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

Abstract

The present application relates to a kind of vehicle steering control method, device, equipment, storage medium and program product, specifically relates to vehicle control technical field.The method includes: detecting that vehicle steering is out of control, obtains the target speed difference between outer wheel and inner wheel when vehicle maintains current steering angle, and controls the wheel speed of vehicle outer wheel and inner wheel according to the target speed difference.By this way, vehicle steering can be controlled using the wheel speed difference caused by motor without relying on original vehicle steering control system, a redundant control scheme when vehicle steering fails is provided, vehicle out-of-control risk is reduced, and without test calibration, specific wheel speed difference is determined based on steering angle to control, which can improve the accuracy of vehicle emergency control and driving safety.

Description

Technical Field

[0001] This invention relates to the field of vehicle control, and specifically to a vehicle steering control method, device, equipment, storage medium, and program product. Background Technology

[0002] With the continuous development of new energy vehicles and the increasing popularity of automobiles, the safety control of the entire vehicle has become particularly important. Among them, steering control is a fundamental part of vehicle control and is of paramount importance for overall vehicle safety control.

[0003] Currently, vehicle steering is primarily achieved through steering controllers such as Electric Power Steering (EPS) systems. However, with the increasing complexity of vehicle control systems and the diversification of vehicle electronic components, steering controllers may malfunction, affecting the vehicle's steering capability. Therefore, a vehicle steering control scheme is needed that can still guarantee vehicle steering capability in the event of steering controller failure, ensuring the vehicle can perform emergency steering. Summary of the Invention

[0004] One of the objectives of this invention is to provide a vehicle steering control method, device, equipment, storage medium, and program product to solve the problem of a vehicle being unable to steer when the steering controller fails.

[0005] To achieve the above objectives, 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 loss of vehicle steering control, a target wheel speed difference between the outer and inner wheels of the vehicle is obtained, the target wheel speed difference being used to maintain the current steering angle of the vehicle, the target wheel speed difference being greater than 0;

[0008] Control 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 in the following way:

[0011] Obtain the vehicle's current steering angle;

[0012] The target wheel speed difference is calculated as the displacement difference between the outer wheel and the inner wheel per unit time while maintaining the current steering angle.

[0013] Furthermore, the vehicle's current steering angle 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 vehicle's current steering angle.

[0016] Furthermore, loss of vehicle steering control was detected, including:

[0017] An anomaly was detected in the messages sent by the vehicle steering controller over multiple consecutive cycles, and / or, the fault flag of the vehicle steering controller was detected to be set.

[0018] Furthermore, anomalies were detected in the messages sent by the vehicle steering controller over multiple consecutive cycles, including:

[0019] Acquire messages sent by the vehicle steering controller at different periods, the messages containing count values ​​that change according to the period;

[0020] If the difference between the count values ​​in adjacent period messages is not consistent with the periodic change pattern of the count values, then the message sent by the vehicle steering controller is abnormal.

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

[0022] Obtain the vehicle's steering direction and the current wheel speeds of the outer and inner wheels;

[0023] The outer wheel is determined from the left and right wheels based on the steering direction;

[0024] The first wheel speed is obtained by calculating the sum of the target wheel speed difference and the current wheel speed of the outer wheel. The difference between the first wheel speed and the current wheel speed of the inner wheel is the target wheel speed difference.

[0025] The 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] The acquisition module is used to acquire the target wheel speed difference between the outer wheel and the inner wheel of the vehicle in response to the detection of loss of vehicle steering control. 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.

[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 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.

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

[0030] The memory stores computer-executed instructions;

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

[0032] A computer-readable storage medium includes: computer-executable instructions stored in the computer-readable storage medium, which, when executed by a processor, are used to implement the vehicle steering control method as described in any of the preceding claims.

[0033] A computer program product includes a computer program that, when executed by a processor, implements the vehicle steering control method as described in any of the preceding claims.

[0034] The beneficial effects of this invention are as follows: By determining the target speed difference that the outer wheel and inner wheel of the vehicle should maintain while maintaining the current steering angle, the vehicle steering can be controlled by the wheel speed difference caused by the motor without relying on the original steering control system of the vehicle. This provides a redundant control scheme when the vehicle steering fails, reduces the risk of vehicle loss of control, and does not require test calibration. The control is based on the specific wheel speed difference determined by the steering angle, which can improve the accuracy of vehicle emergency control and driving safety. Attached Figure Description

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

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

[0037] Figure 3 A flowchart illustrating the process of determining a target wheel speed difference, provided as an exemplary embodiment of the present invention;

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

[0039] Figure 5 A schematic diagram illustrating the calculation of target wheel speed difference, provided as 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 schematic diagram of the control logic of a vehicle controller provided as an exemplary embodiment of the present invention;

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

[0043] Figure 9 This is a schematic diagram of the structure of an electronic device provided as an exemplary embodiment of the present invention.

