A method and system for end-of-line protection control of the rear-wheel steering system of an automobile.

Abstract

This disclosure provides a method and system for end-of-line protection control of a rear-wheel steering system for automobiles, relating to the field of rear-wheel steering technology. The method includes: acquiring the vehicle's real-time speed, the maximum high-speed rear wheel angle, and the maximum low-speed rear wheel angle; calculating the weight of the maximum low-speed angle based on the current vehicle speed and the high-speed function speed boundary; calculating the weight of the maximum high-speed angle based on the current vehicle speed and the low-speed function speed boundary; calculating the maximum rear wheel angle using the maximum high-speed angle weight, the maximum low-speed angle weight, the maximum high-speed rear wheel angle, and the maximum low-speed rear wheel angle; and limiting the output angle of the rear wheel steering angle using the maximum rear wheel angle. This disclosure only requires calibrating the lookup data for low-speed control and high-speed control to calculate the end-of-line protection angle at the transition speed, simplifying the calibration and calculation steps.

Description

Technical Field

[0001] This disclosure relates to the field of automotive rear-wheel steering technology, specifically to an end-of-line protection control method and system for automotive rear-wheel steering systems. Background Technology

[0002] The statements in this section are merely background information relating to this disclosure and do not necessarily constitute prior art.

[0003] With the development of the automotive industry, users' demands for vehicle flexibility, stability, and safety are increasing daily. Rear-wheel steering technology can reasonably meet these needs. In its low-speed mode, it reduces the turning radius by deflecting the front and rear wheels in opposite directions, while in its high-speed mode, it increases lane-changing stability by deflecting the front and rear wheels in the same direction. The coordinated control of high-speed and low-speed modes can improve the driving experience and affect driving safety. At the same time, end-of-range protection has a significant impact on driving experience and safety during driving. Therefore, for users, vehicles equipped with rear-wheel steering need to have a more reasonable end-of-range protection mechanism. The mainstream approach is to limit the speed of the rear wheels by looking up the end-of-range protection angle in a table.

[0004] Existing end-of-range protection control methods only consider end-of-range 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. Without this transition speed, the rear wheels will swing back and forth when switching between high-speed and low-speed modes, affecting the driving experience and failing to guarantee effective end-of-range protection within the transition speed range, resulting in a poor driving experience. Summary of the Invention

[0005] To address the aforementioned issues, this disclosure proposes an end-of-life protection control method and system for a vehicle's rear-wheel steering system. By monitoring changes in vehicle speed in real time, dynamically controlling the weighted value based on the current vehicle speed and high / low speed boundary values, the current steering angle is calculated. The steering angle is evaluated based on the maximum rear wheel angle at different vehicle speeds to determine whether steering angle limitation is required, thereby achieving end-of-life protection.

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

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

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

[0009] The weight of the low-speed maximum value is calculated based on the current vehicle speed and the high-speed function vehicle speed boundary.

[0010] Calculate the maximum speed weight based on the current vehicle speed and the low-speed function vehicle speed boundary;

[0011] The maximum rear wheel angle is calculated using the weights of the maximum high speed and the maximum low speed, the maximum rear wheel angle at high speed, and the maximum rear wheel angle at low speed. The output angle of the rear wheel rotation is then limited by the maximum rear wheel angle.

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

[0013] An end-of-line protection control system for a rear-wheel steering system of an automobile, comprising:

[0014] The data acquisition module is used to acquire the vehicle's real-time speed, maximum high-speed rear wheel angle, and maximum low-speed rear wheel angle.

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

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

[0017] A computer program product includes a computer program that, when executed by a processor, implements the aforementioned end-of-line protection control method for a rear-wheel steering system of an automobile.

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

[0019] A non-transitory computer-readable storage medium is provided for storing computer instructions, which, when executed by a processor, implement the aforementioned end-of-line protection control method for a rear-wheel steering system of an automobile.

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

[0021] An electronic device includes 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 to enable the electronic device to implement the aforementioned end-of-line protection control method for a rear-wheel steering system of an automobile.

[0022] Compared with the prior art, the beneficial effects of this disclosure are as follows:

[0023] This disclosure discloses an end-of-life protection control method for a rear-wheel steering system of an automobile. Compared with traditional rear-wheel steering control systems, this method uses a weighted algorithm to calculate the end-of-life protection angle instead of a lookup table. It reasonably calculates the end-of-life protection angle at the transition speed of rear-wheel steering. Only the lookup data of low-speed control and high-speed control need to be calibrated to calculate the end-of-life protection angle at the transition speed, which simplifies the calibration and calculation steps and improves efficiency.

