Rear wheel steering system tail end protection control method and system of automobile

Abstract

The invention provides a tail end protection control method and system for a rear wheel steering system of an automobile, and relates to the technical field of automobile rear wheel steering, and the tail end protection control method comprises the steps that the real-time automobile speed, the rear wheel high-speed maximum angle value and the rear wheel low-speed maximum angle value of the automobile are obtained; calculating a low-speed maximum value weight according to the current vehicle speed and the high-speed functional vehicle speed boundary; calculating a high-speed maximum value weight according to the current vehicle speed and the low-speed function vehicle speed boundary; the maximum value of the angle of the rear wheel is calculated through the high-speed maximum value weight, the low-speed maximum value weight, the maximum value of the high-speed angle of the rear wheel and the maximum value of the low-speed angle of the rear wheel, and the output angle of the angle of the rear wheel is limited through the maximum value of the angle of the rear wheel. Therefore, the end protection corner of the transition vehicle speed can be calculated, and the calibration step and the operation step are simplified.

Description

Technical Field

[0001] The present disclosure relates to the technical field of automobile rear wheel steering, and in particular to a terminal protection control method and system of an automobile rear wheel steering system. Background Art

[0002] The statements in this section merely provide background information related to the present disclosure and do not necessarily constitute prior art.

[0003] With the development of the automobile industry, users' demands for automobile flexibility, stability and safety are increasing day by day. Rear-wheel steering technology can reasonably meet customer needs. Its low-speed mode reduces the turning radius by deflecting the front and rear wheels in opposite directions, and the high-speed mode increases the stability of lane change by deflecting the front and rear wheels in the same direction. The coordinated control of high-speed mode and low-speed mode can improve the driving experience and affect driving safety. At the same time, during driving, terminal protection has a great impact on driving experience and safety. Therefore, for users, vehicles equipped with rear-wheel steering need to have a more reasonable terminal protection mechanism. The mainstream method is to obtain the angle of terminal protection by looking up the table to limit the speed of the rear wheels.

[0004] The existing terminal protection control method only considers terminal protection in high-speed and low-speed modes. Currently, most rear-wheel steering vehicles have a transition speed between high-speed and low-speed modes. If not, the rear wheels will swing back and forth when changing between high-speed and low-speed modes, affecting the driving experience. It is impossible to ensure effective terminal protection within the transition speed range, resulting in a poor driving experience of the vehicle. Summary of the invention

[0005] In order to solve the above-mentioned problems, the present disclosure proposes a terminal protection control method and system for the rear-wheel steering system of an automobile, which monitors the changes in vehicle speed in real time, dynamically controls the weighted value according to the current vehicle speed and the boundary values ​​of high and low speeds, calculates the current turning angle, and evaluates the turning angle according to the maximum value of the rear wheel angle at different vehicle speeds, thereby determining whether turning angle limitation is needed to achieve terminal protection.

[0006] According to some embodiments, the present disclosure adopts the following technical solutions:

[0007] A terminal protection control method for a rear wheel steering system of an automobile, comprising:

[0008] Get the vehicle's real-time speed, the maximum rear wheel angle at high speed, and the maximum rear wheel angle at low speed;

[0009] Calculate the low speed maximum value weight according to the current vehicle speed and the high speed function speed boundary;

[0010] Calculate the high speed maximum value weight according to the current vehicle speed and the low speed function speed boundary;

[0011] The maximum rear wheel angle value is calculated using the high-speed maximum weight, the low-speed maximum weight, the rear wheel high-speed maximum angle value, and the rear wheel low-speed maximum angle value, and the output angle of the rear wheel steering angle is limited by the rear wheel angle maximum value.

[0012] According to some embodiments, the present disclosure adopts the following technical solutions:

[0013] A terminal protection control system for a rear wheel steering system of an automobile, comprising:

[0014] A data acquisition module is used to obtain the real-time vehicle speed, the maximum angle value of the rear wheel at high speed, and the maximum angle value of the rear wheel at low speed;

[0015] A calculation module is used to calculate the low-speed maximum weight according to the current vehicle speed and the high-speed function speed boundary; calculate the high-speed maximum weight according to the current vehicle speed and the low-speed function speed boundary; calculate the rear wheel angle maximum value using the high-speed maximum weight, the low-speed maximum weight, the rear wheel high-speed maximum angle value and the rear wheel low-speed maximum angle value, and limit the output angle of the rear wheel steering angle by the rear wheel angle maximum value

[0016] According to some embodiments, the present disclosure adopts the following technical solutions:

[0017] A computer program product comprises a computer program, wherein when the computer program is executed by a processor, the terminal protection control method of a rear wheel steering system of an automobile is realized.