[0044] The accompanying drawings have illustrated specific embodiments of the invention, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the invention in any way, but rather to illustrate the concept of the invention to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0045] The embodiments of the present invention will be described below 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 content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed 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 and 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 representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0047] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the invention as detailed in the appended claims.

[0048] The terms "comprising," "including," or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, product, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, product, or apparatus. Without further limitation, the presence of other identical or equivalent elements in the process, method, product, or apparatus that includes said elements is not excluded. For example, the use of terms such as "first," "second," etc., is to denote names and does not indicate any particular order.

[0049] Vehicle steering control is a core technology for ensuring vehicle driving safety and handling. Traditional steering control systems include mechanical steering, hydraulic power steering, and electric power steering. The design of a steering control system typically requires comprehensive consideration of multiple aspects such as mechanical structure, electronic control, and the overall vehicle system architecture. For example, in electric-driven new energy vehicles, electric power steering (EPS) systems are quite common.

[0050] However, as vehicle functions diversify and the components and systems used in vehicles become increasingly complex, steering instability can occur under certain specific conditions. For example, a collision may cause deformation of the rack used in the mechanical steering system, increasing steering resistance; a failure of the engine-driven pump or electronically controlled pump may lead to hydraulic power steering failure; and electromagnetic interference or parameter errors caused by system upgrades may lead to EPS (Electric Power Steering) failure.

[0051] When a vehicle faces loss of steering control, the lack of corresponding redundant control design to ensure the vehicle's emergency steering ability means that 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 electric motors. By controlling the motor speed, a speed difference is created between the left and right wheels. When the left and right wheels rotate at different speeds, the driving force on both sides of the vehicle is unbalanced. This difference in driving force generates a steering torque, thereby enabling the vehicle to steer. In the event of loss of steering control, the current steering angle can be sensed, and combined with vehicle parameters, the specific wheel speed difference between the left and right wheels can be calculated to maintain the current steering angle. The motor is then used to drive the wheels to achieve this wheel speed difference. This allows the vehicle to perform emergency steering by controlling the wheel speed difference even when the main steering control system fails, thus achieving redundant steering control.

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

[0054] The application scenarios mentioned above are only partial examples. Those skilled in the art can expand the applications according to specific needs and scenarios. The embodiments of this application do not impose specific limitations in this regard. The following are combined with Figure 1 Application scenarios, refer to Figures 2 to 7 This describes a vehicle steering control method according to an exemplary embodiment of the present invention.

[0055] Figure 2 This is a flowchart illustrating a vehicle steering control method provided as an exemplary embodiment of the present invention. Figure 2 As shown, the method may include:

[0056] Step S201: In response to detecting loss of steering control of the vehicle, the target wheel speed difference between the outer wheel and the inner wheel of the vehicle is obtained.

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

[0058] In this embodiment of the invention, both the outer wheel and the inner wheel are either the left or right wheel of the vehicle, and the outer and inner wheels can be determined based on the vehicle's steering direction. 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 this embodiment of the invention, the vehicle controller may be equipped with a module dedicated to detecting the vehicle's steering capability. This module collects data from multiple data sources, including sensors and area controllers, to confirm whether the vehicle's steering capability is out of control. For example, a sudden increase in steering wheel resistance or severe vibration may indicate a failure of the power steering system, or the illumination of steering-related malfunction indicators. Data from sensors such as the steering wheel can be collected to monitor the fault factors in the vehicle's main steering control system.

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

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

[0062] In this embodiment of the invention, the wheel speed can be indirectly controlled by controlling the rotational 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 multiple ways to control the wheel speed; the purpose of controlling the wheel speed is to ensure that the wheel speed of the outer wheel is greater than the wheel speed of the inner wheel, and the difference between the two is equal to the target wheel speed difference. For example, the wheel speed of the inner wheel can be decreased while the wheel speed of the outer wheel is increased, or the wheel speeds of both the inner and outer wheels can be decreased simultaneously, but the decrease in the wheel speed of the inner wheel can be more significant.

[0063] For example, taking the two front wheels of a 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 wheel speed and motor speed. The vehicle controller then controls the motors corresponding to the left and right wheels to work at the speed through instructions.