[0024] This disclosure discloses an end-of-life protection control method for a rear-wheel steering system of an automobile. In the rear-wheel steering system, the end-of-life protection system can use a weighted algorithm and the angle limit coefficient of high and low speed modes to perform weighted calculation within the transition speed range to obtain a more reasonable end-of-life protection. In the angle evaluation stage, the current angle is compared with the maximum value of the rear wheel angle. If it exceeds the maximum value, it is determined that the angle needs to be limited; otherwise, no limit is imposed, thereby achieving end-of-life protection and improving the driving experience of the vehicle. Attached Figure Description

[0025] The accompanying drawings, which form part of this disclosure, are used to provide a further understanding of this disclosure. The illustrative embodiments of this disclosure and their descriptions are used to explain this disclosure and do not constitute an undue limitation of this disclosure.

[0026] Figure 1 This is a schematic flowchart of the end-of-line protection control method for the rear-wheel steering system of an automobile according to an embodiment of the present disclosure;

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

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

[0029] Figure 4 This is a diagram of the high-speed lookup table module's lookup interface according to an embodiment of this disclosure; Detailed Implementation

[0030] The present disclosure will be further described below with reference to the accompanying drawings and embodiments.

[0031] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of this disclosure. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure pertains.

[0032] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this disclosure. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms “comprising” and / or “including” are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0033] Example 1

[0034] One embodiment of this disclosure provides a method for end-of-line protection control of a vehicle's rear-wheel steering system, comprising:

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

[0036] Step 2: Calculate the weight of the low-speed maximum value based on the current vehicle speed and the high-speed function speed boundary; calculate the weight of the high-speed maximum value based on the current vehicle speed and the low-speed function speed boundary;

[0037] Step 3: Calculate the maximum rear wheel angle using the weights of the high-speed maximum value, the weights of the low-speed maximum value, the maximum rear wheel angle at high speed, and the maximum rear wheel angle at low speed. Use the maximum rear wheel angle to limit the output angle of the rear wheel rotation.

[0038] As one embodiment, the specific implementation process of the end-of-line protection control method for the rear-wheel steering system of an automobile disclosed herein is as follows:

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

[0040] Specifically, vehicle speed information is acquired in real time using a vehicle speed sensor, changes in vehicle speed are monitored, and the vehicle speed information is transmitted to a domain controller. After receiving the vehicle speed data, the domain controller performs calculations and processing.

[0041] Obtaining the maximum high-speed and low-speed rear wheel angles involves inputting the current vehicle speed into the high-speed and low-speed lookup modules to obtain the maximum high-speed and low-speed rear wheel angles at that speed. The angle data for the high-speed and low-speed modules needs to be obtained through vehicle testing. The lookup process involves inputting the vehicle speed, determining the maximum high-speed or low-speed rear wheel angle (y-axis) based on the speed (x-axis), and finally outputting the maximum rear wheel steering angle. The lookup table interface is shown below. Figure 3 , Figure 4 As shown.

[0042] Furthermore, in traditional rear-wheel steering systems, there is no end-protection angle in the transition speed range (e.g., 35-40 km / h) between high-speed control (e.g., above 40 km / h) and low-speed control (e.g., below 35 km / h). This can lead to vehicles equipped with rear-wheel steering failing to achieve end-protection in the transition range, resulting in vehicle instability. Therefore, calculating the maximum rear wheel steering angle can limit the maximum steering angle of the rear wheels within the transition speed range. This helps maintain vehicle stability within the transition speed range, preventing body roll. Simultaneously, the transition speed range is a special area that provides a buffer between low-speed and high-speed control, preventing a change in tire rotation direction that could cause a loss of driving feel when switching between high and low speed control modes. Calculating the maximum rear wheel angle ensures vehicle stability without affecting the overall driving feel. The specific calculation process is shown in step 2.

