Vehicle steering failure control method and vehicle steering failure control device

Abstract

The embodiment of the invention provides a vehicle steering fault control method and a vehicle steering fault control device. The vehicle steering fault control method comprises the steps that the type of a steering fault of a vehicle is determined; determining a safe steering target of the current steering parameter based on a vehicle speed and a steering wheel angle of the vehicle; determining a feedback control parameter based on the category of the steering fault, the current steering parameter, and the safe steering target; and performing vehicle control based on the feedback control parameter.

Description

Technical Field

[0001] The present application relates to the field of automobile control technology, and more specifically, to a vehicle steering fault control method and a vehicle steering fault control device. Background Art

[0002] Steer-by-wire is the development trend of automotive steering systems, which eliminates mechanical connections, saves space, improves driving characteristics and enhances handling. However, since there is no mechanical connection, when the motor itself or the motor transmission components fail, a steering failure will occur. Due to the wheel self-locking protection, the wheel angle will remain at the angle before the failure. If the wheel angle is large and the vehicle speed is high when the steering failure occurs, the vehicle will lose control. Therefore, the safety requirements of the steer-by-wire system are very high. Summary of the invention

[0003] In one aspect, an embodiment of the present application provides a vehicle steering fault control method, including: determining a category of a vehicle's steering fault; determining a safe steering target for current steering parameters based on the vehicle's speed and steering wheel angle; determining feedback control parameters based on the category of the steering fault, current steering parameters and the safe steering target; and performing vehicle control based on the feedback control parameters.

[0004] In some implementations, the category of steering fault includes one of: a front wheel steering fault only; a rear wheel steering fault only; a front wheel and rear wheel steering fault; and a no steering fault.

[0005] In some implementations, when the steering fault category is a front-wheel steering fault only, the feedback control parameters include a rear wheel control angle and a yaw control torque, and determining the feedback control parameters based on the category of the steering fault, the current steering parameters, and the safe steering target includes: obtaining the current yaw rate and the current center-of-mass sideslip angle according to a constructed observation system; determining the rear wheel control angle and the yaw control torque based on the front wheel angle, the current yaw rate, the current center-of-mass sideslip angle, the target yaw rate, and the target center-of-mass sideslip angle, wherein the current yaw rate and the current center-of-mass sideslip angle follow the target yaw rate and the target center-of-mass sideslip angle, respectively, in a closed-loop feedback manner.

[0006] In some implementations, when the steering fault category is a rear-wheel steering fault only, the feedback control parameters include a front wheel control angle and a yaw control torque, and determining the feedback control parameters based on the category of the steering fault, the current steering parameters, and the safe steering target includes: obtaining the current yaw rate and the current center-of-mass sideslip angle according to a constructed observation system; determining the front wheel control angle and the yaw control torque based on the rear wheel angle, the current yaw rate, the current center-of-mass sideslip angle, the target yaw rate, and the target center-of-mass sideslip angle, wherein the current yaw rate and the current center-of-mass sideslip angle follow the target yaw rate and the target center-of-mass sideslip angle, respectively, in a closed-loop feedback manner.

[0007] In some implementations, when the steering fault category is a front wheel and rear wheel steering fault, the feedback control parameters include a yaw control torque, and determining the feedback control parameters based on the category of the steering fault, the current steering parameters, and the safe steering target includes: obtaining the current yaw rate and the current center of mass sideslip angle according to the constructed observation system; determining the yaw control torque based on the front wheel angle, the rear wheel angle, the current yaw rate, the current center of mass sideslip angle, the target yaw rate, and the target center of mass sideslip angle, wherein the current yaw rate and the current center of mass sideslip angle follow the target yaw rate and the target center of mass sideslip angle, respectively, in a closed-loop feedback manner.

[0008] In some implementations, the current steering parameters include a yaw rate and a sideslip angle of the center of mass, and the safe steering target includes a target yaw rate and a target sideslip angle of the center of mass.

[0009] In some implementations, performing vehicle control based on feedback control parameters includes determining the braking force of four tires of the vehicle based on the yaw control torque of the feedback control parameters and the wheelbase of the vehicle, and performing vehicle control based on the determined braking force of the four tires and angle information of the feedback control parameters.

[0010] On the other hand, according to an embodiment of the present application, a vehicle steering fault control device is provided, including: a fault category determination module, configured to determine the category of a vehicle's steering fault; a safe steering target determination module, configured to determine a safe steering target of a current steering parameter based on the vehicle's speed and steering wheel angle; a control parameter determination module, configured to determine feedback control parameters based on the category of the steering fault, the current steering parameter and the safe steering target; and a control module, configured to perform vehicle control based on the feedback control parameters.