[0018] According to some embodiments, the present disclosure adopts the following technical solutions:

[0019] A non-transitory computer-readable storage medium is used to store computer instructions. When the computer instructions are executed by a processor, a terminal protection control method of a rear wheel steering system of an automobile is implemented.

[0020] According to some embodiments, the present disclosure adopts the following technical solutions:

[0021] An electronic device comprises: a processor, a memory and a computer program; wherein the processor is connected to the memory, the computer program is stored in the memory, and when the electronic device is running, the processor executes the computer program stored in the memory so that the electronic device executes the terminal protection control method of the rear wheel steering system of an automobile.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] The disclosed method for controlling a terminal protection of a rear-wheel steering system of an automobile replaces a terminal protection angle calculated by a lookup table with a terminal protection angle calculated by a weighted algorithm compared to a traditional rear-wheel steering control system, and reasonably calculates the terminal protection angle of a transitional vehicle speed of the rear-wheel steering. It only requires calibration of the lookup table data of a low-speed control and a high-speed control to calculate the terminal protection turning angle of the transitional vehicle speed, thereby simplifying the calibration steps and the calculation steps and improving efficiency.

[0024] The present invention discloses a terminal protection control method for a rear-wheel steering system of an automobile. In the rear-wheel steering system, the terminal protection system can use a weighted algorithm and a turning angle limitation coefficient of a high-speed and low-speed mode to perform weighted calculation within a transitional vehicle speed to obtain a more reasonable terminal protection. In the turning angle evaluation stage, the current turning angle is compared with the maximum value of the rear wheel turning angle. If it exceeds the maximum value, it is determined that an angle limitation is required. Otherwise, no limitation is performed, thereby achieving terminal protection and improving the driving experience of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The accompanying drawings constituting a part of the present disclosure are used to provide a further understanding of the present disclosure. The illustrative embodiments of the present disclosure and their descriptions are used to explain the present disclosure and do not constitute an improper limitation on the present disclosure.

[0026] Figure 1 It is a schematic flow chart of a terminal protection control method of a rear wheel steering system of a vehicle according to an embodiment of the present disclosure;

[0027] Figure 2 A schematic diagram of a search process according to an embodiment of the present disclosure;

[0028] Figure 3 This is a table lookup interface diagram of a low-speed table lookup module according to an embodiment of the present disclosure;

[0029] Figure 4 This is a table lookup interface diagram of the high-speed table lookup module of the embodiment of the present disclosure; DETAILED DESCRIPTION

[0030] The present disclosure is further described below in conjunction with the accompanying drawings and embodiments.

[0031] It should be noted that the following detailed descriptions are all illustrative and are intended to provide further explanation of the present disclosure. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present disclosure belongs.

[0032] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present disclosure. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0033] Example 1

[0034] In one embodiment of the present disclosure, a method for controlling terminal protection of a rear wheel steering system of an automobile is provided, comprising:

[0035] Step 1: Obtain the vehicle's real-time speed, the maximum rear wheel high-speed angle value, and the maximum rear wheel low-speed angle value;

[0036] Step 2: Calculate the low speed maximum weight according to the current vehicle speed and the speed boundary of the high speed function; Calculate the high speed maximum weight according to the current vehicle speed and the speed boundary of the low speed function;

[0037] Step 3: Calculate the maximum rear wheel angle using the high speed maximum weight, the low speed maximum weight, the rear wheel high speed maximum angle value and the rear wheel low speed maximum angle value, and use the rear wheel angle maximum value to limit the output angle of the rear wheel steering angle.

