Method and device for controlling steering of vehicle, computer equipment and storage medium

Abstract

The invention relates to the technical field of vehicles and discloses a method and device for controlling steering of a vehicle, computer equipment and a storage medium, and the method comprises the steps that when the steering wheel angle of a steering wheel of the vehicle is smaller than a steering wheel angle threshold value, front wheels of the vehicle are controlled to steer; and when the steering wheel turning angle of the steering wheel of the vehicle reaches the steering wheel turning angle threshold value, limiting damping force is applied to the steering wheel of the vehicle.

Description

Technical Field

[0001] The present application relates to the technical field of vehicles, and particularly to a method, a device, a computer device and a storage medium for controlling the steering of a vehicle. Background Art

[0002] Currently, in some working conditions such as parking conditions, the rear-wheel steering function is applied to some models of vehicles because it can control the rear wheels to deflect reversely to reduce the turning radius of the vehicle. Before a driver of a vehicle drives a vehicle with a rear-wheel steering function, the driver of the vehicle usually has formed a habit of turning the steering wheel of the vehicle only when controlling the front wheels of the vehicle to steer during the steering of the vehicle. The habit of turning the steering wheel of the vehicle only when controlling the front wheels of the vehicle to steer during the steering of the vehicle is used to keep a distance from other objects around the vehicle and avoid colliding with obstacles around the vehicle when only controlling the front wheels of the vehicle to steer during the steering of the vehicle.

[0003] In the related art, when controlling the rear wheels of the vehicle to steer, the driver of the vehicle cannot perceive the intervention of the rear wheels of the vehicle in the steering of the vehicle, and the driver of the vehicle will turn the steering wheel according to the habit of turning the steering wheel of the vehicle only when controlling the front wheels of the vehicle to steer during the steering of the vehicle that has been formed.

[0004] However, controlling the rear wheels of the vehicle to steer will reduce the turning radius of the vehicle. The habit of turning the steering wheel of the vehicle only when controlling the front wheels of the vehicle to steer during the steering of the vehicle is only suitable for avoiding colliding with obstacles around the vehicle at the turning radius of the vehicle when only controlling the front wheels of the vehicle to steer during the steering of the vehicle, and is not suitable for avoiding colliding with obstacles around the vehicle at the turning radius of the vehicle when controlling the rear wheels of the vehicle to steer during the steering of the vehicle, resulting in a risk that the vehicle may collide with obstacles around the vehicle when controlling the rear wheels of the vehicle to steer during the steering of the vehicle. How to improve the safety of the steering of the vehicle when the rear wheels of the vehicle intervene in the steering of the vehicle has become a problem to be solved. Summary of the Invention

[0005] In view of this, the embodiments of the present application provide a method, a device, a computer device and a storage medium for controlling the steering of a vehicle.

[0006] In a first aspect, the embodiments of the present application provide a method for controlling the steering of a vehicle, the method including:

[0007] When the steering angle of the steering wheel of the vehicle is less than the steering angle threshold, controlling the front wheels of the vehicle to steer;

[0008] When the steering wheel angle of the steering wheel of the vehicle reaches the steering wheel angle threshold, a limiting damping force is applied to the steering wheel of the vehicle, wherein the limiting damping force is used for the driver of the vehicle to perceive that the rear wheels of the vehicle intervene in the steering of the vehicle;

[0009] In a possible implementation, the method further includes:

[0010] When the steering wheel angle of the steering wheel of the vehicle is greater than the steering wheel angle threshold, control the rear wheels of the vehicle to steer.

[0011] In a possible implementation, the method further includes: during the period of controlling the rear wheels of the vehicle to steer, do not control the front wheels of the vehicle to steer, so that the front wheel angle of the front wheels of the vehicle remains the front wheel angle when the steering wheel angle of the steering wheel of the vehicle reaches the steering wheel angle threshold during the period of the rear wheels of the vehicle steering.

[0012] In a possible implementation, when the steering wheel angle of the steering wheel of the vehicle reaches the steering wheel angle threshold, the front wheel angle of the front wheels of the vehicle reaches the maximum front wheel angle within the front wheel angle range.

[0013] In a possible implementation, when the steering wheel angle of the steering wheel of the vehicle reaches the maximum steering wheel angle within the steering wheel angle range of the steering wheel of the vehicle during the period of controlling the rear wheels of the vehicle to steer, the rear wheel angle of the rear wheels of the vehicle reaches the maximum rear wheel angle within the rear wheel angle range of the vehicle.