[0011] In some implementations, the category of steering fault includes one of: a front wheel steering fault only; a rear wheel steering fault only; a front wheel and rear wheel steering fault; and a no steering fault.

[0012] In some implementations, when the steering fault category is a front-wheel steering fault only, the feedback control parameters include a rear wheel control angle and a yaw control torque, and the control parameter determination module is configured to: obtain the current yaw rate and the current center-of-mass sideslip angle according to the constructed observation system; determine the rear wheel control angle and the yaw control torque based on the front wheel angle, the current yaw rate, the current center-of-mass sideslip angle, the target yaw rate and the target center-of-mass sideslip angle, wherein the current yaw rate and the current center-of-mass sideslip angle follow the target yaw rate and the target center-of-mass sideslip angle, respectively, in a closed-loop feedback manner.

[0013] In some implementations, when the steering fault category is a rear-wheel steering fault only, the feedback control parameters include a front wheel control angle and a yaw control torque, and the control parameter determination module is configured to: obtain the current yaw rate and the current center-of-mass sideslip angle according to the constructed observation system; determine the front wheel control angle and the yaw control torque based on the rear wheel angle, the current yaw rate, the current center-of-mass sideslip angle, the target yaw rate and the target center-of-mass sideslip angle, wherein the current yaw rate and the current center-of-mass sideslip angle follow the target yaw rate and the target center-of-mass sideslip angle, respectively, in a closed-loop feedback manner.

[0014] In some implementations, when the steering fault category is a front wheel and rear wheel steering fault, the feedback control parameters include a yaw control torque, and the control parameter determination module is configured to: obtain the current yaw rate and the current center of mass sideslip angle according to the constructed observation system; determine the yaw control torque based on the front wheel angle, the rear wheel angle, the current yaw rate, the current center of mass sideslip angle, the target yaw rate and the target center of mass sideslip angle, wherein the current yaw rate and the current center of mass sideslip angle follow the target yaw rate and the target center of mass sideslip angle respectively in a closed-loop feedback manner.

[0015] In some implementations, the current steering parameters include a yaw rate and a sideslip angle, and wherein the safe steering target includes a target yaw rate and a target sideslip angle.

[0016] In some implementations, the control parameter determination module is configured to determine the braking force of the four tires of the vehicle based on the yaw control torque of the feedback control parameter and the wheelbase of the vehicle, and perform vehicle control based on the determined braking force of the four tires and the angle information of the feedback control parameter.

[0017] According to the vehicle steering fault control method and the vehicle steering fault control device of the embodiments of the present application, the safe steering target of the vehicle's current steering parameters is obtained through the steering wheel angle and the vehicle speed during the fault process, and the feedback control parameters are determined based on the steering fault type, the current steering parameters and the safe steering target, and then control is implemented according to the feedback control parameters, thereby improving the safety of vehicle steering while avoiding complex systems and high costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solution of the embodiment of the present application, the following briefly describes the drawings involved in the embodiment of the present application. For ordinary technicians in this field, other drawings can also be obtained based on these drawings without creative work. In the drawings:

[0019] Figure 1 is a schematic diagram of a four-wheel steer-by-wire vehicle according to an embodiment of the present application;

[0020] Figure 2 A schematic flow chart of a vehicle steering fault control method according to an embodiment of the present application is shown;

[0021] Figure 3 A specific schematic flow chart of a vehicle steering fault control method according to an embodiment of the present application is shown;

[0022] Figure 4 is a state observation control system under a front wheel fault state according to an embodiment of the present application;

[0023] Figure 5 is a state observation control system under a rear wheel fault state according to an embodiment of the present application;

[0024] Figure 6 is a state observation control system under the front wheel and rear wheel fault conditions according to an embodiment of the present application;

[0025] Figure 7 A schematic block diagram of a vehicle steering fault control device according to an embodiment of the present application is shown;

[0026] Figure 8 A schematic block diagram of a controller that can be used to implement a vehicle steering fault control device according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0027] The features and exemplary embodiments of various aspects of the application will be described in detail below. In order to make the purpose, scheme, and advantages of the application clearer, the details of the application are further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the application and are not intended to limit the application. For those skilled in the art, the application can be implemented without some of the details in these specific details. The following description of the embodiments is only to provide a better understanding of the application by illustrating the example of the application.

[0028] It should be noted that, in this article, relational terms such as first, second, third, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. In addition, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, including a process, method, article or device of a series of elements not only including these elements, but also including other elements not explicitly listed, or also including elements inherent to such process, method, article or device. In the absence of more restrictions, the elements defined by the statement "include..." do not exclude the presence of other elements in the process, method, article or device including the elements.

