outward to rotate forward, and the third motor controls the rear wheel turning inward to rotate reversely. The steering torque distribution of the vehicle can be adjusted through the synergy of different motors and the braking system, so that the wheel can rotate around the front wheel turning inward. By using the first motor as the target motor to output negative torque, the braking force of the target wheel is adjusted, so that when the vehicle turns, the target wheel is less likely to be in a locked state, which can effectively improve the adhesion between the wheel and the road surface, reduce the slip of the target wheel, and thus reduce the turning radius of the vehicle.

[0066] Furthermore, in some embodiments, by detecting in real time whether the target wheel is slipping during vehicle driving, and adjusting the braking force of the target wheel by outputting negative torque through the target motor in the case of slipping, the target wheel is reduced in a locked state, which can effectively reduce wheel slip and maintain high adhesion between the wheel and the ground on the road surface, thereby improving the steering performance of the vehicle.

[0067] Furthermore, in some embodiments, the target motor outputs negative torque to control the slip rate of the target wheel so that the slip rate of the target wheel is maintained within a preset range, thereby effectively improving the adhesion between the wheel and the road surface. When the vehicle turns, the slip of the target wheel can be reduced, thereby reducing the turning radius of the vehicle.

[0068] Furthermore, in some embodiments, by monitoring the slip rate of the target wheel, the output torque of the motor can be dynamically adjusted according to the actual slip situation, so that the slip rate of the target wheel is within a preset range, thereby effectively improving the adhesion between the wheel and the road surface, and when the vehicle turns, the slip of the target wheel can be reduced, thereby reducing the turning radius of the vehicle.

[0069] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0071] Figure 1 This is one of the schematic diagrams of the steering assistance solution of the related technology provided by the embodiment of the present application;

[0072] Figure 2 This is the second schematic diagram of the steering assist solution of the related technology provided by the embodiment of the present application;

[0073] Figure 3 is a schematic diagram of the steering trajectory of the wheel provided in an embodiment of the present application;

[0074] Figure 4 This is the third schematic diagram of the steering assist solution of the related technology provided by the embodiment of the present application;

[0075] Figure 5 is a flow chart of a vehicle steering assist control method provided in an embodiment of the present application;

[0076] Figure 6 is a schematic diagram of the structure of a wheel provided in an embodiment of the present application;

[0077] Figure 7 is a schematic diagram of motor feedback braking provided in an embodiment of the present application;

[0078] Figure 8 It is one of the schematic diagrams of the steering assist solution provided in the embodiment of the present application;

[0079] Fig. 9 This is the second schematic diagram of the steering assist solution provided in the embodiment of the present application;

[0080] Fig.10 This is the third schematic diagram of the steering assist solution provided in the embodiment of the present application;

[0081] Fig.11 is a schematic diagram of the relationship between the adhesion coefficient and the slip rate provided in the embodiment of the present application;

[0082] Fig.12 It is one of the schematic diagrams of the scenario examples provided in the embodiments of the present application;

[0083] Fig.13 This is the second schematic diagram of the scenario example provided in the embodiment of the present application;

[0084] Fig.14 This is the third schematic diagram of the scenario example provided in the embodiment of the present application;

[0085] Fig.15 is a structural schematic diagram of a vehicle steering assist control device provided in an embodiment of the present application;

[0086] Fig.16 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0087] The following will be combined with the drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the present application belong to the scope of protection of this application.

[0088] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0089] Turning radius is one of the important parameters to measure the maneuverability of a vehicle. Generally speaking, the smaller the turning radius, the better the vehicle's ability to complete a turn in a limited space. For example, in narrow streets, parking lots, or some complex road conditions, a smaller turning radius allows the vehicle to turn more easily, reducing the vehicle's demand for surrounding space during the turning process, thereby improving the vehicle's passability and flexibility.

[0090] In the related art, the turning method of the traditional central integrated drive vehicle mainly relies on the front wheel steering system, that is, the steering angle of the front wheel is controlled by the steering wheel to achieve the steering of the vehicle. The turning radius of this turning method is often large, especially when the vehicle has a long wheelbase or a large body size. The vehicle needs more space to adjust the position of the front and rear wheels and the left and right wheels when turning, which makes the vehicle difficult to pass flexibly when facing complex road conditions such as narrow streets, sharp bends or crowded parking lots.

[0091] Traditional central integrated drive vehicles usually use a single central motor to transmit power to the wheels through components such as drive shafts and differentials. With the rapid development of electric vehicles, distributed electric drive systems have gradually become one of the mainstream technologies. Distributed electric drive vehicles refer to vehicles with at least two or more drive motors. The drive motors are usually arranged near or inside the wheels, such as wheel-side motor drive and wheel hub motor drive, so that the wheels can be independently controlled by the drive motors, thereby more flexibly distributing the drive torque. Compared with traditional central integrated drive vehicles, distributed electric drive vehicles have the advantages of simple structure, efficient transmission, fast response and good dynamic control performance.

[0092] The inventors have found that if the distributed electric drive system and the braking system of the vehicle are jointly controlled, it is expected that the vehicle will have a smaller turning radius during driving and parking.

[0093] like Figure 1 As shown, the steering assist solution is a dual-motor solution. The motor located at the front end of the vehicle can drive the front wheels on both sides of the vehicle, and the motor located at the rear end can drive the rear wheels on both sides of the vehicle. During the steering process, the outer rear wheel is locked through the braking system, the inner rear wheel is reversed, and the other wheels are driven normally, so that the outer rear wheel can be turned on the spot. However, in the case of uneven road adhesion, the locked wheel will drag forward on the ground, making it difficult to obtain greater adhesion, and will cause uneven wear of the wheels, affecting vehicle performance.

