Vehicle steering control method and device, equipment, storage medium and program product

Abstract

The invention relates to a vehicle steering control method, device and equipment, a storage medium and a program product, in particular to the technical field of vehicle control. The method comprises the steps that it is detected that vehicle steering is out of control, the target rotating speed difference between an outer side wheel and an inner side wheel under the condition that the vehicle maintains the current steering angle is obtained, and the wheel speeds of the outer side wheel and the inner side wheel of the vehicle are controlled according to the target rotating speed difference. In this way, vehicle steering can be controlled through the wheel speed difference caused by the motor without depending on an original steering control system of the vehicle, a redundancy control scheme for vehicle steering failure is provided, the out-of-control risk of the vehicle is reduced, test calibration is not needed, the specific wheel speed difference is determined based on the steering angle for control, and the control accuracy is improved. Accuracy of vehicle emergency control and driving safety can be improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control, and in particular to a vehicle steering control method, device, equipment, storage medium and program product. Background Art

[0002] With the continuous development of new energy vehicles and the increasing popularity of automobiles, the safety control of the whole vehicle is particularly important. Among them, steering control is a part of the basic control of the whole vehicle and is also the top priority of the whole vehicle safety control.

[0003] At present, the steering of vehicles is mainly achieved through steering controllers such as Electric Power Steering (EPS). With the increasing complexity of vehicle control systems and the diversification of vehicle electronic components, the steering controller may fail due to malfunctions, affecting the vehicle's steering ability. Therefore, a vehicle steering control solution is needed that can still ensure the vehicle's steering ability in the event of a vehicle steering controller failure, ensuring that the vehicle can perform emergency steering. Summary of the invention

[0004] One of the purposes of the present invention is to provide a vehicle steering control method, device, equipment, storage medium and program product to solve the problem that the vehicle cannot steer when the steering controller fails.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0006] A vehicle steering control method, the method comprising:

[0007] In response to detecting that the vehicle is out of steering control, obtaining a target wheel speed difference between an outer wheel and an inner wheel of the vehicle, the target wheel speed difference being used to maintain a current steering angle of the vehicle, the target wheel speed difference being greater than 0;

[0008] controlling the wheel speeds of the outer wheel and the inner wheel according to the target wheel speed difference;

[0009] Wherein, the outer wheel is the left wheel and the inner wheel is the right wheel, or, the outer wheel is the right wheel and the inner wheel is the left wheel.

[0010] Furthermore, the target wheel speed difference is obtained by:

[0011] Get the current steering angle of the vehicle;

[0012] The displacement difference between the outer wheel and the inner wheel in unit time when the vehicle maintains the current steering angle is calculated as the target wheel speed difference.

[0013] Further, the current steering angle of the vehicle is obtained, including:

[0014] Get the steering wheel angle and vehicle heading angle;

[0015] The difference between the steering wheel angle and the vehicle heading angle is calculated as the current steering angle of the vehicle.

[0016] Further, the vehicle steering loss is detected, including:

[0017] It is detected that messages sent by the vehicle steering controller in a plurality of consecutive cycles are abnormal, and / or it is detected that a fault flag of the vehicle steering controller is set.

[0018] Furthermore, it is detected that the messages sent by the vehicle steering controller in multiple consecutive cycles are abnormal, including:

[0019] Acquire messages of different periods sent by a vehicle steering controller, wherein the messages contain count values ​​that vary according to the periods;

[0020] The count values ​​in the messages of adjacent cycles are subtracted. If the difference does not conform to the periodic variation rule of the count value, then there is an abnormality in the message sent by the vehicle steering controller.

[0021] Further, controlling the wheel speeds of the outer wheel and the inner wheel according to the target wheel speed difference includes:

[0022] Obtaining the steering direction of the vehicle and the current wheel speeds of the outer wheel and the inner wheel;

[0023] determining an outer wheel from the left wheel and the right wheel according to the steering direction;

[0024] Calculating the sum of the target wheel speed difference and the current wheel speed of the outer wheel to obtain a first wheel speed, wherein the difference between the first wheel speed and the current wheel speed of the inner wheel is the target wheel speed difference;

[0025] The wheel speed of the outer wheel is adjusted to the first wheel speed by the motor corresponding to the outer wheel.