[0029] The safety requirements of the steer-by-wire system are very high. In order to meet the high safety requirements of the steer-by-wire system, some existing solutions use a backup motor or switch the steer-by-wire to mechanical steering when a steering failure occurs. However, this will increase the size and cost of the steering system, and may also cause problems such as switching instability. In some four-wheel independent steer-by-wire systems, existing solutions propose to use backup steering through non-failed wheels in the event of partial steering drive failure, but the steering capability of non-failed wheels alone is limited, so it cannot fully meet the goal of safe steering.

[0030] Based on the above, the present application proposes a vehicle steering fault control method and a vehicle steering fault control device, which can improve the safety of vehicle steering while avoiding complex systems and high costs.

[0031] Figure 1 Schematic diagram of a four-wheel steer-by-wire vehicle according to an embodiment of the present application. Figure 1 As shown, the four-wheel steer-by-wire vehicle 100 according to the embodiment of the present application includes front wheels 101 and 102, rear wheels 103 and 104, a steering wheel and its angle sensor 105, a steering controller 106, a front steering system 107 (including a steering motor and related transmission mechanism), and a rear steering system 108 (including a steering motor and related transmission mechanism). The steering controller 106 instructs the front steering system 107 to control the front wheels according to the corresponding target front angle or instructs the rear steering system 108 to control the rear wheels according to the corresponding target rear angle according to the steering wheel angle from the angle sensor 105.

[0032] Figure 2 A schematic flow chart of a vehicle steering fault control method according to an embodiment of the present application is shown. The vehicle steering fault control method according to an embodiment of the present application can be applied to, for example Figure 1 The steering controller 106 is shown.

[0033] like Figure 2As shown, the vehicle steering fault control method 200 according to the embodiment of the present application includes steps S201-S204.

[0034] In step S201, the type of steering failure of the vehicle is determined.

[0035] In step S202, a safe steering target of current steering parameters is determined based on the vehicle speed and steering wheel angle.

[0036] In step S203, feedback control parameters are determined based on the type of steering fault, current steering parameters and a safe steering target.

[0037] In step S204, vehicle control is performed based on the feedback control parameter.

[0038] According to the vehicle steering fault control method of the embodiment of the present application, the safe steering target of the vehicle's current steering parameters is obtained through the steering wheel angle and the vehicle speed during the fault process, and the feedback control parameters are determined based on the steering fault type, the current steering parameters and the safe steering target, and then control is implemented according to the feedback control parameters, thereby improving the safety of vehicle steering while avoiding complex systems and high costs.

[0039] Figure 3 FIG. 2 shows a specific schematic flow chart of a vehicle steering fault control method according to an embodiment of the present application. Figure 3 As shown, the vehicle steering fault control method 300 according to the embodiment of the present application includes steps S1-S12.

[0040] First, at step S1, the category of the steering fault is determined. The steer-by-wire system may diagnose an internal fault thereof, which will result in steering disabling. In some implementations, the category of the steering fault includes one of the following categories: front wheel steering fault only; rear wheel steering fault only; front wheel and rear wheel steering fault; and no steering fault.

[0041] According to the determination result, the process enters steps S2 to S5 accordingly. Figure 3 As shown, when the steering fault is determined to be a front wheel steering fault only, the process proceeds to step S2; when the steering fault is determined to be a rear wheel steering fault only, the process proceeds to step S3; when the steering fault is determined to be a front wheel and rear wheel steering fault, the process proceeds to step S4; and when it is determined that there is no steering fault, the process proceeds to step S5. It should be understood that when the process proceeds to step S5, that is, there is no steering fault, the method ends.

[0042] Then, if Figure 3As shown, after determining the type of the steering fault, the process proceeds to step S6, where a safe steering target of the current steering parameters of the vehicle is determined. In some implementations, the current steering parameters include yaw rate and center of mass sideslip angle, and the safe steering target includes a target yaw rate and a target center of mass sideslip angle.

[0043] In some implementations, the target yaw rate is determined by:

[0044]

[0045] in, is the target yaw rate, v is the vehicle speed, δ st is the steering wheel angle, l is the preset wheelbase of the vehicle, K is the preset steering stability factor, k st is the preset steering ratio (also called steering gear ratio, which refers to the ratio of the steering wheel steering angle to the wheel steering angle). When designing the vehicle steering characteristics, K and k are usually clearly defined. st .

[0046] In some implementations, the target center of mass slip angle is 0. Based on vehicle theory, in general, the smaller the center of mass slip angle, the higher the stability of the vehicle. Therefore, the target center of mass slip angle β under fault conditions is req Determined as: θ req =0.

[0047] Next, according to the type of the steering fault, the process enters steps S7 to S9 respectively. In steps S7 to S9, the feedback control parameters are determined based on the type of the steering fault, the current steering parameters and the safe steering target.