[0064] In the above embodiments, when vehicle steering loss of control is detected, the target speed difference between the outer and inner wheels can be obtained to maintain the current steering angle, and the wheel speeds of the outer and inner wheels can be controlled according to this target speed difference. In this way, vehicle steering can be controlled using the wheel speed difference caused by the motor without relying on the vehicle's original steering control system. This provides a redundant control scheme for vehicle steering failure, reducing the risk of vehicle loss of control. Furthermore, it eliminates the need for experimental calibration; by determining the specific wheel speed difference based on the steering angle, it improves the accuracy of vehicle emergency control and driving safety.

[0065] In one embodiment, such as Figure 3 As shown, the target wheel speed difference can be obtained in the following way:

[0066] Step S301: Obtain the current steering angle of the vehicle.

[0067] In this embodiment of the 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, such as Figure 4 As shown, the left side of the vertical axis represents positive angles, and the right side of the vertical axis represents negative angles. The steering wheel angle α0 is opposite to the heading angle α1, so the current steering angle α = α0 - α1.

[0069] Step S302: Calculate the displacement difference between the outer wheel and the inner wheel per unit time while maintaining the current steering angle of the vehicle, as the target wheel speed difference.

[0070] For example, this can be made based on the current steering angle α that the vehicle needs to maintain. Figure 5 The diagram shown is as follows. Figure 5 As shown, when a vehicle is steered using the original steering system, the left and right wheels have the same speed and travel the same distance in the same amount of time. If the vehicle is to be steered using a speed difference, the outer wheel needs to travel a longer distance than the inner wheel in the same amount of time. This extra distance can be expressed as... Figure 5The dashed line L represents the distance between the outermost wheel (current wheel speed) and the outermost wheel (steering wheel speed). Using the formula L = α × R, the additional displacement L required by the outermost wheel can be calculated, where R is the wheel distance between the inner and outermost wheels (i.e., the distance between the left and right wheels). Dividing L by 1 second gives the required wheel speed difference ΔV between the outermost and innermost wheels. Using ΔV as the target wheel speed difference between the outermost and innermost wheels, the vehicle can maintain a steering angle of α.

[0071] For example, after obtaining the target wheel speed difference ΔV, the rotational speed can be calculated using the following formula, combined with the current wheel speed of the outer wheel: n = [(V0 + ΔV)] × 60] / (π × R0). Here, n represents the rotational speed, V0 represents the current wheel speed of the outer wheel, and R0 represents the tire diameter. Based on the calculated rotational speed, the motor corresponding to the wheel can be controlled to achieve emergency steering.

[0072] In the above embodiments, the target wheel speed difference can be accurately calculated based on the steering angle that the vehicle needs to maintain and the wheel spacing between the inner and outer wheels of the vehicle, without the need for test calibration, which can improve the accuracy of emergency steering control of the vehicle.

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

[0074] An anomaly was detected in the messages sent by the vehicle steering controller over multiple consecutive cycles, and / or, the fault flag of the vehicle steering controller was detected to be set.

[0075] Among them, the vehicle steering controller can be the vehicle's original steering control system, such as EPS.

[0076] In this embodiment of the invention, it can be determined whether the vehicle is in a state of steering loss of control by detecting the messages of the vehicle steering controller, or by detecting the fault flag bit of the steering controller.

[0077] Specifically, detecting an anomaly in the messages sent by the vehicle steering controller over multiple consecutive cycles can include: acquiring messages sent by the vehicle steering controller in different cycles; subtracting the count values ​​in messages from adjacent cycles; if the difference does not conform to the periodic change pattern of the count values, then the messages sent by the vehicle steering controller are anomaly.

[0078] The message contains a count value that changes periodically.

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

[0080] Taking RollingCounter incrementing by 1 as an example, the difference between RollingCounter values ​​in adjacent cycles should be 1. The vehicle controller can compare the value of RollingCounter received from the steering controller with the value of the previous cycle each time it receives it. 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 gateways, and the RollingCounter received by the vehicle controller may be affected by factors such as latency, a certain error can be set when determining steering controller abnormality based on the value of 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 to be normal; if the difference is neither 1 nor 2, the RollingCounter of the steering controller can be considered to be discontinuous in the last three cycles, possibly due to a fault causing jumps or repetitions, indicating a steering controller abnormality.

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

[0083] In the above embodiments, by detecting the messages and fault flags of the vehicle steering controller, targeted monitoring of the vehicle's original control system can be achieved, allowing for earlier detection of steering control failures. This enables the timely activation of redundant steering control schemes, preventing more serious consequences. Furthermore, using counting mechanisms applicable to CAN communication, such as RollingCounter, to determine whether the vehicle steering controller is faulty requires minimal modification to the vehicle's original control and communication logic, effectively reducing the cost of redundant steering control schemes.