[0026] A vehicle steering control device, comprising:

[0027] an acquisition module, configured to acquire a target wheel speed difference between an outer wheel and an inner wheel of the vehicle in response to detecting that the vehicle is out of steering control, wherein the target wheel speed difference is used to enable the vehicle to maintain a current steering angle, and the target wheel speed difference is greater than 0;

[0028] A control module is used to control the wheel speeds of the outer wheel and the inner wheel according to the target wheel speed difference; wherein the outer wheel is a left wheel and the inner wheel is a right wheel, or the outer wheel is a right wheel and the inner wheel is a left wheel.

[0029] An electronic device comprises: a processor, and a memory communicatively connected to the processor;

[0030] The memory stores computer-executable instructions;

[0031] The processor executes the computer-executable instructions stored in the memory to implement the vehicle steering control method as described in any one of the above.

[0032] A computer-readable storage medium comprises: the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to implement the vehicle steering control method as described in any one of the above when executed by a processor.

[0033] A computer program product comprises a computer program, wherein when the computer program is executed by a processor, the vehicle steering control method as described in any one of the above items is implemented.

[0034] The beneficial effects of the present invention are as follows: by determining the target speed difference that should be maintained between the outer wheel and the inner wheel of the vehicle while maintaining the current steering angle, the wheel speed difference caused by the motor can be used to control the steering of the vehicle without relying on the original steering control system of the vehicle, providing a redundant control solution when the vehicle steering fails, reducing the risk of vehicle loss of control, and without the need for test calibration, the specific wheel speed difference is determined based on the steering angle for control, which can improve the accuracy of vehicle emergency control and driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 A schematic diagram of the architecture of a vehicle steering control system provided by an exemplary embodiment of the present invention;

[0036] Figure 2 A schematic flow chart of a vehicle steering control method provided for an exemplary embodiment of the present invention;

[0037] Figure 3 A schematic diagram of a process for determining a target wheel speed difference provided by an exemplary embodiment of the present invention;

[0038] Figure 4 A schematic diagram illustrating calculation of a steering angle provided for an exemplary embodiment of the present invention;

[0039] Figure 5 A schematic diagram illustrating calculation of a target wheel speed difference provided by an exemplary embodiment of the present invention;

[0040] Figure 6 A schematic diagram of a steering controller failure detection logic provided for an exemplary embodiment of the present invention;

[0041] Figure 7A control logic diagram of a vehicle controller provided for an exemplary embodiment of the present invention;

[0042] Figure 8 A schematic structural diagram of a vehicle steering control device provided by an exemplary embodiment of the present invention;

[0043] Fig. 9 A schematic structural diagram of an electronic device provided by an exemplary embodiment of the present invention.

[0044] Through the above drawings, clear embodiments of the present invention have been shown, which will be described in more detail below. These drawings and text descriptions are not intended to limit the scope of the present invention in any way, but to illustrate the concept of the present invention for those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0045] The following will describe the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention, not for limiting the scope of protection of the present invention.

[0046] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and thus the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0047] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Instead, they are merely examples of devices and methods consistent with some aspects of the present invention as detailed in the appended claims.

[0048] The terms "comprises", "includes" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, product 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, product or device. In the absence of further restrictions, it is not excluded that there are other identical or equivalent elements in the process, method, product or device including the elements. For example, if the words first, second, etc. are used to indicate names, they do not indicate any particular order.

[0049] Vehicle steering control scheme is the core technology to ensure vehicle driving safety and maneuverability. Traditional steering control schemes include mechanical steering, hydraulic power steering and electric power steering. The design of the steering control system usually needs to comprehensively consider multiple aspects such as mechanical structure, electronic control and vehicle system architecture. For example, in electric-powered new energy vehicles, electric power steering system EPS is more common.