[0094] like Figure 2 As shown in FIG. 1 , the steering assist scheme is a dual-motor scheme. During the steering process, the two inner wheels are locked by the braking system to reduce the turning radius under high-adhesion road conditions. However, in this scheme, it is difficult to obtain greater adhesion when the two tires are completely locked, and as shown in FIG. Figure 3 As shown, the dotted line is the steering trajectory of this scheme, and the solid line is the minimum steering trajectory during normal driving. It is difficult to achieve effective control in the transition zone between the two.

[0095] like Figure 4 As shown, the steering assist solution is a four-motor solution. Each motor can independently control the wheels on one side of the vehicle. During the steering process, the inner front wheel motor is blocked to achieve wheel locking, the inner rear wheel is reversed, and the two outer wheels rotate forward to achieve steering around the inner front wheel. This solution requires four motors, which is costly, and there is a risk of burning the motor when the motor is blocked.

[0096] In order to reduce the turning radius of a vehicle, an embodiment of the present application provides a vehicle steering assist control method, device, electronic device and vehicle. The vehicle steering assist control method, device, electronic device and vehicle provided by the embodiment of the present application are described in detail below through specific embodiments and their application scenarios in conjunction with the accompanying drawings.

[0097] Among them, the vehicle steering assist control method can be applied to a terminal, and can be specifically executed by hardware or software in the terminal.

[0098] Optionally, the terminal includes, but is not limited to, a portable communication device such as a mobile phone or tablet computer having a touch-sensitive surface (e.g., a touch screen display and / or a touch pad). It should also be understood that, in some embodiments, the terminal may not be a portable communication device, but a desktop computer having a touch-sensitive surface (e.g., a touch screen display and / or a touch pad). In some embodiments, the terminal may also be an optical receiver, an optical fiber switch, etc. having a processor.

[0099] However, it should be understood that the terminal may include one or more other physical user interface devices such as a physical keyboard, mouse and joystick.

[0100] The vehicle steering assist control method provided in the embodiment of the present application may be executed by an electronic device or a functional module or functional entity in the electronic device that can implement the vehicle steering assist control method. The electronic device mentioned in the embodiment of the present application may include but is not limited to a server, an ECU (Electronic Control Unit), an MCU (Microcontroller Unit) or other controllers, etc. The vehicle steering assist control method provided in the embodiment of the present application is described below using an electronic device as an example of an execution subject.

[0101] like Figure 5 As shown, the vehicle steering assist control method includes: step 510 and step 520.

[0102] Step 510: When the steering assist function is turned on, control the braking system to apply braking torque to the target wheel.

[0103] In an embodiment of the present application, the vehicle may be an electric vehicle, a hybrid vehicle, etc., and the vehicle may include a body, wheels, a braking system, a drive system, etc.

[0104] In one example, if Figure 6 As shown, the wheels may include front wheels and rear wheels. The description is based on the direction from the rear end to the front end of the vehicle. The direction close to the front end of the vehicle is the front end of the vehicle, the direction close to the rear end of the vehicle is the rear end of the vehicle, the wheel located at the front end of the vehicle is the front wheel, the wheel located at the rear end of the vehicle is the rear wheel, the front wheel located on the left side of the vehicle is the left front wheel, the front wheel located on the right side of the vehicle is the right front wheel, the rear wheel located on the left side of the vehicle is the left rear wheel, and the wheel located on the right side of the vehicle is the right rear wheel. Each wheel of the vehicle may be braked by an independent braking system.

[0105] The vehicle's drive system may include a motor, a transmission, etc., which is responsible for transmitting power to the wheels. Figure 6 As shown, the vehicle may include a first motor, a second motor and a third motor, and different motors are responsible for controlling the movement of different wheels. Specifically, the first motor may be responsible for controlling the movement of the front wheels on both sides, the second motor may control the movement of the right rear wheel of the vehicle, and the third motor may control the movement of the left rear wheel.

[0106] The steering assist function is a function that can optimize the steering performance of the vehicle, reduce the turning radius of the wheels, and improve the maneuverability of the vehicle on narrow roads. In the embodiment of the present application, the steering assist function can be achieved by controlling the coordinated work of the vehicle's braking system and the motor.

[0107] In some embodiments, the vehicle may be provided with a display screen, and the user may enable the steering assist function by operating on the display screen, such as by touching the display screen or operating an interface on the display screen through a key. The vehicle may also be provided with a physical key or knob for the steering assist function, and the user may enable the steering assist function by pressing the physical key or operating the knob.

[0108] In the embodiment of the present application, the target wheel may be any one or more wheels in the vehicle. For example, the target wheel may be any one or more wheels in the vehicle that are preset, or any one or more wheels in the vehicle that are determined according to the steering requirement of the vehicle.

[0109] In some embodiments, the steering assist function may include multiple steering assist modes, which can be designed according to different driving scenarios and needs to adapt to various complex road conditions and driving conditions. For example, depending on the driving scenario, the steering assist mode may include city mode, high-speed mode, and off-road mode. In city mode, the vehicle's steering assist system will pay more attention to flexibility and convenience to adapt to the frequent steering and parking needs on urban roads, while in high-speed mode, it will pay more attention to stability and safety to ensure that the vehicle's steering is smooth and reliable when driving at high speeds. According to the characteristics of the steering, the steering assist mode may include a steering mode around the front wheels, a steering mode around the rear wheels, a U-turn mode on the spot, a narrow road turning mode, etc. The steering assist mode is not limited in the embodiments of the present application.

[0110] Users can manually switch different steering assistance modes through the vehicle's control interface according to actual needs. Or they can automatically switch steering assistance modes according to real-time road conditions and driving status. For example, when the vehicle enters a highway, the system will automatically switch to high-speed mode to provide more stable and safe steering assistance.