[0084] Figure 6 This is a schematic diagram of a steering controller failure detection logic provided as 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. The vehicle controller can obtain the RollingCounter of the steering controller and the fault flag bit of the functional safety module. The condition for arbitrating steering controller failure is that the RollingCounter is discontinuous in three cycles and the fault flag bit is detected at position 1.

[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. The difference between the first wheel speed and the second wheel speed is the target wheel speed difference.

[0087] In some possible implementations, the vehicle's steering direction and the current wheel speeds of the outer and inner wheels can be obtained; the outer wheel can be determined from the left and right wheels based on the steering direction; the sum of the target wheel speed difference and the current wheel speed of the outer wheel can be calculated to obtain a first wheel speed; and the wheel speed of the outer wheel can be adjusted to the first wheel speed via 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] For example, the steering wheel angle sensor can be used to determine that the vehicle is turning left. In this case, the inner wheel is the left wheel and the outer wheel is the right wheel. The difference between the current wheel speed of the right wheel and the target wheel speed can be added to obtain the first wheel speed that the right wheel should reach. The motor corresponding to the left wheel can be used to control the left wheel to keep its current wheel speed unchanged, and the motor corresponding to the right wheel can be used to control the wheel speed of 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 This is a schematic diagram of the control logic of a vehicle controller provided as an exemplary embodiment of the present invention. For example... Figure 7As shown, the vehicle controller can determine steering controller failure through fault flags and send a speed control mode request to the motor controller. After the motor controller responds to the request, the vehicle controller can control the motor speed and thus the wheel speed of the corresponding wheel. The vehicle controller can also calculate the steering angle to be maintained based on the acquired vehicle heading angle and steering wheel angle. Based on the steering angle, it can calculate the target wheel speed difference between the outer and inner wheels. Combining this with the current four-wheel wheel speeds and motor speeds, it can calculate the speed that each motor should reach. By requesting the four-wheel motor speeds, it outputs the calculated speeds to the motor controller to achieve steering control.

[0091] In some possible implementations, the vehicle controller can continuously detect whether the vehicle steering controller has failed, 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 to complete the steering.

[0092] Figure 8 This is a schematic diagram of a vehicle steering control device provided as an exemplary embodiment of the present invention. (See diagram below.) Figure 8 As shown, the vehicle steering control device 800 may include:

[0093] The acquisition module 801 is used to acquire a target wheel speed difference between the outer wheel and the inner wheel of the vehicle in response to the detection of loss of steering control of the vehicle. 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 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.

[0095] In one embodiment, the acquisition module 801 is further configured 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 while maintaining the current steering angle as the target wheel speed difference.

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

[0097] In one embodiment, the acquisition module 801 is further configured to: detect an anomaly in the messages sent by the vehicle steering controller within a series of cycles, and / or detect the fault flag position of the vehicle steering controller.

[0098] In one embodiment, the acquisition module 801 is further configured to: detect an anomaly in the messages sent by the vehicle steering controller within multiple consecutive cycles, including: acquiring messages sent by the vehicle steering controller in different cycles, the messages containing count values ​​that change according to the cycle; subtracting the count values ​​in the messages of adjacent cycles, and if the difference does not conform to the cycle change pattern of the count values, then the messages sent by the vehicle steering controller are abnormal.

[0099] In one embodiment, the control module 802 is further configured to: acquire the vehicle's steering direction 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 based on 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, wherein the difference between the first wheel speed and the current wheel speed of the inner wheel is the target wheel speed difference; and adjust the wheel speed of the outer wheel to the first wheel speed via 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 effect are similar, and will not be described again here.

[0101] It should be understood that the above-described device embodiments are merely 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 functional division, and there may be other division methods in actual implementation. For example, multiple units, modules, or components may be combined, or integrated into another system, or some features may be ignored or not executed.

[0102] Furthermore, unless otherwise specified, the functional units / modules in the various embodiments of the present invention can be integrated into one unit / module, or each unit / module can exist physically separately, or two or more units / modules can be integrated together. The integrated units / modules described above can be implemented in hardware or as software program modules.

[0103] Figure 9 This is a schematic diagram of the structure of an electronic device provided as an exemplary embodiment of the present invention. For example... Figure 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 the executable instructions of the processor 91; the executable instructions may be computer-executable instructions.

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

[0107] Optionally, the memory 92 can be either standalone 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] Bus 94, memory 92 and communication interface 93 are connected to processor 91 through bus 94 and complete communication with each other. Communication interface 93 is used to communicate with other devices.