[0050] However, as vehicle functions become more diverse, the components and systems used in vehicles become more and more complex, and under certain specific factors, steering loss of control may occur. For example, a collision may cause the rack used in the mechanical steering system to deform, increasing steering resistance, a failure of the engine-driven pump or electronically controlled pump may cause the hydraulic power assist to fail, and parameter errors caused by electromagnetic interference or system upgrades may cause EPS failures.

[0051] When the vehicle faces the problem of steering loss, there is a lack of corresponding redundant control design to ensure the vehicle's emergency steering capability, and the vehicle's safety performance needs to be improved.

[0052] Based on this, the present invention proposes a technical concept, for vehicles whose wheels are driven by motors, by controlling the motor speed to make the left and right wheels of the vehicle have a speed difference, when the left and right wheel speeds of the vehicle are different, the driving force on both sides of the vehicle is unbalanced, and the steering torque is generated by the driving force difference, thereby turning the vehicle. When the vehicle steering is out of control, the current steering angle of the vehicle can be sensed, and the specific wheel speed difference between the left and right wheels can be calculated in combination with the body parameters to enable the wheels to maintain the current steering angle, and then the wheels are driven by the motor to reach the wheel speed difference, so that the vehicle can still perform emergency steering by controlling the wheel speed difference when the main steering control system fails, thereby realizing redundant steering control of the vehicle.

[0053] Figure 1 FIG. 1 is a schematic diagram of the architecture of a vehicle steering control system provided by an exemplary embodiment of the present invention. Figure 1 As shown, each wheel can be driven by an independent motor, and the vehicle controller can adjust the rotation speed of the wheel by controlling the motor, thereby causing a speed difference between different wheels.

[0054] The application scenarios mentioned above are only some examples. Those skilled in the art can expand the application according to specific needs and scenarios, and the embodiments of this application do not impose specific limitations on this. Figure 1 For application scenarios, refer to Figures 2 to 7 A vehicle steering control method according to an exemplary embodiment of the present invention will be described.

[0055] Figure 2 FIG. 1 is a flow chart of a vehicle steering control method provided by an exemplary embodiment of the present invention. Figure 2 As shown, the method may include:

[0056] Step S201, in response to detecting that the vehicle is out of steering control, obtaining a target wheel speed difference between an outer wheel and an inner wheel of the vehicle.

[0057] The target wheel speed difference is used to enable the vehicle to maintain the current steering angle, and the target wheel speed difference is greater than 0.

[0058] In the embodiment of the present invention, the outer wheel and the inner wheel are both the left wheel or the right wheel of the vehicle, and the outer wheel and the inner wheel can be determined based on the steering direction of the vehicle. When the outer wheel is the left wheel, the inner wheel is the right wheel. When the outer wheel is the right wheel, the inner wheel is the left wheel.

[0059] In the embodiment of the present invention, the vehicle controller may be provided with a module dedicated to detecting the vehicle's steering ability, and confirm whether the vehicle's steering ability is out of control by collecting data from multiple data sources such as sensors and regional controllers. For example, a sharp increase in steering resistance or violent shaking of the steering wheel may be a failure of the steering power system, or the vehicle's steering-related fault lights may be on, etc., and the failure factors of the vehicle's main steering control system can be monitored by collecting sensor data such as the steering wheel.

[0060] The vehicle controller can sense the steering angle of the vehicle and calculate the wheel speed difference between the left and right wheels of the vehicle required to maintain the steering angle. When it detects that the vehicle steering is out of control, the vehicle controller can use the wheel speed difference for motor control.

[0061] Step S202: controlling the wheel speeds of the outer wheel and the inner wheel according to the target wheel speed difference.