[0111] The target wheel can be determined according to the steering assist mode. In different steering assist modes, the selection of the target wheel will be different to improve the effect of the steering assist control. For example, in one steering assist mode, the target wheel may be the left front wheel; in another steering assist mode, the target wheel may be the left rear wheel.

[0112] The correspondence between the steering assist mode and the target wheel may be pre-stored, and after the steering assist mode is determined, the target wheel may be determined according to the correspondence.

[0113] In this embodiment, by setting a plurality of steering assist modes and determining the target wheel according to different modes, the steering performance of the vehicle under different working conditions is improved.

[0114] In some embodiments, the steering assist function may include three steering assist modes. In a first steering assist mode, the target wheels include the rear wheels located on the outside of the steering wheel; in a second steering assist mode, the target wheels include the front wheels located on the inside of the steering wheel and the rear wheels located on the inside of the steering wheel; in a third steering assist mode, the target wheels include the front wheels located on the inside of the steering wheel.

[0115] In this embodiment, turning inside and turning outside can be determined according to the turning direction of the vehicle. For example, if the turning direction of the vehicle is right turn, turning inside is the right side of the vehicle, and turning outside is the left side of the vehicle.

[0116] In this embodiment, by setting three different steering assist modes and selecting different target wheels according to the modes, it can be flexibly switched according to different driving needs and working conditions, thereby improving the steering performance of the vehicle.

[0117] In the embodiment of the present application, after determining the target wheel, the braking system can be controlled to apply a braking torque to the target wheel. The magnitude of the braking torque can be a value obtained by pre-calibration. For example, during the calibration process, the braking system can be controlled to apply braking torques of different magnitudes to the target wheel, and the braking torque corresponding to the best steering performance is selected.

[0118] Step 520: During the vehicle steering process, the target motor corresponding to the target wheel is controlled to output a negative torque.

[0119] After applying a braking torque to the target wheel, the wheel can be controlled to turn, and the motor corresponding to the non-target wheel can be used to control the vehicle to move forward, thereby controlling the vehicle to turn. For example, the non-target wheel can be controlled to rotate forward by the motor corresponding to any one or more non-target wheels, thereby controlling the vehicle to move forward. Since the target wheel is applied with a braking torque, the vehicle will turn during the forward movement.

[0120] The target motor is a motor connected to the target wheel and is responsible for controlling the rotation of the target wheel. The negative torque of the motor is the torque output by the motor in the opposite direction of the vehicle's travel direction. When the motor outputs negative torque, the wheel will slow down or stop rotating. In the embodiment of the present application, since the target wheel is applied with a braking torque, the target motor outputs a negative torque, which can reduce the braking force on the target wheel. Figure 7 As shown, the brake wheel is the target wheel, and the braking force on the brake wheel can be adjusted by the motor outputting negative torque to feedback the braking of the brake wheel. And because the motor has a fast response speed, the braking force on the target wheel can be adjusted quickly, thereby effectively improving the adhesion between the wheel and the road surface, reducing the slip of the target wheel, and thus reducing the turning radius of the vehicle.

[0121] According to the vehicle steering assist control method of the present application, when the steering assist function is turned on, the braking system is controlled to apply braking torque to the target wheel; and the target motor corresponding to the target wheel is controlled to output negative torque. In the embodiment of the present application, the braking system applies a basic braking force to the target wheel through the synergy of the braking system and the motor, and the motor outputs a negative torque to adjust the braking force of the target wheel, so that when the vehicle turns, the adhesion between the wheel and the road surface can be effectively improved, the slip of the target wheel can be reduced, and the turning radius of the vehicle can be reduced.

[0122] In some embodiments, when the steering assist function is turned on, controlling the braking system to apply braking torque to the target wheel includes:

[0123] The steering assist function is turned on according to the steering assist mode selected by the user, and the braking system is controlled to apply braking torque to the target wheel corresponding to the steering assist mode selected by the user.

[0124] In this embodiment, the user can select different steering assist modes according to actual needs and road conditions. For example, the user can select or switch the steering assist mode through the vehicle's control interface, such as a button or knob on a display screen.

[0125] After determining the steering assist mode selected by the user, the corresponding target wheel can be determined according to the setting of the steering assist mode, and the braking system can be controlled to apply braking torque to the target wheel.

[0126] In this embodiment, by turning on the steering assist function according to the steering assist mode selected by the user and controlling the braking system to apply braking torque to the corresponding target wheel, different steering assist modes can be selected according to the user's actual needs and driving scenarios, thereby enhancing the user's driving safety.

[0127] In some embodiments, before controlling the braking system to apply braking torque to the target wheel, the process includes:

[0128] Determine the turning direction according to the deflection direction of the front wheels of the vehicle;

[0129] Determine the target wheel based on the turning direction.

[0130] In this embodiment, the front wheels can be deflected by controlling the steering wheel to guide the driving direction of the vehicle. When the user turns the steering wheel, the front wheels will deflect to the left or right accordingly, thereby driving the vehicle to perform a turning operation.

[0131] In this embodiment, the deflection direction of the front wheel can be monitored by a sensor, and the target wheel can be determined according to the turning direction. For example, in the first steering assist mode, the target wheel includes a rear wheel located on the outer side of the turning direction, and according to the turning direction, it can be determined which side of the rear wheel of the vehicle is the rear wheel located on the outer side of the turning direction.

[0132] In this embodiment, the vehicle's turning intention is judged by detecting the deflection direction of the front wheel, so that the vehicle's upcoming turning action can be quickly and accurately identified, and the specific target wheel is determined according to the turning direction, so that the braking torque can be accurately applied to the target wheel, thereby improving the vehicle's steering performance.

[0133] In some embodiments, controlling the target motor corresponding to the target wheel to output negative torque includes:

[0134] In the case where the target wheels include rear wheels located on the outer side of the steering wheel, the front wheels are controlled to rotate forwardly by the first motor, and the rear wheels located on the inner side of the steering wheel are controlled to rotate reversely by the second motor;

[0135] The third motor is used as the target motor to output negative torque to control the slip rate of the target wheel within a preset range.