[0048] Specifically, in step S7, when the steering fault category is a front wheel steering fault only, the feedback control parameters include a rear wheel control angle and a yaw control torque, and determining the feedback control parameters based on the category of the steering fault, the current steering parameters and the safe steering target includes: obtaining the current yaw rate and the current center of mass sideslip angle according to the constructed observation system; determining the rear wheel control angle and the yaw control torque based on the front wheel angle, the current yaw rate, the current center of mass sideslip angle, the target yaw rate and the target center of mass sideslip angle, wherein the current yaw rate and the current center of mass sideslip angle follow the target yaw rate and the target center of mass sideslip angle respectively in a closed-loop feedback manner.

[0049] In step S8, when the steering fault category is a rear-wheel steering fault only, the feedback control parameters include a front wheel control angle and a yaw control torque, and determining the feedback control parameters based on the category of the steering fault, the current steering parameters and the safe steering target includes: obtaining the current yaw rate and the current center-of-mass sideslip angle according to the constructed observation system; determining the front wheel control angle and the yaw control torque based on the rear wheel angle, the current yaw rate, the current center-of-mass sideslip angle, the target yaw rate and the target center-of-mass sideslip angle, wherein the current yaw rate and the current center-of-mass sideslip angle follow the target yaw rate and the target center-of-mass sideslip angle respectively in a closed-loop feedback manner.

[0050] In step S9, when the steering fault category is a front wheel and rear wheel steering fault, the feedback control parameters include a yaw control torque, and determining the feedback control parameters based on the category of the steering fault, the current steering parameters and the safe steering target includes: obtaining the current yaw angular velocity and the current center of mass sideslip angle according to the constructed observation system; determining the yaw control torque based on the front wheel angle, the rear wheel angle, the current yaw angular velocity, the current center of mass sideslip angle, the target yaw angular velocity and the target center of mass sideslip angle, wherein the current yaw angular velocity and the current center of mass sideslip angle follow the target yaw angular velocity and the target center of mass sideslip angle respectively in a closed-loop feedback manner.

[0051] More specifically, the required safe steering target (e.g., target yaw rate and target center of mass sideslip angle) has been obtained in step S6. Based on the four-wheel steer-by-wire vehicle dynamics model, the state equations of yaw rate and center of mass sideslip angle can be obtained as follows:

[0052]

[0053] Among them, matrices A, B, C, and D are as follows:

[0054]

[0055] Where β represents the sideslip angle of the center of mass, represents the yaw rate, δ f is the front wheel angle, δ r is the rear wheel angle, k f is the stiffness of the front axle tire, k r is the stiffness of the rear axle tire, J z is the vehicle's moment of inertia (i.e., rotational inertia), a and b represent the front and rear wheelbases, respectively, m is the vehicle mass, v is the vehicle speed, and T dyc is the yaw control torque.

[0056] When entering step S7, based on the current yaw rate and the current center of mass sideslip angle as well as the target yaw rate and the target center of mass sideslip angle, the following equation can be constructed: Figure 4The negative feedback control system is constructed based on the above vehicle dynamics model. Figure 4 As shown, Indicates the current center of mass sideslip angle and the current yaw rate, Represents the differential of the current center of mass sideslip angle and the current yaw rate, β req represents the sideslip angle of the target center of mass, represents the target yaw rate, δ f represents the front wheel angle in the case of front wheel failure (in the case of front wheel failure, due to self-locking, the front wheel angle will not change after the failure, so it can be used as a known parameter), 1 / s represents integration, and A, B, C, and D are the matrices defined above. est =β req and The controller can determine the rear wheel control angle δ r_ctr and yaw control torque T dyc_ctr .

[0057] When entering step S8, based on the current yaw rate and the current center of mass sideslip angle as well as the target yaw rate and the target center of mass sideslip angle, the following equation can be constructed: Figure 5 The negative feedback control system is constructed based on the above vehicle dynamics model. Figure 5 As shown, Indicates the current center of mass sideslip angle and the current yaw rate, Represents the differential of the current center of mass sideslip angle and the current yaw rate, β req represents the target center of mass sideslip angle, represents the target yaw rate, δ r represents the rear wheel angle in the case of rear wheel failure (in the case of rear wheel failure, due to self-locking, the rear wheel angle will not change after the failure, so it can be used as a known parameter), 1 / s represents integration, and A, B, C, and D are the matrices defined above. est =β req and The controller can determine the front wheel control angle δ f_ctr and yaw control torque T dyc_ctr .