[0062] In an embodiment of the present invention, the wheel speed can be indirectly controlled by controlling the rotation speed of the motor so that the difference between the wheel speed of the outer wheel and the wheel speed of the inner wheel reaches the target wheel speed difference. It should be noted that there are many ways to control the wheel speed, and the purpose of controlling the wheel speed is to make the wheel speed of the outer wheel greater than the wheel speed of the inner wheel and the difference between the two equal to the target wheel speed difference. For example, the wheel speed of the inner wheel can be reduced and the wheel speed of the outer wheel can be increased, or the wheel speeds of the inner wheel and the outer wheel can be reduced at the same time but the speed of the inner wheel is reduced more.

[0063] For example, taking the two front wheels of the vehicle as an example, when the outer wheel is the right wheel and the inner wheel is the left wheel, half of the target wheel speed difference can be added to the current wheel speed as the target wheel speed to be reached by the right wheel, and half of the target wheel speed difference can be subtracted from the current wheel speed as the target wheel speed of the left wheel. The motor speed corresponding to the target wheel speed is obtained according to the conversion relationship between the wheel speed and the motor speed, and the vehicle controller then controls the motors corresponding to the left and right wheels to operate at this speed through instructions.

[0064] In the above embodiment, when the vehicle steering is detected to be out of control, the target speed difference between the outer wheel and the inner wheel can be obtained so that the vehicle maintains the current steering angle, and the wheel speed of the outer wheel and the inner wheel of the vehicle can be controlled according to the target speed difference. In this way, the vehicle steering can be controlled by using the wheel speed difference caused by the motor without relying on the original steering control system of the vehicle, providing a redundant control solution when the vehicle steering fails, reducing the risk of vehicle out of control, and without the need for test calibration, the specific wheel speed difference is determined based on the steering angle for control, which can improve the accuracy of vehicle emergency control and driving safety.

[0065] In one embodiment, Figure 3 As shown, the target wheel speed difference can be obtained by:

[0066] Step S301, obtaining the current steering angle of the vehicle.

[0067] In an embodiment of the present invention, the steering angle can be calculated based on the steering wheel angle and the vehicle heading angle. Specifically, the steering wheel angle and the vehicle heading angle can be obtained, and the difference between the steering wheel angle and the vehicle heading angle can be calculated as the current steering angle of the vehicle.

[0068] For example, Figure 4 As shown, the left side of the vertical axis represents a positive angle, and the right side of the vertical axis represents a negative angle. The steering wheel angle α0 is opposite to the heading angle α1, so the current steering angle α=α0-α1.

[0069] Step S302, calculating the displacement difference between the outer wheel and the inner wheel per unit time when the vehicle maintains the current steering angle as the target wheel speed difference.

[0070] For example, the steering angle α that the vehicle needs to maintain can be determined based on the current steering angle α. Figure 5 As shown in the schematic diagram. Figure 5 As shown in the figure, when the vehicle is steered by the original steering system, the wheel speeds of the left and right wheels are the same, and the left and right wheels travel the same distance in the same time. If the speed difference is used to achieve the purpose of steering the vehicle, the inner and outer wheels need to travel a longer distance than the inner wheels in the same time. This extra distance can be expressed as Figure 5The dashed line L between the outer wheel (current wheel speed) and the outer wheel (steering wheel speed). The length of the displacement L that the outer wheel needs to travel can be calculated by the formula L=α×R, where R is the wheel spacing between the inner wheel and the outer wheel of the vehicle (i.e. the distance between the left wheel and the right wheel). Dividing L by the unit time of 1 second can obtain the wheel speed difference ΔV that the outer wheel needs to maintain with the inner wheel. When ΔV is used as the target wheel speed difference between the outer wheel and the inner wheel, the vehicle can maintain a steering angle of α.

[0071] For example, after obtaining the target wheel speed difference ΔV, the rotation speed can be calculated by combining the current wheel speed of the outer wheel with the following formula: n=[(V0+ΔV)]×60] / (π×R0). Where n can represent the rotation speed, V0 can represent the current wheel speed of the outer wheel, and R0 can represent the tire diameter of the wheel. According to the calculated rotation speed, the motor corresponding to the wheel can be controlled to achieve emergency steering.