[0136] In this embodiment, the target wheel is the rear wheel located on the outer side of the steering wheel, which can correspond to the first steering assist mode, that is, the rear wheel steering mode. Figure 8 As shown, the first motor can be used to control the forward rotation of the front wheels on both sides of the vehicle, so that the vehicle can travel forward and turn according to the steering angles of the front wheels on both sides, and the second motor can be used to control the reverse rotation of the rear wheels located on the inner side of the turning direction, so that the end of the vehicle located at the rear of the vehicle generates a torque toward the inner side of the turning direction, which, combined with the braking torque applied to the target wheel by the braking system, helps the vehicle reduce the turning radius.

[0137] Since the braking system applies a braking torque to the target wheel, the target wheel may slip during the vehicle turning process, thereby increasing the turning radius. In order to improve the adhesion between the wheel and the road surface and reduce the slip of the target wheel, the motor corresponding to the rear wheel located on the outer side of the steering, that is, the third motor, can be used as the target motor to output a negative torque to the rear wheel on the outer side of the steering, so as to reduce the braking force on the rear wheel on the outer side of the steering, reduce the situation where the rear wheel on the outer side of the steering is in a locked state, thereby reducing the slip of the rear wheel on the outer side of the steering, and helping the vehicle to reduce the turning radius.

[0138] In this embodiment, when the target wheel is the rear wheel turned to the outside, the first motor controls the front wheel to rotate forward, and the second motor controls the rear wheel turned to the inside to rotate reversely. The steering torque distribution of the vehicle can be adjusted through the synergy of different motors and the braking system, and the third motor is used to output negative torque to adjust the braking force of the target wheel. When the vehicle turns, the target wheel is less likely to be locked, which can effectively improve the adhesion between the wheel and the road surface, reduce the slip of the target wheel, and thus reduce the turning radius of the vehicle.

[0139] In some embodiments, controlling the target motor corresponding to the target wheel to output negative torque includes:

[0140] In the case where the target wheels include a front wheel located on the inner side of the steering wheel and a rear wheel located on the inner side of the steering wheel, the front wheel is controlled to rotate forwardly by the first motor, and the rear wheel located on the outer side of the steering wheel is controlled to rotate forwardly by the third motor;

[0141] The braking torque of the front wheel located on the inner side of the steering is reduced by the braking system, and the second motor is used as the target motor to output negative torque.

[0142] In this embodiment, the target wheels are the front wheels located on the inner side of the steering and the rear wheels located on the inner side of the steering, which can correspond to the second steering assist mode, that is, the narrow road steering mode. In the second steering assist mode, Fig. 9 As shown, the first motor can be used to control the positive rotation of the front wheels, and the third motor can be used to control the positive rotation of the rear wheels located on the steering outside, so that the vehicle can travel forward and turn according to the steering angles of the front wheels on both sides. Combined with the braking torque applied to the target wheels by the braking system, the vehicle can be helped to reduce the turning radius.

[0143] Since the braking system applies a braking torque to the target wheel, the target wheel may slip during the vehicle turning process, thereby increasing the turning radius. In order to improve the adhesion between the wheel and the road surface and reduce the slipping of the target wheel, the braking torque of the front wheel located on the inner side of the turn can be reduced by the braking system to reduce the locking of the front wheel located on the inner side of the turn. In addition, the motor corresponding to the rear wheel located on the inner side of the turn, that is, the second motor, can be used as the target motor to output a negative torque to the rear wheel located on the inner side of the turn to reduce the braking force on the rear wheel located on the outer side of the turn, reduce the situation where the rear wheel located on the outer side of the turn is in a locked state, thereby reducing the slipping of the rear wheel located on the outer side of the turn, and helping the vehicle to reduce the turning radius.

[0144] In this embodiment, when the target wheels include front wheels and rear wheels turning inward, the first motor controls the front wheels to rotate forward, and the third motor controls the rear wheels turning outward to rotate forward. The steering torque distribution of the vehicle can be adjusted through the synergy of different motors and the braking system, and the braking torque is adjusted by the braking system to control the slip rate of the front wheel turning inward within a preset range. The braking force of the target wheel is adjusted by outputting negative torque through the second motor, so that when the vehicle turns, the target wheel is reduced in a locked state, which can effectively improve the adhesion between the wheel and the road surface, reduce the slip of the target wheel, and thus reduce the turning radius of the vehicle.

[0145] In some embodiments, controlling the target motor corresponding to the target wheel to output negative torque includes:

[0146] In the case where the target wheel includes a front wheel located on the inner side of the turn, the front wheel is controlled to rotate forwardly by the first motor, the rear wheel located on the outer side of the turn is controlled to rotate forwardly by the second motor, and the rear wheel located on the inner side of the turn is controlled to rotate reversely by the third motor;

[0147] The first motor is used as the target motor to output negative torque.

[0148] In this embodiment, the target wheel is the front wheel located on the inner side of the steering wheel, which can correspond to the third steering assist mode, that is, the steering mode around the front wheel. Fig.10As shown, the first motor can be used to control the positive rotation of the front wheels on both sides of the wheel. Since the braking system applies a braking torque to the front wheels located on the inner side of the turning direction, the angles of the front wheels on both sides are not deflected, so that the vehicle can be turned around the front wheels located on the inner side of the turning direction.

[0149] The second motor controls the rear wheel on the outside of the steering wheel to rotate forward, and the third motor controls the rear wheel on the inside of the steering wheel to rotate reversely, so that a torque toward the inside of the steering wheel is generated at the rear end of the vehicle, helping the vehicle to reduce the turning radius.