[0014] In a possible implementation, the limiting damping force is the maximum damping force applied to the steering wheel of the vehicle during the steering of the vehicle.

[0015] In a possible implementation, the steering of the vehicle is a low-speed steering for indicating that the vehicle turns when the speed of the vehicle is less than the speed threshold or the vehicle makes a U-turn.

[0016] In a second aspect, an embodiment of the present application provides a device for controlling the steering of a vehicle. The device for controlling the steering of the vehicle is installed on the vehicle. The device for controlling the steering of the vehicle includes:

[0017] A first control unit, configured to control the front wheels of the vehicle to steer when the steering wheel angle of the steering wheel of the vehicle is less than the steering wheel angle threshold;

[0018] A limiting damping force applying unit, configured to apply a limiting damping force to the steering wheel of the vehicle when the steering wheel angle of the steering wheel of the vehicle reaches the steering wheel angle threshold, wherein the limiting damping force is used for the driver of the vehicle to perceive that the rear wheels of the vehicle intervene in the steering of the vehicle;

[0019] In a possible implementation, the device for controlling the steering of a vehicle further includes:

[0020] A second control unit, configured to control the rear-wheel steering of the vehicle when the steering angle of the steering wheel of the vehicle is greater than the steering wheel angle threshold.

[0021] In a possible implementation, the first control unit is further configured to not control the front-wheel steering of the vehicle during the period of controlling the rear-wheel steering of the vehicle, so that the front-wheel angle of the front wheels of the vehicle remains the front-wheel angle when the steering wheel angle of the steering wheel of the vehicle reaches the steering wheel angle threshold during the period of the rear-wheel steering of the vehicle.

[0022] In a possible implementation, when the steering wheel angle of the steering wheel of the vehicle reaches the steering wheel angle threshold, the front-wheel angle of the front wheels of the vehicle reaches the maximum front-wheel angle within the front-wheel angle range.

[0023] In a possible implementation, when the steering wheel angle of the steering wheel of the vehicle reaches the maximum steering wheel angle within the steering wheel angle range of the steering wheel of the vehicle during the period of controlling the rear-wheel steering of the vehicle, the rear-wheel angle of the rear wheels of the vehicle reaches the maximum rear-wheel angle within the rear-wheel angle range of the vehicle.

[0024] In a possible implementation, the limiting damping force is the maximum damping force applied to the steering wheel of the vehicle during the steering of the vehicle.

[0025] In a possible implementation, the steering of the vehicle is a low-speed steering for indicating that the vehicle turns when the speed of the vehicle is less than the speed threshold or a U-turn of the vehicle.

[0026] In a third aspect, an embodiment of the present application provides a computer device installed on a vehicle, including: a memory and a processor, which are communicatively connected to each other. The memory stores computer instructions, and the processor executes the computer instructions to execute the method according to the first aspect or any corresponding implementation manner thereof.

[0027] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which computer instructions are stored, and the computer instructions are used to cause a computer to execute the method according to the first aspect or any corresponding implementation manner thereof.

[0028] In a fifth aspect, the present invention provides a computer program product, including computer instructions, and the computer instructions are used to cause a computer to execute the method according to the first aspect or any corresponding implementation manner thereof.

[0029] The method for controlling the steering of a vehicle provided by an embodiment of the present application controls the front wheels of the vehicle to steer when the steering wheel angle of the vehicle's steering wheel is less than the steering wheel angle threshold; when the steering wheel angle of the vehicle's steering wheel reaches the steering wheel angle threshold, a limiting damping force is applied to the vehicle's steering wheel.