[0038] As an embodiment, the specific implementation process of a terminal protection control method of a rear wheel steering system of an automobile disclosed in the present invention is as follows:

[0039] Step 1: Obtain the vehicle's real-time speed, the maximum angle value of the rear wheel at high speed, and the maximum angle value of the rear wheel at low speed;

[0040] Specifically, a vehicle speed sensor is used to obtain vehicle speed information in real time, monitor changes in vehicle speed, and transmit the vehicle speed information to a domain controller. After receiving the vehicle speed data, the domain controller performs calculations and processing.

[0041] Obtaining the maximum rear wheel high-speed angle value and the maximum rear wheel low-speed angle value includes: inputting the current vehicle speed into the high-speed table lookup module and the low-speed table lookup module to obtain the maximum rear wheel high-speed angle value and the maximum rear wheel low-speed angle value at the current vehicle speed. Among them, the angle data for the high-speed and low-speed module lookup tables need to be obtained through vehicle experiments. The search process is to input the vehicle speed, and obtain the rear wheel high-speed maximum angle value or low-speed maximum angle value (y-axis) according to the vehicle speed (x-axis), and finally output the maximum rear wheel turning angle. The lookup table interface is as follows Figure 3 , Figure 4 shown.

[0042] Furthermore, in the traditional rear-wheel steering system, there is no terminal protection angle in the transition speed range (e.g., 35-40 kmph) between the high-speed control function (e.g., above 40 kmph) and the low-speed control function (e.g., below 35 kmph), which may cause the vehicle equipped with rear-wheel steering to be unable to achieve terminal protection in the transition range, resulting in vehicle instability. Therefore, the maximum value of the rear wheel turning angle calculated can limit the maximum value of the rear wheel turning angle of the vehicle in the transition speed range. The advantage of this is that the vehicle remains stable in the transition speed range and avoids the occurrence of rollover. At the same time, the transition speed range is a relatively special range, which can reserve a buffer zone between low-speed control and high-speed control, so that when the vehicle switches between high and low speed control modes, the driving feel of the whole vehicle will not be stuck due to the change in the direction of tire rotation. By calculating the maximum value of the rear wheel angle, the driving feel of the whole vehicle can be guaranteed without affecting the stability of the vehicle. The specific calculation process is shown in step 2.

[0043] Step 2: Calculate the low speed maximum weight according to the current vehicle speed and the speed boundary of the high speed function; Calculate the high speed maximum weight according to the current vehicle speed and the speed boundary of the low speed function;

[0044] Specifically, the low speed maximum value weight is calculated according to the current vehicle speed and the high speed function speed boundary, including:

[0045] Q h =(vV lmax ) / (V hmin -V lmax )

[0046] Where, v is the current vehicle speed, V lmax is the low speed function speed boundary, V hmin It is the speed limit of high speed function.

[0047] Furthermore, the high speed maximum value weight is calculated according to the current vehicle speed and the low speed function vehicle speed boundary, including:

[0048] Q l =(V hmin -v) / (V hmin -V lmax )

[0049] Among them, V hmin It is the speed limit of high speed function.

[0050] Step 3: Calculate the maximum rear wheel angle using the high-speed maximum weight, the low-speed maximum weight, the rear wheel high-speed maximum angle value, and the rear wheel low-speed maximum angle value, and use the rear wheel angle maximum value to limit the output angle of the rear wheel steering angle.

[0051] Specifically, the maximum rear wheel angle δ in the transition intervalΔ By calculation, we get:

[0052] δ Δ =Q h *δ hr +Q l *δ lr

[0053] Among them, δ hr is the maximum rear wheel high-speed angle value at the current vehicle speed, δ lr It is the maximum angle value of the rear wheel at low speed.

[0054] Further, using the calculated maximum rear wheel angle δ Δ Limit the turning angle of the transition zone. If the rear wheel turning angle exceeds δ Δ , then the rear wheel turning angle is limited to δ Δ , otherwise the rear wheel steering angle is directly output. Among them, the rear wheel steering angle is calculated by the rear wheel steering system itself, including the steering angles of the high-speed control function, the low-speed control function and the transition interval control function.