[0150] Since the braking system applies a braking torque to the front wheel located on the inner side of the steering wheel, the front wheel located on the inner side of the steering wheel may slip during the vehicle steering process, thereby increasing the turning radius. In order to improve the adhesion between the wheel and the road surface and reduce the slip of the front wheel located on the inner side of the steering wheel, the first motor can be used as the target motor to output a negative torque to the front wheel located on the inner side of the steering wheel to reduce the braking force on the front wheel located on the inner side of the steering wheel and reduce the situation where the front wheel located on the inner side of the steering wheel is in a locked state, thereby reducing the slip of the front wheel located on the inner side of the steering wheel and helping the vehicle to reduce the turning radius.

[0151] In this embodiment, when the target wheel is the front wheel turning inward, the first motor controls the front wheel to rotate forward, the second motor controls the rear wheel turning outward, and the third motor controls the rear wheel turning inward to rotate reversely. The steering torque distribution of the vehicle can be adjusted through the coordinated action of different motors and the braking system, so that the wheel can rotate around the front wheel turning inward. By using the first motor as the target motor to output negative torque, the braking force of the target wheel is adjusted, so that when the vehicle turns, the target wheel is less likely to be in a locked state, which can effectively improve the adhesion between the wheel and the road surface, reduce the slip of the target wheel, and thus reduce the turning radius of the vehicle.

[0152] In some embodiments, controlling the target motor corresponding to the target wheel to output negative torque includes:

[0153] During the driving of the vehicle, detect whether the target wheel is slipping;

[0154] When the target wheel slips, the target motor corresponding to the target wheel is controlled to output negative torque.

[0155] In this embodiment, the vehicle may be equipped with a wheel speed sensor, which can monitor the rotation speed of each wheel. If the wheel speed sensor detects a sudden increase in the rotation speed of a wheel, it can be determined that the target wheel is slipping. Of course, in order to improve the accuracy of the detection, it is also possible to combine the data output by the IMU (Inertial Measurement Unit) to comprehensively determine whether the target wheel is slipping.

[0156] When slippage of the target wheel is detected, the target motor corresponding to the target wheel can be controlled to output negative torque to reduce the braking force on the target wheel and reduce the locking state of the target wheel, thereby reducing the slippage of the target wheel and helping the vehicle to reduce the turning radius.

[0157] In this embodiment, by detecting in real time whether the target wheel is slipping during vehicle driving, and adjusting the braking force of the target wheel by outputting negative torque through the target motor in the case of slipping, the target wheel is reduced in a locked state, which can effectively reduce wheel slip and maintain high adhesion between the wheel and the ground on the road surface, thereby improving the steering performance of the vehicle.

[0158] In some embodiments, controlling the target motor corresponding to the target wheel to output negative torque includes:

[0159] The slip rate of the target wheel is controlled within a preset range according to the negative torque output by the target motor.

[0160] In this embodiment, the slip ratio is the relative slip between the vehicle tire and the ground, reflecting the proportion of the wheel slip component in driving. When the wheel is locked and purely sliding, the slip ratio is 100%, and when the wheel is rolling and sliding, the slip ratio is between 0% and 100%.

[0161] The coefficient of friction, also known as the friction coefficient, is a dimensionless quantity that describes the magnitude of the friction between two contacting surfaces. It represents the ratio of wheel adhesion to normal pressure, which is determined by the road surface and the tire. The larger the adhesion coefficient, the greater the available adhesion, the higher the stability of the vehicle, and the less likely it is to slip.

[0162] There is a close relationship between the adhesion coefficient and the slip rate, such as Fig.11 As shown in the figure, in the low slip rate stage, the adhesion coefficient increases rapidly with the increase of slip rate, and the tire maintains good contact with the ground; when the slip rate is around 15%, the adhesion coefficient reaches its maximum value. After exceeding the peak value, the adhesion coefficient gradually decreases with the increase of slip rate, and the wheel tends to slide completely, resulting in a decrease in grip.

[0163] In order to reduce the slip of the target wheel, the adhesion coefficient needs to be increased as much as possible. The adhesion coefficient is the largest when the slip rate of the wheel is about 15%. Therefore, the preset range can be set to a range of about 15%, for example, the preset range is 12%-20%, 12%-15%, 14%-15%, 14%-16%, etc.

[0164] In this embodiment, the negative torque output by the target motor is adjusted to adjust the braking force on the target wheel so that the slip rate of the target wheel is controlled within a preset range. For example, when the slip rate of the target wheel is greater than the preset range, the torque value of the negative torque can be increased, and when the slip rate of the target wheel is less than the preset range, the torque value of the negative torque can be reduced.

[0165] In some embodiments, during the steering process, in addition to the target motor outputting negative torque to adjust the slip rate of the target wheel, other motors can also adjust the output torque values ​​so that the slip rates of the wheels controlled by these motors are controlled within a preset range, thereby further reducing the turning radius of the vehicle.

[0166] In this embodiment, the target motor outputs negative torque to control the slip rate of the target wheel so that the slip rate of the target wheel is maintained within a preset range, thereby effectively improving the adhesion between the wheel and the road surface. When the vehicle turns, the slip of the target wheel can be reduced, thereby reducing the turning radius of the vehicle.

[0167] In some embodiments, controlling the target motor corresponding to the target wheel to output negative torque includes:

[0168] Get the current slip rate of the target wheel;

[0169] The target motor output torque value is adjusted according to the current slip ratio.

[0170] In this embodiment, the calculation formula of the slip ratio includes:

[0171]

[0172] Where S represents the slip ratio, V represents the vehicle speed, ω represents the wheel speed, and r represents the wheel radius.