[0072] In the above embodiment, the target wheel speed difference can be accurately calculated according to the steering angle that the vehicle needs to maintain and the wheel spacing between the inner wheel and the outer wheel of the vehicle, without the need for test calibration, thereby improving the accuracy of the vehicle emergency steering control.

[0073] In one embodiment, detecting a vehicle steering loss includes:

[0074] It is detected that messages sent by the vehicle steering controller in a plurality of consecutive cycles are abnormal, and / or it is detected that a fault flag of the vehicle steering controller is set.

[0075] The vehicle steering controller may be an existing steering control system of the vehicle, such as EPS.

[0076] In the embodiment of the present invention, it is possible to determine whether the vehicle is in a steering out-of-control state by detecting a message from the vehicle steering controller, or it is possible to determine whether the vehicle is in a steering out-of-control state by detecting a fault flag of the steering controller.

[0077] Specifically, detecting that there is an abnormality in the message sent by the vehicle steering controller in multiple consecutive cycles can include: obtaining messages of different cycles sent by the vehicle steering controller; subtracting the count values ​​in the messages of adjacent cycles, if the difference does not conform to the periodic variation pattern of the count value, then there is an abnormality in the message sent by the vehicle steering controller.

[0078] The message contains a count value that changes according to a period.

[0079] For example, the steering controller can periodically send messages to the vehicle controller. The messages can use the rolling counter RollingCounter, and the value of RollingCounter can be used as a criterion for determining whether the steering controller has failed. RollingCounter is a mechanism for ensuring the security of communication data and can be embedded in vehicle network protocols such as CAN (Controller Area Network). The value of RollingCounter can be incremented according to preset rules, such as incrementing by 1 every cycle.

[0080] Taking the RollingCounter increment by 1 as an example, the difference between the RollingCounters of adjacent cycles should be 1. The vehicle controller can compare the RollingCounter with the value of the previous cycle each time it receives the RollingCounter from the steering controller. If the difference is not 1, it can be determined that there is an abnormality in the steering controller.

[0081] In some possible implementations, considering that the RollingCounter of the steering controller may be forwarded through other modules such as the gateway, and the RollingCounter received by the vehicle controller may be affected by factors such as delay, a certain error can be set when judging the steering controller abnormality based on the value of the RollingCounter. For example, an error of one cycle can be allowed. If the difference between the RollingCounter currently received by the vehicle controller and the RollingCounter received last time is 1 or 2, the steering controller is considered normal; if the difference is neither 1 nor 2, it can be considered that the RollingCounter of the steering controller is discontinuous in the last three cycles, which may be due to a jump or repetition of a fault, and the steering controller is abnormal.

[0082] In some possible implementations, the maximum and minimum values ​​of RollingCounter can be set. For example, if the maximum value is 15 and the minimum value is 0, when RollingCounter reaches the maximum value of 15, it becomes 0 in the next cycle. In this case, the difference between the RollingCounters of adjacent cycles may be -15. If the error of one cycle is considered, the difference between the RollingCounters of adjacent cycles of 1, 2, -14 or -15 can be regarded as a normal steering controller, and other differences can be regarded as abnormal steering controller.

[0083] In the above embodiment, by detecting the message and fault flag of the vehicle steering controller, the original control system of the vehicle can be monitored in a targeted manner, and the speed at which the vehicle steering is out of control can be found in advance, so as to enable the redundant steering control scheme in time to avoid more serious consequences. Furthermore, by using a counting mechanism such as RollingCounter that can be applied to CAN communication to determine whether the vehicle steering controller is faulty, the original control and communication logic of the vehicle is slightly changed, which can effectively reduce the cost of the redundant steering control scheme.