[0058] When entering step S9, based on the current yaw rate and the current center of mass sideslip angle as well as the target yaw rate and the target center of mass sideslip angle, the following equation can be constructed: Figure 6 The negative feedback control system is constructed based on the above vehicle dynamics model. Figure 5 As shown, Indicates the current center of mass sideslip angle and the current yaw rate, Represents the differential of the current center of mass sideslip angle and the current yaw rate, β req represents the target center of mass sideslip angle, represents the target yaw rate, δ f represents the front wheel angle in the case of front wheel failure (in the case of front wheel failure, due to self-locking, the front wheel angle will not change after the failure, so it can be used as a known parameter), δ r represents the rear wheel angle in the case of rear wheel failure (in the case of rear wheel failure, due to self-locking, the rear wheel angle will not change after the failure, so it can be used as a known parameter), 1 / s represents integration, and A, B, C, and D are the matrices defined above. est =β req and The controller can determine the yaw control torque T dyc_ctr .

[0059] After steps S7 to S9, the process proceeds to steps S10 to S12 accordingly. In steps S10 to S12, vehicle control is performed based on the feedback control parameter. In some implementations, performing vehicle control based on the feedback control parameter includes: determining the braking force of four tires of the vehicle based on the yaw control torque of the feedback control parameter and the wheelbase of the vehicle, and performing vehicle control based on the determined braking force of the four tires and the angle information of the feedback control parameter.

[0060] More specifically, in some implementations, performing vehicle control based on the feedback control parameter includes:

[0061] In the case where the steering fault category is a front-wheel steering fault only, the braking forces of the four tires of the vehicle are determined based on the yaw control torque and the wheelbase of the vehicle, and the vehicle control is performed based on the determined braking forces of the four tires and the rear wheel control angle;

[0062] In a case where the steering failure category is a rear-wheel steering failure only, determining the braking forces of four tires of the vehicle based on the yaw control torque and the wheelbase of the vehicle, and performing vehicle control based on the determined braking forces of the four tires and the front wheel control angle; and

[0063] In the case where the steering failure category is front and rear wheel steering failure, the braking forces of the four tires of the vehicle are determined based on the yaw control torque and the wheelbase of the vehicle, and vehicle control is performed based on the determined braking forces of the four tires.

[0064] Specifically, after step S7, the process proceeds to step S10. In step S7, the rear wheel control angle δ has been determined. f_ctr and yaw control torque T dyc_ctr The rear wheel control angle δ f_ctr To control the rear wheel angle, and according to the yaw control torque Tdyc_ctr Performs four-wheel braking force control.

[0065] The relationship between the yaw control torque and the braking force of the four wheels is as follows:

[0066] T dyc_ctr =(F rf +F rr -F lf -F lr )*B w / twenty four)

[0067] Among them, F rf 、F rr 、F lf 、F lr is the braking force of the right front, right rear, left front, and left rear tires, B w is the wheelbase of the vehicle. Therefore, the yaw control torque T dyc_ctr The braking force applied to the four tires is determined by the wheelbase and the braking force applied to the four tires, thereby instructing the corresponding tire actuators (such as reference Figure 1 The front steering system 107 or the rear steering system 108 shown in the figure performs corresponding braking. It should be understood that although there may be many combinations of the braking forces of the four tires, in fact, the control device can implement optimal control through very short time calculation to ensure safety.

[0068] Similarly, after step S8, the process proceeds to step S11. In step S11, the front wheel control angle δ is determined. f_ctr and yaw control torque T dyc_ctr . Based on the front wheel control angle δ f_ctr To control the front wheel angle, and according to the yaw control torque T dyc_ctr Likewise, it should be understood that although there may be many combinations of the braking forces of the four tires, in fact, the control device can implement the best control through a very short time calculation, thereby ensuring safety.

[0069] Similarly, after step S9, the process proceeds to step S12. In step S12, the yaw control torque T dyc_ctr Based on this yaw control torque T dyc_ctr The braking force control of the four wheels is performed. It should be understood that in the case of front and rear wheel failure, only providing yaw control torque cannot fully achieve the control target, but can only make the controlled variable close to the control target and improve vehicle safety to a certain extent. However, the probability of simultaneous steering failure of the front and rear wheels is extremely low, and the safety risk of this situation is very low.

[0070] According to the vehicle steering fault control method of the embodiment of the present application, during the fault process, the vehicle's target yaw angular velocity and center of mass sideslip angle and other safe steering targets are obtained through the steering wheel angle and vehicle speed, and the corresponding control wheel angle and yaw control torque are determined based on the safe steering targets. The yaw torque control is combined with the braking system to achieve safe steering, thereby improving the safety of vehicle steering while avoiding complex systems and high costs.

[0071] The vehicle steering fault control method according to the embodiment of the present application is aimed at a four-wheel steer-by-wire system, which not only utilizes a non-failed steering system but also combines active yaw moment control. In the event of a partial steering failure, it can be closer to a safe steering target and has higher safety.