[0173] In this embodiment, the current speed of the target wheel can be obtained according to the wheel speed sensor, and the current speed of the vehicle can be obtained according to the vehicle speed sensor. The current slip rate of the target wheel can be calculated according to the current speed of the target wheel and the current speed of the vehicle in combination with the above formula.

[0174] After calculating the current slip rate of the target wheel, it can be determined whether the current slip rate is within a preset range. If the current slip rate is lower than the preset range, it means that the adhesion between the wheel and the ground is insufficient, and the torque value output by the target motor needs to be reduced to increase the braking force of the target vehicle, thereby increasing the slip rate, thereby increasing adhesion and reducing the slipping of the target vehicle. If the current slip rate is higher than the preset range, it means that the wheel may be about to lock, and the torque value output by the target motor needs to be increased to reduce the braking force of the target vehicle, thereby reducing the slip rate to prevent locking, thereby increasing adhesion and reducing the slipping of the target vehicle.

[0175] In this embodiment, by monitoring the slip rate of the target wheel, the output torque of the motor can be dynamically adjusted according to the actual slip situation, so that the slip rate of the target wheel is within a preset range, thereby effectively improving the adhesion between the wheel and the road surface, and when the vehicle turns, the slip of the target wheel can be reduced, thereby reducing the turning radius of the vehicle.

[0176] The vehicle steering assistance control method of the embodiment of the present application is introduced below through a scenario example. The driver can find the steering assistance function interface in the display screen of the vehicle and select the steering assistance mode in the steering assistance function interface.

[0177] In this scenario example, if the driver selects the first steering assist mode, that is, the rear steering mode, Fig.12 As shown, the following steps may be included:

[0178] S1210: Operate in a turn-around mode.

[0179] In this step, the rear steering mode is operated, the target wheel is the rear wheel located on the outside of the steering wheel, and the braking torque is applied to the target wheel through the braking system. The front wheel is controlled to rotate forward by the first motor, and the rear wheel located on the inside of the steering wheel is controlled to rotate reversely by the second motor. At this time, the vehicle will travel forward and turn.

[0180] S1220: It is detected that the wheel is slipping.

[0181] In this step, the wheel being steered is the target wheel. During the steering process, the wheel may slip. If the wheel being steered is detected to slip, the process proceeds to S1230.

[0182] S1230, the motor outputs negative torque to adjust the slip rate in real time.

[0183] In this step, the motor corresponding to the wheel being wound around can be used as the target motor to output negative torque to adjust the slip rate of the wheel being wound around in real time, so that the slip rate of the wheel being wound around is within a preset range.

[0184] S1240: The motor controls the slip rate of the non-target wheel.

[0185] The first motor can be used to control the front wheels to rotate forward, and the output torque value can be adjusted to keep the slip rate of the front wheels within a preset range; the second motor can be used to control the rear wheels located on the inner side of the steering wheel to rotate reversely, and the output torque value can be adjusted to keep the rear wheels located on the inner side of the steering wheel within a preset range.

[0186] In this scenario example, if the driver selects the second steering assist mode, Fig.13 As shown, the following steps may be included:

[0187] S1310: The driver inputs a target steering angle.

[0188] In this step, the driver can input the target steering angle by adjusting the steering wheel, or can input the target steering angle by a button or knob in the display screen. After the driver inputs the target steering angle, the steering angle of the front wheels can be adjusted.

[0189] S1320: The braking system applies braking torque to the front and rear wheels on the inner side of the steering wheel.

[0190] In this step, the turning direction of the vehicle can be determined according to the target steering angle, so that the turning inside and outside of the vehicle can be determined. According to the second steering assist mode, it can be determined that the target wheels are the front wheels located on the turning inside and the rear wheels located on the turning inside. The braking torque can be applied to the front wheels located on the turning inside and the rear wheels located on the turning inside through the braking system.

[0191] S1330: The motor controls the slip rate of the front and rear wheels on the outer sides of the steering wheel.

[0192] The first motor can be used to control the front wheels to rotate forward, and the output torque value can be adjusted so that the slip rate of the front wheels located on the steering outside is within a preset range; the third motor can be used to control the rear wheels located on the steering outside to rotate forward, and the output torque value can be adjusted so that the rear wheels located on the steering outside are within a preset range.

[0193] S1340: The motor outputs negative torque to the inner rear wheel.

[0194] In this step, the second motor can be used as the target motor to output negative torque so that the slip rate of the rear wheel located on the inner side of the steering wheel is within a preset range; the braking torque on the front wheel located on the inner side of the steering wheel can be reduced by the braking system so that the slip rate of the front wheel located on the inner side of the steering wheel is within a preset range.

[0195] In this scenario example, if the driver selects the third steering assist mode, that is, the front wheel steering mode, Fig.14 As shown, the following steps may be included:

[0196] S1410: Operate in front wheel steering mode.

[0197] In this step, the vehicle is running in the forward steering mode, the target wheel is the front wheel located on the inner side of the steering wheel, and the braking torque is applied to the target wheel through the braking system. The front wheel is controlled to rotate forward by the first motor, the rear wheel located on the outer side of the steering wheel is controlled to rotate forward by the second motor, and the rear wheel located on the inner side of the steering wheel is controlled to rotate reversely by the third motor. At this time, the vehicle will travel forward and turn.

[0198] S1420: It is detected that the wheel is slipping.

[0199] In this step, the wheel being steered is the target wheel. During the steering process, the wheel may slip. If the wheel being steered is detected to slip, the process proceeds to S1430.

[0200] S1430, the motor outputs negative torque to adjust the slip rate in real time.

[0201] In this step, the motor corresponding to the wheel being wound around can be used as the target motor to output negative torque to adjust the slip rate of the wheel being wound around in real time, so that the slip rate of the wheel being wound around is within a preset range.

[0202] S1440: The motor controls the slip rate of the non-target wheel.