[0084] Figure 6 A schematic diagram of a steering controller failure detection logic provided by an exemplary embodiment of the present invention. Figure 6 As shown, the functional safety module can monitor whether there is a fault in the steering controller, and the vehicle controller can obtain the RollingCounter of the steering controller and the fault flag of the functional safety module, and will use the discontinuity within three cycles of the RollingCounter and the detection of the fault flag position 1 as the arbitration steering controller failure condition.

[0085] In one embodiment, controlling the wheel speeds of the outer wheel and the inner wheel according to the target wheel speed difference includes:

[0086] The wheel speed of the outer wheel is controlled to be a first wheel speed, and the wheel speed of the inner wheel is controlled to be a second wheel speed, and the difference between the first wheel speed and the second wheel speed is the target wheel speed difference.

[0087] In some possible implementations, the steering direction of the vehicle and the current wheel speeds of the outer wheel and the inner wheel can be obtained; the outer wheel is determined from the left wheel and the right wheel according to the steering direction; the sum of the target wheel speed difference and the current wheel speed of the outer wheel is calculated to obtain a first wheel speed; and the wheel speed of the outer wheel is adjusted to the first wheel speed by the motor corresponding to the outer wheel.

[0088] The difference between the first wheel speed and the current wheel speed of the inner wheel is the target wheel speed difference.

[0089] Exemplarily, the steering direction of the vehicle can be obtained as a left turn through the steering wheel angle sensor. In this case, the inner wheel is the left wheel and the outer wheel is the right wheel. The first wheel speed that the right wheel should reach can be obtained by adding the current wheel speed of the right wheel to the target wheel speed difference. The left wheel can be controlled by the motor corresponding to the left wheel to keep the current wheel speed unchanged, and the wheel speed of the right wheel can be controlled by the motor corresponding to the right wheel to become the first wheel speed, so that the difference between the wheel speed of the right wheel and the wheel speed of the left wheel is the target wheel speed difference.

[0090] Figure 7 A control logic diagram of a vehicle controller provided by an exemplary embodiment of the present invention. Figure 7As shown, the vehicle controller can determine that the steering controller has failed through the fault flag, etc., and can send a speed control mode request to the motor controller. After the motor controller responds to the request, the vehicle controller can control the speed of the motor through the motor controller and then control the wheel speed of the corresponding wheel. The vehicle controller can also calculate the current steering angle to be maintained based on the obtained vehicle heading angle and steering wheel angle. The target wheel speed difference between the outer wheel and the inner wheel to be maintained can be calculated based on the steering angle, and then the speed that each motor should reach is calculated in combination with the current four-wheel speed and motor speed. The calculated speed is output to the motor controller through the four-wheel motor speed request to achieve steering control.

[0091] In some possible implementations, the vehicle controller can continuously detect whether the vehicle steering controller fails, and in the event of failure, periodically calculate the target wheel speed difference at a certain frequency and control the motor according to the speed, thereby sensing the driver's steering intention in real time and completing the steering.

[0092] Figure 8 FIG. 1 is a schematic diagram of a vehicle steering control device provided by an exemplary embodiment of the present invention. Figure 8 As shown, the vehicle steering control device 800 may include:

[0093] An acquisition module 801 is used for acquiring a target wheel speed difference between an outer wheel and an inner wheel of the vehicle in response to detecting that the vehicle is out of steering control, wherein the target wheel speed difference is used to maintain the current steering angle of the vehicle, and the target wheel speed difference is greater than 0;

[0094] The control module 802 is used to control the wheel speeds of the outer wheel and the inner wheel according to the target wheel speed difference; wherein the outer wheel is a left wheel and the inner wheel is a right wheel, or the outer wheel is a right wheel and the inner wheel is a left wheel.

[0095] In one embodiment, the acquisition module 801 is further used to: acquire the current steering angle of the vehicle; and calculate the displacement difference between the outer wheel and the inner wheel per unit time when the vehicle maintains the current steering angle as the target wheel speed difference.