[0055] Example 2

[0056] In one embodiment of the present disclosure, a rear wheel steering system terminal protection control system for an automobile is provided, comprising:

[0057] A data acquisition module is used to obtain the real-time vehicle speed, the maximum angle value of the rear wheel at high speed, and the maximum angle value of the rear wheel at low speed;

[0058] A calculation module is used to calculate the low-speed maximum weight according to the current vehicle speed and the high-speed function speed boundary; calculate the high-speed maximum weight according to the current vehicle speed and the low-speed function speed boundary; calculate the rear wheel angle maximum value using the high-speed maximum weight, the low-speed maximum weight, the rear wheel high-speed maximum angle value and the rear wheel low-speed maximum angle value, and limit the output angle of the rear wheel steering angle by the rear wheel angle maximum value.

[0059] As an embodiment, a specific method process performed by a rear wheel steering system end protection control system of a vehicle disclosed in the present invention is as follows:

[0060] Step 1: Obtain the vehicle's real-time speed, the maximum angle value of the rear wheel at high speed, and the maximum angle value of the rear wheel at low speed;

[0061] Specifically, a vehicle speed sensor is used to obtain vehicle speed information in real time, monitor changes in vehicle speed, and transmit the vehicle speed information to a domain controller. After receiving the vehicle speed data, the domain controller performs calculations and processing.

[0062] Obtaining the maximum rear wheel high-speed angle value and the maximum rear wheel low-speed angle value includes: inputting the current vehicle speed into the high-speed table lookup module and the low-speed table lookup module to obtain the maximum rear wheel high-speed angle value and the maximum rear wheel low-speed angle value at the current vehicle speed.

[0063] Step 2: Calculate the low speed maximum weight according to the current vehicle speed and the speed boundary of the high speed function; Calculate the high speed maximum weight according to the current vehicle speed and the speed boundary of the low speed function;

[0064] Specifically, the low speed maximum value weight is calculated according to the current vehicle speed and the high speed function speed boundary, including:

[0065] Q h =(vV lmax ) / (V hmin -V lmax )

[0066] Where, v is the current vehicle speed, V lmax is the low speed function speed boundary, V hmin It is the speed limit of high speed function.

[0067] Furthermore, the high speed maximum value weight is calculated according to the current vehicle speed and the low speed function vehicle speed boundary, including:

[0068] Q l =(V hmin -v) / (V hmin -V lmax )

[0069] Among them, V hmin It is the speed limit of high speed function.

[0070] Step 3: Calculate the maximum rear wheel angle using the high-speed maximum weight, the low-speed maximum weight, the rear wheel high-speed maximum angle value, and the rear wheel low-speed maximum angle value, and use the rear wheel angle maximum value to limit the output angle of the rear wheel steering angle.

[0071] Specifically, the maximum rear wheel angle δ in the transition interval Δ By calculation, we get:

[0072] δ Δ =Q h *δ hr +Q l *δ lr

[0073] Among them, δ hr is the maximum rear wheel high-speed angle value at the current vehicle speed, δ lr It is the maximum angle value of the rear wheel at low speed.

[0074] Furthermore, the calculated maximum rear wheel angle is used to limit the turning angle in the transition interval. If the rear wheel turning angle exceeds , the rear wheel turning angle is limited to , otherwise the rear wheel turning angle is directly output.

[0075] Example 3

[0076] In one embodiment of the present disclosure, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the terminal protection control method of the rear wheel steering system of an automobile is implemented.

[0077] Example 4

[0078] In one embodiment of the present disclosure, a non-transitory computer-readable storage medium is provided, wherein the non-transitory computer-readable storage medium is used to store computer instructions. When the computer instructions are executed by a processor, the terminal protection control method of the rear-wheel steering system of an automobile is implemented.

[0079] Example 5

[0080] In one embodiment of the present disclosure, an electronic device is provided, comprising: a processor, a memory and a computer program; wherein the processor is connected to the memory, the computer program is stored in the memory, and when the electronic device is running, the processor executes the computer program stored in the memory, so that the electronic device executes the terminal protection control method of the rear-wheel steering system of an automobile.

[0081] The present disclosure is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present disclosure. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0082] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0083] Although the above describes the specific implementation methods of the present disclosure in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present disclosure. Technical personnel in the relevant field should understand that on the basis of the technical solution of the present disclosure, various modifications or variations that can be made by those skilled in the art without creative work are still within the scope of protection of the present disclosure.