[0203] The first motor can be used to control the front wheels to rotate forward, and the output torque value can be adjusted to keep the slip rate of the front wheels within a preset range; the second motor can be used to control the rear wheels located on the outside of the steering wheel to rotate forward, and the output torque value can be adjusted to keep the rear wheels located on the outside of the steering wheel within a preset range; the third motor can be used to control the rear wheels located on the inside of the steering wheel to rotate reversely, and the output torque value can be adjusted to keep the rear wheels located on the inside of the steering wheel within a preset range.

[0204] An embodiment of the present application also provides a vehicle steering assist control device.

[0205] like Fig.15 As shown, the vehicle steering assist control device includes:

[0206] The first control module 1510 is used to control the braking system to apply braking torque to the target wheel when the steering assist function is turned on;

[0207] The second control module 1520 is used to control the target motor corresponding to the target wheel to output negative torque during the vehicle steering process.

[0208] According to the vehicle steering assist control device of the present application, when the steering assist function is turned on, the braking system is controlled to apply braking torque to the target wheel; during the vehicle steering process, the target motor corresponding to the target wheel is controlled to output negative torque. In the embodiment of the present application, the braking system applies basic braking force to the target wheel through the synergistic effect of the braking system and the motor, and the motor outputs negative torque to adjust the braking force of the target wheel, so that when the vehicle turns, the target wheel is reduced in the locked state, which can effectively improve the adhesion between the wheel and the road surface, reduce the slip of the target wheel, and thus reduce the turning radius of the vehicle.

[0209] In some embodiments, the first control module 1510 is further configured to:

[0210] The steering assist function is turned on according to the steering assist mode selected by the user, and the braking system is controlled to apply braking torque to the target wheel corresponding to the steering assist mode selected by the user.

[0211] In some embodiments, the first control module 1510 is further configured to:

[0212] Determine the turning direction according to the deflection direction of the front wheels of the vehicle;

[0213] Determine the target wheel based on the turning direction.

[0214] In some embodiments, the second control module 1520 is further configured to:

[0215] In the case where the target wheels include rear wheels located on the outer side of the steering wheel, the front wheels are controlled to rotate forwardly by the first motor, and the rear wheels located on the inner side of the steering wheel are controlled to rotate reversely by the second motor;

[0216] The third motor is used as the target motor to output negative torque.

[0217] In some embodiments, the second control module 1520 is further configured to:

[0218] In the case where the target wheels include a front wheel located on the inner side of the steering wheel and a rear wheel located on the inner side of the steering wheel, the front wheel is controlled to rotate forwardly by the first motor, and the rear wheel located on the outer side of the steering wheel is controlled to rotate forwardly by the third motor;

[0219] The braking torque of the front wheel located on the inner side of the steering is reduced by the braking system, and the second motor is used as the target motor to output negative torque.

[0220] In some embodiments, the second control module 1520 is further configured to:

[0221] In the case where the target wheel includes a front wheel located on the inner side of the turn, the front wheel is controlled to rotate forwardly by the first motor, the rear wheel located on the outer side of the turn is controlled to rotate forwardly by the second motor, and the rear wheel located on the inner side of the turn is controlled to rotate reversely by the third motor;

[0222] The first motor is used as the target motor to output negative torque.

[0223] In some embodiments, the second control module 1520 is further configured to:

[0224] During the driving of the vehicle, detect whether the target wheel is slipping;

[0225] When the target wheel slips, the target motor corresponding to the target wheel is controlled to output negative torque.

[0226] In some embodiments, the second control module 1520 is further configured to:

[0227] The slip rate of the target wheel is controlled within a preset range according to the negative torque output by the target motor.

[0228] In some embodiments, the second control module 1520 is further configured to:

[0229] Get the current slip rate of the target wheel;

[0230] The target motor output torque value is adjusted according to the current slip ratio.

[0231] The vehicle steering assist control device in the embodiment of the present application can be an electronic device, or a component in the electronic device, such as an integrated circuit or a chip. The electronic device can be a terminal, or other devices other than a terminal. Exemplarily, the electronic device can be an on-board electronic device, a mobile Internet device (Mobile Internet Device, MID), a robot, an ultra-mobile personal computer (ultra-mobile personal computer, UMPC), an ECU (Electronic Control Unit, electronic control unit), an MCU (Microcontroller Unit, microcontroller unit) or other controllers, etc., and can also be a server, a network attached storage (Network Attached Storage, NAS), a personal computer (personal computer, PC), a television (television, TV), a teller machine or a self-service machine, etc., which is not specifically limited in the embodiment of the present application.

[0232] The vehicle steering assist control device in the embodiment of the present application may be a device having an operating system. The operating system may be a Microsoft (Windows) operating system, an Android (Android) operating system, an IOS operating system, or other possible operating systems, which are not specifically limited in the embodiment of the present application.

[0233] In some embodiments, Fig.16 As shown, an embodiment of the present application also provides an electronic device 1600, including a processor 1601, and the processor 1601 is connected to a memory 1602, and the memory 1602 stores a computer program that can be run on the processor 1601. When the program is executed by the processor 1601, the various processes of the above-mentioned vehicle steering assist control method embodiment are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0234] It should be noted that the electronic devices in the embodiments of the present application include the above-mentioned mobile electronic devices and non-mobile electronic devices.

[0235] An embodiment of the present application also provides a vehicle, which includes multiple motors, a braking system and a controller.

[0236] A controller is used to execute the above-mentioned vehicle steering assistance method.

[0237] The controller may be the electronic device mentioned above.

[0238] In some embodiments, the plurality of motors include a first motor, a second motor, and a third motor;

[0239] A first motor for controlling the movement of the front wheels of the vehicle;

[0240] a second motor, for controlling the movement of a rear wheel on a first side of the vehicle;

[0241] The third motor is used to control the movement of the second side rear wheel of the vehicle.