[0043] Step 2: Calculate the weight of the low-speed maximum value based on the current vehicle speed and the high-speed function speed boundary; calculate the weight of the high-speed maximum value based on the current vehicle speed and the low-speed function speed boundary;

[0044] Specifically, the maximum speed weight is calculated based on the current vehicle speed and the low-speed function vehicle speed boundary, including:

[0045]

[0046] in, Current vehicle speed For low-speed function vehicle speed boundary, This refers to the speed limit for high-speed functions.

[0047] Furthermore, the weight of the low-speed maximum value is calculated based on the current vehicle speed and the high-speed function speed boundary, including:

[0048]

[0049] in, This refers to the speed limit for high-speed functions.

[0050] Step 3: Calculate the maximum rear wheel angle using the weights of the high-speed maximum value, the weights of the low-speed maximum value, the maximum rear wheel angle at high speed, and the maximum rear wheel angle at low speed. Use the maximum rear wheel angle to limit the output angle of the rear wheel rotation.

[0051] Specifically, the maximum rear wheel angle in the transition range Calculations show that:

[0052]

[0053] in, This represents the maximum high-speed rear wheel angle at the current vehicle speed. This is the maximum angle value for the rear wheel at low speed.

[0054] Furthermore, using the calculated maximum rear wheel angle... Limit the turning angle within the transition range; if the rear wheel turning angle exceeds... Then the rear wheel steering angle is limited to Otherwise, the rear wheel angle is output directly. The rear wheel angle is calculated automatically by the rear wheel steering system, including the angles for high-speed control, low-speed control, and transition range control.

[0055] Example 2

[0056] One embodiment of this disclosure provides an end-of-line protection control system for a vehicle's rear-wheel steering system, comprising:

[0057] The data acquisition module is used to acquire the vehicle's real-time speed, maximum high-speed rear wheel angle, and maximum low-speed rear wheel angle.

[0058] The calculation module is used to calculate the low-speed maximum value weight based on the current vehicle speed and the high-speed function speed boundary; calculate the high-speed maximum value weight based on the current vehicle speed and the low-speed function speed boundary; calculate the rear wheel angle maximum value 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 limit the output angle of the rear wheel steering angle through the rear wheel angle maximum value.

[0059] As one embodiment, the specific method and process of the end-of-line protection control system for the rear-wheel steering system of an automobile disclosed herein are as follows:

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

[0061] Specifically, vehicle speed information is acquired in real time using a vehicle speed sensor, changes in vehicle speed are monitored, and the vehicle speed information is transmitted to a domain controller. After receiving the vehicle speed data, the domain controller performs calculations and processing.

[0062] Obtaining the maximum high-speed and low-speed rear wheel angle values ​​involves inputting the current vehicle speed into the high-speed lookup module and the low-speed lookup module to obtain the maximum high-speed and low-speed rear wheel angle values ​​at the current vehicle speed.

[0063] Step 2: Calculate the weight of the low-speed maximum value based on the current vehicle speed and the high-speed function speed boundary; calculate the weight of the high-speed maximum value based on the current vehicle speed and the low-speed function speed boundary;

[0064] Specifically, the maximum speed weight is calculated based on the current vehicle speed and the low-speed function vehicle speed boundary, including:

[0065]

[0066] in, Current vehicle speed For low-speed function vehicle speed boundary, This refers to the speed limit for high-speed functions.

[0067] Furthermore, the weight of the low-speed maximum value is calculated based on the current vehicle speed and the high-speed function speed boundary, including:

[0068]

[0069] in, This refers to the speed limit for high-speed functions.

[0070] Step 3: Calculate the maximum rear wheel angle using the weights of the high-speed maximum value, the weights of the low-speed maximum value, the maximum rear wheel angle at high speed, and the maximum rear wheel angle at low speed. Use the maximum rear wheel angle to limit the output angle of the rear wheel rotation.

[0071] Specifically, the maximum rear wheel angle in the transition range Calculations show that:

[0072]

[0073] in, This represents the maximum high-speed rear wheel angle at the current vehicle speed. This is the maximum angle value for the rear wheel at low speed.

[0074] Furthermore, the calculated maximum rear wheel angle is used to limit the turning angle of the transition range. If the rear wheel turning angle exceeds this limit, the rear wheel turning angle is restricted to a certain value; otherwise, the rear wheel turning angle is output directly.

[0075] Example 3

[0076] One embodiment of this disclosure provides a computer program product, including a computer program that, when executed by a processor, implements the aforementioned end-of-line protection control method for a rear-wheel steering system of an automobile.