Claims

1. A method for controlling the end protection of a rear wheel steering system of an automobile, characterized in that: include: Get the vehicle's real-time speed, the maximum rear wheel angle at high speed, and the maximum rear wheel angle at low speed; Calculate the low speed maximum value weight according to the current vehicle speed and the high speed function speed boundary; Calculate the high speed maximum value weight according to the current vehicle speed and the low speed function speed boundary; The maximum rear wheel angle value is calculated using the high-speed maximum weight, the low-speed maximum weight, the rear wheel high-speed maximum angle value, and the rear wheel low-speed maximum angle value, and the output angle of the rear wheel steering angle is limited by the rear wheel angle maximum value.

2. A method for controlling the end protection of a rear wheel steering system of an automobile as claimed in claim 1, characterized in that: The vehicle speed sensor is used to obtain vehicle speed information in real time, monitor changes in vehicle speed, and transmit the vehicle speed information to the domain controller. After receiving the vehicle speed data, the domain controller performs calculations and processing.

3. The method for controlling the end protection of the rear wheel steering system of an automobile as claimed in claim 1, characterized in that: Obtaining the maximum rear wheel high-speed angle value and the maximum rear wheel low-speed angle value includes: inputting the current vehicle speed into the high-speed table lookup module and the low-speed table lookup module to obtain the maximum rear wheel high-speed angle value and the maximum rear wheel low-speed angle value at the current vehicle speed.

4. The method for controlling the end protection of the rear wheel steering system of an automobile as claimed in claim 1, characterized in that: The low speed maximum value weight is calculated based on the current vehicle speed and the high speed function speed boundary, including: Q h =(vV lmax ) / (V hmin -V lmax ) Where, v is the current vehicle speed, V lmax is the low speed function speed boundary, V hmin It is the speed limit of high speed function.

5. The method for controlling the end protection of the rear wheel steering system of an automobile as claimed in claim 1, characterized in that: The high speed maximum value weight is calculated based on the current vehicle speed and the low speed function speed boundary, including: Q l =(V hmin -v) / (V hmin -V lmax ) Among them, V hmin It is the speed limit of high speed function.

6. The method for controlling the end protection of the rear wheel steering system of an automobile as claimed in claim 1, characterized in that: The maximum rear wheel angle value is calculated by using the high speed maximum value weight, the low speed maximum value weight, the rear wheel high speed maximum angle value and the rear wheel low speed maximum angle value, and the output angle of the rear wheel steering angle is limited by the rear wheel angle maximum value, including: d Δ =Q h *d hr +Q l *d lr Among them, Q h is the weight of the maximum value of high speed, δ hr is the maximum angle value at the current vehicle speed, δ lr is the maximum angle value at low speed, δ Δ is the maximum rear wheel angle.

7. A rear wheel steering system terminal protection control system for an automobile, characterized in that: include: A data acquisition module is used to obtain the real-time vehicle speed, the maximum angle value of the rear wheel at high speed, and the maximum angle value of the rear wheel at low speed; A calculation module, used to calculate the low speed maximum value weight according to the current vehicle speed and the vehicle speed boundary of the high speed function; and calculate the high speed maximum value weight according to the current vehicle speed and the vehicle speed boundary of the low speed function; The maximum rear wheel angle value is calculated using the high-speed maximum weight, the low-speed maximum weight, the rear wheel high-speed maximum angle value, and the rear wheel low-speed maximum angle value, and the output angle of the rear wheel steering angle is limited by the rear wheel angle maximum value.

8. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the terminal protection control method of the rear wheel steering system of an automobile as described in any one of claims 1 to 6 is implemented.

9. A non-transitory computer-readable storage medium, characterized in that: The non-transitory computer-readable storage medium is used to store computer instructions. When the computer instructions are executed by the processor, the terminal protection control method of the rear-wheel steering system of an automobile as described in any one of claims 1-6 is implemented.

10. An electronic device, characterized in that: include: A processor, a memory and a computer program; wherein the processor is connected to the memory, the computer program is stored in the memory, and when the electronic device is running, the processor executes the computer program stored in the memory so that the electronic device executes a terminal protection control method for a rear-wheel steering system of an automobile as described in any one of claims 1-6.

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