[0242] An embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the various processes of the above-mentioned vehicle steering assist control method embodiment are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0243] The processor is the processor in the electronic device in the above embodiment. The readable storage medium includes a computer readable storage medium, such as a computer read-only memory ROM, a random access memory RAM, a magnetic disk or an optical disk.

[0244] An embodiment of the present application also provides a computer program product, including a computer program, which implements the above-mentioned vehicle steering assist control method when executed by a processor.

[0245] The processor is the processor in the electronic device in the above embodiment. The readable storage medium includes a computer readable storage medium, such as a computer read-only memory ROM, a random access memory RAM, a magnetic disk or an optical disk.

[0246] An embodiment of the present application further provides a chip, which includes a processor and a communication interface, wherein the communication interface and the processor are coupled, and the processor is used to run programs or instructions to implement the various processes of the above-mentioned vehicle steering assist control method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0247] It should be understood that the chip mentioned in the embodiments of the present application can also be called a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.

[0248] It should be noted that, in this article, the terms "comprise", "include" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise one..." do not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0249] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a computer software product, which is stored in a storage medium (such as ROM / RAM, a disk, or an optical disk), and includes a number of instructions for a terminal (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0250] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

[0251] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. 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.

[0252] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present application, and that the scope of the present application is defined by the claims and their equivalents.

Claims

1. A vehicle steering assist control method, characterized in that: include: When the steering assist function is turned on, the braking system is controlled to apply braking torque to the target wheel; During the vehicle steering process, the target motor corresponding to the target wheel is controlled to output negative torque.

2. The method according to claim 1, characterized in that The steering assist function includes a plurality of steering assist modes; and the target wheel is determined according to the steering mode.

3. The method according to claim 1 or 2, characterized in that: In the first steering assist mode, the target wheels include the rear wheels located on the steering outer side; in the second steering assist mode, the target wheels include the front wheels located on the steering inner side and the rear wheels located on the steering inner side; in the third steering assist mode, the target wheels include the front wheels located on the steering inner side.

4. The method according to any one of claims 1 to 3, characterized in that: When the steering assist function is turned on, controlling the braking system to apply braking torque to the target wheel includes: The steering assist function is turned on according to the steering assist mode selected by the user, and the braking system is controlled to apply braking torque to the target wheel corresponding to the steering assist mode selected by the user.

5. The method according to any one of claims 1 to 4, characterized in that: Before controlling the braking system to apply braking torque to the target wheel, including: Determine the turning direction according to the deflection direction of the front wheels of the vehicle; The target wheel is determined according to the turning direction.

6. The method according to any one of claims 1 to 5, characterized in that: The controlling the target motor corresponding to the target wheel to output a negative torque comprises: In the case where the target wheel includes a rear wheel located on the outer side of the steering wheel, the front wheel is controlled to rotate forwardly by the first motor, and the rear wheel located on the inner side of the steering wheel is controlled to rotate reversely by the second motor; The third motor is used as the target motor to output negative torque.

7. The method according to any one of claims 1 to 5, characterized in that: The controlling the target motor corresponding to the target wheel to output a negative torque comprises: In the case where the target wheel includes a front wheel located on the inner side of the steering wheel and a rear wheel located on the inner side of the steering wheel, the front wheel is controlled to rotate forwardly by the first motor, and the rear wheel located on the outer side of the steering wheel is controlled to rotate forwardly by the third motor; The braking torque of the front wheel located on the inner side of the steering is reduced by the braking system, and the second motor is used as the target motor to output negative torque.

8. The method according to any one of claims 1 to 5, characterized in that: The controlling the target motor corresponding to the target wheel to output a negative torque comprises: In the case where the target wheel includes a front wheel located on the inner side of the steering wheel, the front wheel is controlled to rotate forwardly by the first motor, the rear wheel located on the outer side of the steering wheel is controlled to rotate forwardly by the second motor, and the rear wheel located on the inner side of the steering wheel is controlled to rotate reversely by the third motor; The first motor is used as a target motor to output negative torque.

9. The method according to any one of claims 1 to 8, characterized in that: The controlling the target motor corresponding to the target wheel to output a negative torque comprises: During the driving of the vehicle, detecting whether the target wheel is slipping; When the target wheel slips, the target motor corresponding to the target wheel is controlled to output negative torque.

10. The method according to any one of claims 1 to 9, characterized in that: The controlling the target motor corresponding to the target wheel to output a negative torque comprises: The slip rate of the target wheel is controlled within a preset range according to the negative torque output by the target motor.

11. The method according to any one of claims 1 to 10, characterized in that: The controlling the target motor corresponding to the target wheel to output a negative torque comprises: Obtaining a current slip rate of the target wheel; The target torque value output by the motor is adjusted according to the current slip ratio.

12. A vehicle steering assist control device, characterized in that: include: A first control module is used to control the braking system to apply a braking torque to the target wheel when the steering assist function is turned on; The second control module is used to control the target motor corresponding to the target wheel to output negative torque during the vehicle steering process.

13. An electronic device comprising a processor, wherein the processor is connected to a memory, wherein the memory stores a computer program that can be run on the processor, wherein: When the processor executes the program, the method according to any one of claims 1 to 9 is implemented.

14. A vehicle, characterized in that: Includes multiple motors, brake systems and controllers; The controller is used to execute the method according to any one of claims 1-11.

15. The vehicle according to claim 14, characterized in that The plurality of motors include a first motor, a second motor and a third motor; The first motor is used to control the movement of the front wheels of the vehicle; The second motor is used to control the movement of the rear wheel on the first side of the vehicle; The third motor is used to control the movement of the second side rear wheel of the vehicle.

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 method according to any one of claims 1 to 11 is implemented.

17. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the method according to any one of claims 1 to 11 is implemented.

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