[0096] In one embodiment, the acquisition module 801 is further used to: acquire a steering wheel angle and a vehicle heading angle; and calculate a difference between the steering wheel angle and the vehicle heading angle as a current steering angle of the vehicle.

[0097] In one embodiment, the acquisition module 801 is further used to: detect that messages sent by the vehicle steering controller in a plurality of consecutive cycles are abnormal, and / or detect that a fault flag of the vehicle steering controller is set.

[0098] In one embodiment, the acquisition module 801 is also used to: detect that there is an abnormality in the message sent by the vehicle steering controller within multiple consecutive cycles, including: obtaining messages of different cycles sent by the vehicle steering controller, the messages containing count values ​​that change according to the cycle; subtracting the count values ​​in the messages of adjacent cycles, if the difference does not conform to the periodic change law of the count value, then there is an abnormality in the message sent by the vehicle steering controller.

[0099] In one embodiment, the control module 802 is also used to: obtain the steering direction of the vehicle and the current wheel speeds of the outer wheel and the inner wheel; determine the outer wheel from the left wheel and the right wheel according to the steering direction; calculate the sum of the target wheel speed difference and the current wheel speed of the outer wheel to obtain a first wheel speed, and the difference between the first wheel speed and the current wheel speed of the inner wheel is the target wheel speed difference; adjust the wheel speed of the outer wheel to the first wheel speed through the motor corresponding to the outer wheel.

[0100] The vehicle steering control device provided in this embodiment is used to execute the technical solution in any of the aforementioned method embodiments. Its implementation principle and technical effects are similar and will not be repeated here.

[0101] It should be understood that the above device embodiments are only illustrative, and the device of the present invention can also be implemented in other ways. For example, the division of units / modules in the above embodiments is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units, modules or components can be combined, or can be integrated into another system, or some features can be ignored or not executed.

[0102] In addition, unless otherwise specified, each functional unit / module in each embodiment of the present invention may be integrated into one unit / module, or each unit / module may exist physically separately, or two or more units / modules may be integrated together. The above-mentioned integrated unit / module may be implemented in the form of hardware or in the form of a software program module.

[0103] Fig. 9 FIG. 1 is a schematic diagram of a structure of an electronic device provided by an exemplary embodiment of the present invention. Fig. 9 As shown, the electronic device 90 includes:

[0104] Processor 91, memory 92, and communication interface 93;

[0105] The memory 92 is used to store executable instructions of the processor 91; the executable instructions may be computer-executable instructions;

[0106] The processor 91 is configured to execute the technical solution in any of the aforementioned method embodiments by executing the executable instructions.

[0107] Optionally, the memory 92 can be independent or integrated with the processor 91.

[0108] Optionally, when the memory 92 is a device independent of the processor 91, the electronic device 90 may further include:

[0109] The bus 94 , the memory 92 and the communication interface 93 are connected to the processor 91 via the bus 94 and communicate with each other. The communication interface 93 is used to communicate with other devices.

[0110] Optionally, the communication interface 93 may be implemented by a transceiver. The communication interface is used to implement communication between the database access device and other devices (such as a client, a read-write library, and a read-only library). The memory may include a random access memory (RAM) and may also include a non-volatile memory (non-volatile memory), such as at least one disk storage.

[0111] The bus 94 may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0112] The above-mentioned processor can be a general-purpose processor, including a central processing unit CPU, a network processor (NP), etc.; it can also be a digital signal processor DSP, an application-specific integrated circuit ASIC, a field programmable gate array FPGA or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0113] The electronic device is used to execute the technical solution in any of the aforementioned method embodiments, and its implementation principle and technical effect are similar and will not be repeated here.

[0114] An embodiment of the present invention further provides a readable storage medium, which may be a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the technical solution provided by any of the aforementioned method embodiments is implemented.

[0115] An embodiment of the present invention further provides a computer program product, including a computer program, which is used to implement the technical solution provided by any of the aforementioned method embodiments when executed by a processor.