[0110] Optionally, the communication interface 93 can be implemented using a transceiver. The communication interface is used to enable communication between the database access device and other devices (e.g., clients, read-write databases, and read-only databases). The memory may include random access memory (RAM) and may also include non-volatile memory, such as at least one disk drive.

[0111] Bus 94 can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of representation, only one line is used in the diagram, but this does not imply that there is only one bus or one type of bus.

[0112] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

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

[0114] This invention also provides a readable storage medium, which can be a computer-readable storage medium storing a computer program thereon. When the computer program is executed by a processor, it implements the technical solution provided in any of the foregoing method embodiments.

[0115] This invention also provides a computer program product, including a computer program, which, when executed by a processor, is used to implement the technical solutions provided in any of the foregoing method embodiments.

[0116] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0117] In the above embodiments, the descriptions of each embodiment have their own emphasis. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments. The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as the combination of these technical features does not contradict each other, it should be considered within the scope of this specification.

[0118] Other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of the invention are indicated by the following claims.

[0119] The above embodiments are merely preferred embodiments provided to fully illustrate the present invention, and the scope of protection of the present invention is not limited thereto. Equivalent substitutions or modifications made by those skilled in the art based on the present invention are all within the scope of protection of the present invention.

Claims

1. A vehicle steering control method characterized by, The method comprises the following steps: in response to detecting that the vehicle is out of control in steering, acquiring a current steering angle of the vehicle; based on the current steering angle and wheel spacing of the vehicle, calculating a displacement difference value of the outer wheel and the inner wheel of the vehicle in unit time under the condition of maintaining the current steering angle as a target wheel speed difference between the outer wheel and the inner wheel of the vehicle, the target wheel speed difference being used for maintaining the current steering angle of the vehicle, and the target wheel speed difference being greater than 0; controlling 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; the detection that the vehicle is out of control in steering comprises: detecting that a message sent by a vehicle steering controller in continuous multiple periods is abnormal, and / or detecting that a fault flag of the vehicle steering controller is set; the detection that the message sent by the vehicle steering controller in continuous multiple periods is abnormal comprises: acquiring messages of different periods sent by a vehicle steering controller, the messages containing a counting value changing according to periods; differencing the counting values in the messages of adjacent periods, and if the difference value does not conform to a period change rule of the counting value, then the message sent by the vehicle steering controller is abnormal.

2. The vehicle steering control method according to claim 1, characterized by, the acquisition of the current steering angle of the vehicle comprises: acquiring a steering wheel turning angle and a vehicle heading angle; calculating a difference value of the steering wheel turning angle and the vehicle heading angle as the current steering angle of the vehicle.

3. The vehicle steering control method according to any one of claims 1 to 2, characterized by, the control of the wheel speeds of the outer wheel and the inner wheel according to the target wheel speed difference comprises: acquiring a steering direction of the vehicle and current wheel speeds of the outer wheel and the inner wheel; determining the outer wheel from the left wheel and the right wheel according to the steering direction; calculating a sum of the target wheel speed difference and the current wheel speed of the outer wheel to obtain a first wheel speed, and a difference between the first wheel speed and the current wheel speed of the inner wheel is the target wheel speed difference; adjusting the wheel speed of the outer wheel to the first wheel speed through a motor corresponding to the outer wheel.

4. A vehicle steering control device characterized by comprising: The method comprises the following steps: an acquiring module is configured to acquire a current steering angle of a vehicle in response to detecting that the vehicle is out of control in steering; based on the current steering angle and wheel spacing of the vehicle, calculating a displacement difference value of the outer wheel and the inner wheel of the vehicle in unit time under the condition of maintaining the current steering angle as a target wheel speed difference between the outer wheel and the inner wheel of the vehicle, the target wheel speed difference being used for maintaining the current steering angle of the vehicle, and the target wheel speed difference being greater than 0; a control module is configured to control 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; the acquiring module is further configured to detect that a message sent by a vehicle steering controller in continuous multiple periods is abnormal, and / or detect that a fault flag of the vehicle steering controller is set; the acquiring module is specifically configured to acquire messages of different periods sent by a vehicle steering controller, the messages containing a counting value changing according to periods; The count values in the messages of adjacent cycles are subtracted, and if the difference does not conform to the periodic change rule of the count values, the message sent by the vehicle steering controller is abnormal.

5. An electronic device, comprising: Comprising: a processor, and a memory connected to the processor in communication; the memory stores computer-executable instructions; the processor executes the computer-executable instructions stored in the memory to implement the method of any one of claims 1 to 3.

6. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are executed by the processor to implement the method of any one of claims 1 to 3.

7. A computer program product, characterised in that, The computer program is executed by the processor to implement the method of any one of claims 1 to 3.

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