[0072] Figure 7 FIG. 2 shows a schematic block diagram of a vehicle steering fault control device according to an embodiment of the present application. Figure 7 As shown, the vehicle steering fault control device 700 according to an embodiment of the present application includes:

[0073] A fault category determination module 701 is configured to determine the category of a steering fault of a vehicle;

[0074] A safe steering target determination module 702 is configured to determine a safe steering target of a current steering parameter based on a vehicle speed and a steering wheel angle;

[0075] A control parameter determination module 703, configured to determine a feedback control parameter based on the type of the steering fault, the current steering parameter and the safe steering target; and

[0076] The control module 704 is configured to perform vehicle control based on the feedback control parameters.

[0077] In some implementations, the category of steering fault includes one of: a front wheel steering fault only; a rear wheel steering fault only; a front wheel and rear wheel steering fault; and a no steering fault.

[0078] In some implementations, the current steering parameters include a yaw rate and a sideslip angle, and wherein the safe steering target includes a target yaw rate and a target sideslip angle.

[0079] In some implementations, the safe steering target determination module 702 determines the target yaw rate by the following formula:

[0080]

[0081] in, is the target yaw rate, v is the vehicle speed, δ stis the steering wheel angle, l is the preset wheelbase of the vehicle, K is the preset steering stability coefficient, k st is the preset steering ratio.

[0082] In some implementations, the safe turn target determination module 702 determines the target center of mass sideslip angle to be zero.

[0083] In some implementations, when the steering fault category is a front-wheel steering fault only, the feedback control parameters include a rear wheel control angle and a yaw control torque, and the control parameter determination module 703 is configured to: obtain the current yaw rate and the current center-of-mass sideslip angle according to the constructed observation system; determine the rear wheel control angle and the yaw control torque based on the front wheel angle, the current yaw rate, the current target center-of-mass sideslip angle, the target yaw rate and the target center-of-mass sideslip angle, wherein the current yaw rate and the current center-of-mass sideslip angle follow the target yaw rate and the target center-of-mass sideslip angle, respectively, in a closed-loop feedback manner.

[0084] In some implementations, when the steering fault category is a rear-wheel steering fault only, the feedback control parameters include a front wheel control angle and a yaw control torque, and the control parameter determination module 703 is configured to: obtain the current yaw rate and the current center-of-mass sideslip angle according to the constructed observation system; determine the front wheel control angle and the yaw control torque based on the rear wheel angle, the current yaw rate, the current center-of-mass sideslip angle, the target yaw rate and the target center-of-mass sideslip angle, wherein the current yaw rate and the current center-of-mass sideslip angle follow the target yaw rate and the target center-of-mass sideslip angle respectively in a closed-loop feedback manner.

[0085] In some implementations, when the steering fault category is a front wheel and rear wheel steering fault, the feedback control parameters include a yaw control torque, and the control parameter determination module 703 is configured to: obtain the current yaw rate and the current center of mass sideslip angle according to the constructed observation system; determine the yaw control torque based on the front wheel angle, the rear wheel angle, the current yaw rate, the current center of mass sideslip angle, the target yaw rate and the target center of mass sideslip angle, wherein the current yaw rate and the current center of mass sideslip angle follow the target yaw rate and the target center of mass sideslip angle respectively in a closed-loop feedback manner.

[0086] In some implementations, the control module 704 is configured to determine the braking force of the four tires of the vehicle based on the yaw control torque of the feedback control parameter and the wheelbase of the vehicle, and perform vehicle control based on the determined braking force of the four tires and the angle information of the feedback control parameter.

[0087] In some implementations, the control module 704 is configured to: in the case where the steering fault category is a front-wheel steering fault only, determine the braking force of the four tires of the vehicle based on the yaw control torque and the wheelbase of the vehicle, and perform vehicle control based on the determined braking force of the four tires and the rear wheel control angle; in the case where the steering fault category is a rear-wheel steering fault only, determine the braking force of the four tires of the vehicle based on the yaw control torque and the wheelbase of the vehicle, and perform vehicle control based on the determined braking force of the four tires and the front wheel control angle; and in the case where the steering fault category is a front-wheel and rear-wheel steering fault, determine the braking force of the four tires of the vehicle based on the yaw control torque and the wheelbase of the vehicle, and perform vehicle control based on the determined braking force of the four tires.

[0088] According to the vehicle steering fault control device of the embodiment of the present application, the safe steering target of the vehicle's current steering parameters is obtained through the steering wheel angle and the vehicle speed during the fault process, and the feedback control parameters are determined based on the steering fault type, the current steering parameters and the safe steering target, and then control is implemented according to the feedback control parameters, thereby improving the safety of vehicle steering while avoiding complex systems and high costs.