[0116] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0117] In the above embodiments, the description of each embodiment has its own emphasis. For the part not described in detail in a certain embodiment, please refer to the relevant description of other embodiments. The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0118] Those skilled in the art will readily appreciate other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art that are not disclosed by the present invention. The description and examples are to be considered exemplary only, and the true scope and spirit of the present invention is indicated by the following claims.

[0119] The above embodiments are only preferred embodiments for fully illustrating the present invention, and the protection scope of the present invention is not limited thereto. Any equivalent substitution or change made by a person skilled in the art based on the present invention is within the protection scope of the present invention.

Claims

1. A vehicle steering control method, characterized in that: include: In response to detecting that the vehicle is out of steering control, obtaining a target wheel speed difference between an outer wheel and an inner wheel of the vehicle, the target wheel speed difference being used to maintain a current steering angle of the vehicle, the target wheel speed difference being greater than 0; controlling the wheel speeds of the outer wheel and the inner wheel according to the target wheel speed difference; Wherein, the outer wheel is the left wheel and the inner wheel is the right wheel, or, the outer wheel is the right wheel and the inner wheel is the left wheel.

2. The vehicle steering control method according to claim 1, characterized in that: The target wheel speed difference is obtained by: Get the current steering angle of the vehicle; The displacement difference between the outer wheel and the inner wheel in unit time when the vehicle maintains the current steering angle is calculated as the target wheel speed difference.

3. The vehicle steering control method according to claim 2, characterized in that: The obtaining of the current steering angle of the vehicle includes: Get the steering wheel angle and vehicle heading angle; The difference between the steering wheel angle and the vehicle heading angle is calculated as the current steering angle of the vehicle.

4. The vehicle steering control method according to any one of claims 1 to 3, characterized in that: The detecting that the vehicle is out of steering control includes: It is detected that messages sent by the vehicle steering controller in a plurality of consecutive cycles are abnormal, and / or it is detected that a fault flag of the vehicle steering controller is set.

5. The vehicle steering control method according to claim 4, characterized in that: The detection that the messages sent by the vehicle steering controller in a plurality of consecutive cycles are abnormal includes: Acquire messages of different periods sent by a vehicle steering controller, wherein the messages contain count values ​​that vary according to the periods; The count values ​​in the messages of adjacent cycles are subtracted. If the difference does not conform to the periodic variation rule of the count value, then there is an abnormality in the message sent by the vehicle steering controller.

6. The vehicle steering control method according to any one of claims 1 to 3, characterized in that: The controlling the wheel speeds of the outer wheel and the inner wheel according to the target wheel speed difference comprises: Obtaining the steering direction of the vehicle and the current wheel speeds of the outer wheel and the inner wheel; determining an outer wheel from the left wheel and the right wheel according to the steering direction; Calculating the sum of the target wheel speed difference and the current wheel speed of the outer wheel to obtain a first wheel speed, wherein the difference between the first wheel speed and the current wheel speed of the inner wheel is the target wheel speed difference; The wheel speed of the outer wheel is adjusted to the first wheel speed by the motor corresponding to the outer wheel.

7. A vehicle steering control device, characterized in that: include: an acquisition module, configured to acquire a target wheel speed difference between an outer wheel and an inner wheel of the vehicle in response to detecting that the vehicle is out of steering control, wherein the target wheel speed difference is used to enable the vehicle to maintain a current steering angle, and the target wheel speed difference is greater than 0; A control module is used to control the wheel speeds of the outer wheel and the inner wheel according to the target wheel speed difference; wherein the outer wheel is a left wheel and the inner wheel is a right wheel, or the outer wheel is a right wheel and the inner wheel is a left wheel.

8. An electronic device, characterized in that: include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 6 when executed by a processor.

10. A computer program product, characterized in that The invention comprises a computer program, which implements the method according to any one of claims 1 to 6 when being executed by a processor.

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