[0077] Example 4

[0078] One embodiment of this disclosure provides a non-transitory computer-readable storage medium for storing computer instructions, which, when executed by a processor, implement the aforementioned end-of-line protection control method for a rear-wheel steering system of an automobile.

[0079] Example 5

[0080] One embodiment of this disclosure provides an electronic device, including 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 to enable the electronic device to implement the aforementioned end-of-line protection control method for a rear-wheel steering system of an automobile.

[0081] This disclosure is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create a machine for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0082] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0083] While the specific embodiments of this disclosure have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of this disclosure. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solutions of this disclosure are still within the scope of protection of this disclosure.

Claims

1. A method for end-of-line protection control of a rear-wheel steering system for automobiles, characterized in that, include: Obtain the vehicle's real-time speed, maximum rear wheel angle at high speed, and maximum rear wheel angle at low speed; The weight of the low-speed maximum value is calculated based on the current vehicle speed and the high-speed function vehicle speed boundary. The weight of the low-speed maximum value is calculated based on the current vehicle speed and the high-speed function speed boundary, including: in, This refers to the speed limit for high-speed functional vehicles; Calculate the maximum speed weight based on the current vehicle speed and the low-speed function vehicle speed boundary; The maximum speed weight is calculated based on the current vehicle speed and the low-speed function speed boundary, including: in, Current vehicle speed For low-speed function vehicle speed boundary, This refers to the speed limit for high-speed functional vehicles; The maximum rear wheel angle is calculated using the weights of the maximum high speed and the maximum low speed, the maximum high speed angle of the rear wheel, and the maximum low speed angle of the rear wheel. The output angle of the rear wheel rotation is then limited by the maximum rear wheel angle.

2. The end-of-line protection control method for the rear-wheel steering system of an automobile as described in claim 1, characterized in that, Vehicle speed information is acquired in real time using a vehicle speed sensor, changes in vehicle speed are monitored, and the vehicle speed information is transmitted to a domain controller. After receiving the vehicle speed data, the domain controller performs calculations and processing.

3. The end-of-line protection control method for the rear-wheel steering system of an automobile as described in claim 1, characterized in that, Obtaining the maximum high-speed and low-speed rear wheel angle values ​​involves inputting the current vehicle speed into the high-speed and low-speed lookup modules to obtain the maximum high-speed and low-speed rear wheel angle values ​​at the current vehicle speed.

4. The end-of-line protection control method for the rear-wheel steering system of an automobile as described in claim 1, characterized in that, The maximum rear wheel angle is calculated using the weights of the high-speed maximum value, the low-speed maximum value, the maximum rear wheel angle at high speed, and the maximum rear wheel angle at low speed. This maximum rear wheel angle is then used to limit the output angle of the rear wheel steering. This includes: in, The weight of the maximum speed. This represents the maximum angle value at the current vehicle speed at high speed. This is the maximum angle value at low speed. This represents the maximum angle of the rear wheel.

5. An end-of-line protection control system for a rear-wheel steering system of an automobile, specifically implementing the end-of-line protection control method for a rear-wheel steering system of an automobile as described in any one of claims 1-4, characterized in that, include: The data acquisition module is used to acquire the vehicle's real-time speed, maximum high-speed rear wheel angle, and maximum low-speed rear wheel angle. The calculation module is used to calculate the weight of the low-speed maximum value based on the current vehicle speed and the high-speed function speed boundary; and to calculate the weight of the high-speed maximum value based on the current vehicle speed and the low-speed function speed boundary. The maximum rear wheel angle is calculated using the weights of the maximum high speed and the maximum low speed, the maximum high speed angle of the rear wheel, and the maximum low speed angle of the rear wheel. The output angle of the rear wheel rotation is then limited by the maximum rear wheel angle.

6. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the end-of-line protection control method for the rear-wheel steering system of an automobile as described in any one of claims 1-4.

7. A non-transitory computer-readable storage medium, characterized in that, The non-transitory computer-readable storage medium is used to store computer instructions, which, when executed by a processor, implement the end-of-life protection control method for the rear-wheel steering system of an automobile as described in any one of claims 1-4.

8. An electronic device, characterized in that, include: The device includes 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 to enable the electronic device to perform an end-of-line protection control method for a rear-wheel steering system of an automobile as described in any one of claims 1-4.

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