[0089] The embodiment of the present application also provides a controller, comprising: a processor; a memory storing program instructions, the processor being configured to execute the program instructions stored in the memory to execute the vehicle steering control method according to the embodiment of the present application. The controller can be used, for example, to implement Figure 1 A steering controller 106 is shown.

[0090] Figure 8 FIG. 2 shows a schematic block diagram of a controller that can be used to implement a vehicle steering fault control device according to an embodiment of the present application. Figure 8 As shown, the controller 800 according to an embodiment of the present application may include a processing device (e.g., a central processing unit, a graphics processing unit, etc.) 801, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 802 or a program loaded from a storage device 803 to a random access memory (RAM) 804. Various programs and data required for the operation of the controller 800 are also stored in RAM 804. The processing device 801, ROM 802, and RAM 804 are connected to each other via a bus 805. An interface 806 is also connected to the bus 805. A peripheral device can be connected via the interface 806. It should be understood that the number of interfaces is not limited to one, but there can be more, so as to connect to corresponding peripheral devices respectively. It should be understood that Figure 8 The block diagram shown is only an example to provide an understanding of the embodiments of the present application, and there may be more or fewer components.

[0091] Although Figure 8The controller 800 is shown with various devices, but it should be understood that it is not required to implement or have all of the devices shown. More or fewer devices may be implemented or have instead. Figure 8 Each block shown in the figure may represent one device, or may represent multiple devices as required.

[0092] In particular, according to an embodiment of the present invention, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present disclosure provides a computer readable storage medium storing a computer program, the computer program including a method for executing Figure 2 In such an embodiment, the computer program may be installed from the storage device 806, or installed from the ROM 802, or downloaded and installed from the network. When the computer program is executed by the processing device 801, the implementation Figure 2 The method shown.

[0093] It should be noted that the computer-readable medium according to an embodiment of the present invention may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. The computer-readable storage medium according to an embodiment of the present invention may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution system, device or device.

[0094] Computer program code for performing operations according to embodiments of the present invention may be written in one or more programming languages, or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages.

[0095] The flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions, and operations of the systems and methods according to various embodiments of the present disclosure. In this regard, each box in the flowchart or block diagram may represent a module, a program segment, or a portion of a code, which contains one or more executable instructions for implementing a specified logical function.

[0096] Those skilled in the art will appreciate that the present application is not limited to the specific structures and steps described above and shown in the accompanying drawings. For the sake of simplicity, the description of known structures and methods is omitted herein. In the above-described embodiments, several specific steps are described and shown as examples. However, the method of the present application is not limited to the specific steps described and shown, and without departing from the scope of the present application, those skilled in the art can make various changes, modifications and additions to the embodiments of the present application, or change the order between the steps.

[0097] The above disclosed contents are only some specific embodiments of the present application. Those skilled in the art can understand that the protection scope of the present application is not limited thereto. Rather, various equivalent modifications or substitutions can be thought of within the technical scope disclosed in the present application, and these equivalent modifications or substitutions are all covered within the protection scope of the present application.

Claims

1. A vehicle steering fault control method, include: Determine the type of steering fault of the vehicle; Determining a safe steering target for current steering parameters based on the vehicle speed and steering wheel angle of the vehicle; determining a feedback control parameter based on the type of the steering fault, the current steering parameter and the safe steering target; as well as Vehicle control is performed based on the feedback control parameter.

2. The vehicle steering failure control method according to claim 1, in, The categories of the steering failure include one of the following categories: Only the front wheel steering is faulty; Only the rear wheel steering failed; Front and rear wheel steering failure; and No steering failure.

3. The vehicle steering failure control method according to claim 1, in, In the case where the steering fault category is a front-wheel steering fault only, the feedback control parameters include a rear wheel control angle and a yaw control torque, and determining the feedback control parameters based on the category of the steering fault, the current steering parameters and the safe steering target includes: The current yaw rate and the current sideslip angle of the center of mass are obtained according to the constructed observation system; The rear wheel control angle and the yaw control torque are determined based on the front wheel angle, the current yaw rate, the current center-of-mass sideslip angle, the target yaw rate and the target center-of-mass sideslip angle, The current yaw rate and the current sideslip angle of the center of mass follow the target yaw rate and the target sideslip angle of the center of mass respectively in a closed-loop feedback manner.

4. The vehicle steering failure control method according to claim 1, in, In the case where the steering fault category is a rear-wheel steering fault only, the feedback control parameters include a front wheel control angle and a yaw control torque, and determining the feedback control parameters based on the category of the steering fault, the current steering parameters and the safe steering target includes: The current yaw rate and the current sideslip angle of the center of mass are obtained according to the constructed observation system; The front wheel control angle and the yaw control torque are determined based on the rear wheel angle, the current yaw rate, the current center-of-mass sideslip angle, the target yaw rate and the target center-of-mass sideslip angle, The current yaw rate and the current sideslip angle of the center of mass follow the target yaw rate and the target sideslip angle of the center of mass respectively in a closed-loop feedback manner.

5. The vehicle steering failure control method according to claim 1, in, In the case where the steering fault category is a front wheel and rear wheel steering fault, the feedback control parameter includes a yaw control torque, and determining the feedback control parameter based on the category of the steering fault, the current steering parameter and the safe steering target includes: The current yaw rate and the current sideslip angle of the center of mass are obtained according to the constructed observation system; The yaw control torque is determined based on the front wheel angle, the rear wheel angle, the current yaw rate, the current target center-of-mass sideslip angle, the target yaw rate and the target center-of-mass sideslip angle, The current yaw rate and the current sideslip angle of the center of mass follow the target yaw rate and the target sideslip angle of the center of mass respectively in a closed-loop feedback manner.

6. The vehicle steering failure control method according to any one of claims 3 to 5, in, The current steering parameters include the yaw rate and the sideslip angle of the center of mass, and wherein the safe steering target includes the target yaw rate and the target sideslip angle of the center of mass.

7. The vehicle steering failure control method according to any one of claims 3 to 5, in, Performing vehicle control based on the feedback control parameter includes: The braking forces of the four tires of the vehicle are determined based on the yaw control torque of the feedback control parameter and the wheelbase of the vehicle, and the vehicle control is performed based on the determined braking forces of the four tires and the angle information of the feedback control parameter.

8. A vehicle steering failure control device, include: a fault category determination module configured to determine a category of a steering fault of the vehicle; a safe steering target determination module, configured to determine a safe steering target of a current steering parameter based on a vehicle speed and a steering wheel angle of the vehicle; a control parameter determination module configured to determine a feedback control parameter based on the type of the steering fault, the current steering parameter and the safe steering target; as well as A control module is configured to perform vehicle control based on the feedback control parameter.

9. The vehicle steering failure control device according to claim 8, in, The categories of the steering failure include one of the following categories: Only the front wheel steering is faulty; Only the rear wheel steering failed; Front and rear wheel steering failure; and No steering failure.

10. The vehicle steering failure control device according to claim 8, in, In the case where the steering fault category is a front wheel steering fault only, the feedback control parameters include a rear wheel control angle and a yaw control torque, and the control parameter determination module is configured as follows: The current yaw rate and the current sideslip angle of the center of mass are obtained according to the constructed observation system; The rear wheel control angle and the yaw control torque are determined based on the front wheel angle, the current yaw rate, the current target center of mass sideslip angle, the target yaw rate and the target center of mass sideslip angle, The current yaw rate and the current sideslip angle of the center of mass follow the target yaw rate and the target sideslip angle of the center of mass respectively in a closed-loop feedback manner.

11. The vehicle steering failure control device according to claim 8, in, In the case where the steering fault category is a rear-wheel steering fault only, the feedback control parameters include a front wheel control angle and a yaw control torque, and the control parameter determination module is configured as follows: The current yaw rate and the current sideslip angle of the center of mass are obtained according to the constructed observation system; The front wheel control angle and the yaw control torque are determined based on the rear wheel angle, the current yaw rate, the current center-of-mass sideslip angle, the target yaw rate and the target center-of-mass sideslip angle, The current yaw rate and the current sideslip angle of the center of mass follow the target yaw rate and the target sideslip angle of the center of mass respectively in a closed-loop feedback manner.

12. The vehicle steering failure control device according to claim 8, in, In the case where the steering fault category is a front wheel and rear wheel steering fault, the feedback control parameter includes a yaw control torque, and the control parameter determination module is configured as follows: The current yaw rate and the current sideslip angle of the center of mass are obtained according to the constructed observation system; The yaw control torque is determined based on the front wheel angle, the rear wheel angle, the current yaw rate, the current center-of-mass sideslip angle, the target yaw rate and the target center-of-mass sideslip angle, The current yaw rate and the current sideslip angle of the center of mass follow the target yaw rate and the target sideslip angle of the center of mass respectively in a closed-loop feedback manner.

13. The vehicle steering failure control device according to any one of claims 10 to 12, in, The current steering parameters include the yaw rate and the sideslip angle of the center of mass, and wherein the safe steering target includes the target yaw rate and the target sideslip angle of the center of mass.

14. The vehicle steering failure control device according to any one of claims 10 to 12, in, The control module is configured to: The braking forces of the four tires of the vehicle are determined based on the yaw control torque of the feedback control parameter and the wheelbase of the vehicle, and the vehicle control is performed based on the determined braking forces of the four tires and the angle information of the feedback control parameter.

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