[0030] Among them, the limiting damping force is used for the driver of the vehicle to perceive the intervention of the vehicle's rear wheels in the vehicle's steering. The principle of the limiting damping force for the driver of the vehicle to perceive the intervention of the vehicle's rear wheels in the vehicle's steering is as follows: Once a limiting damping force is applied to the vehicle's steering wheel, the driver of the vehicle can feel the limiting damping force applied to the vehicle's steering wheel. The limiting damping force can make the driver of the vehicle feel that the rotation of the vehicle's steering wheel is more laborious compared to the rotation of the vehicle's steering wheel before the steering wheel angle of the vehicle's steering wheel reaches the steering wheel angle threshold. Once the driver of the vehicle applies a steering wheel torque greater than the limiting damping force to the vehicle's steering wheel when the limiting damping force is applied to the vehicle's steering wheel, it can reflect that the driver of the vehicle hopes that the rear wheels of the vehicle intervene in the vehicle's steering. Once the driver of the vehicle applies a steering wheel torque greater than the limiting damping force to the vehicle's steering wheel when the limiting damping force is applied to the vehicle's steering wheel, the vehicle's steering wheel will rotate, and the vehicle's rear wheels will intervene in the vehicle's steering, enabling the driver of the vehicle to perceive the intervention of the vehicle's rear wheels in the vehicle's steering.

[0031] The limiting damping force is used for the driver of the vehicle to perceive the intervention of the vehicle's rear wheels in the vehicle's steering, so that when the vehicle's rear wheels intervene in the vehicle's steering, the driver of the vehicle can confirm the intervention of the vehicle's rear wheels in the vehicle's steering, and the turning radius of the vehicle will decrease. Once the driver of the vehicle confirms the intervention of the vehicle's rear wheels in the vehicle's steering, the turning radius of the vehicle will decrease, and the driver of the vehicle will turn the vehicle's steering wheel in a way suitable for avoiding collisions with obstacles around the vehicle under a small turning radius. Thus, when controlling the rear wheels of the vehicle to steer during the vehicle's steering, collisions with obstacles around the vehicle can be avoided, and the safety of the vehicle's steering when the vehicle's rear wheels intervene in the vehicle's steering can be improved. Description of the Drawings

[0032] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0033] Figure 1 It is a schematic flowchart of the method for controlling the steering of a vehicle provided by an embodiment of the present application;

[0034] Figure 2 It is a schematic diagram of another method for controlling the steering of a vehicle provided by an embodiment of the present application;

[0035] Figure 3 It is a schematic flowchart of yet another method for controlling the steering of a vehicle provided by an embodiment of the present application;

[0036] Figure 4 It is a schematic diagram of the steering wheel angle of the vehicle's steering wheel, the steering wheel torque of the vehicle's steering wheel, the front wheel angle of the vehicle's front wheels, and the rear wheel angle of the vehicle's rear wheels when controlling the steering of the vehicle;

[0037] Figure 5 It is a schematic diagram of the structure of a computer device provided by an embodiment of the present application. Detailed implementation manners

[0038] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Apparently, the described embodiments are some, but not all, of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application.

[0039] In the related art, when controlling the rear-wheel steering of a vehicle, the driver of the vehicle cannot perceive the intervention of the vehicle's rear wheels in the steering of the vehicle, and the driver of the vehicle will turn the steering wheel according to the habit of turning the steering wheel when only controlling the front-wheel steering of the vehicle during the steering of the vehicle that has been formed. However, controlling the rear-wheel steering of a vehicle will reduce the turning radius of the vehicle. The habit of turning the steering wheel when only controlling the front-wheel steering of the vehicle during the steering of the vehicle is only suitable for avoiding collisions with obstacles around the vehicle at the turning radius of the vehicle when only controlling the front-wheel steering of the vehicle during the steering of the vehicle, and is not suitable for the turning radius of the vehicle when controlling the rear-wheel steering of the vehicle during the steering of the vehicle, resulting in a risk that the vehicle may collide with obstacles around the vehicle when controlling the rear-wheel steering of the vehicle during the steering of the vehicle.

[0040] As an example, in the related art, during a U-turn of a vehicle, the rear wheels of the vehicle intervene in the steering of the vehicle, and the driver of the vehicle cannot perceive the intervention of the rear wheels of the vehicle in the steering of the vehicle. The driver of the vehicle turns the steering wheel according to the habit of turning the steering wheel only when controlling the front wheels of the vehicle to steer during the steering of the vehicle. The habit of turning the steering wheel only when controlling the front wheels of the vehicle to steer during the steering of the vehicle is: turning the steering wheel full when the body of the vehicle has passed half of the direction. Turning the steering wheel full when the body of the vehicle has passed half of the direction is only suitable for avoiding hitting obstacles around the vehicle under the turning radius of the vehicle when only controlling the front wheels of the vehicle to steer during the steering of the vehicle, and is not suitable for the turning radius of the vehicle when controlling the rear wheels of the vehicle to steer during a U-turn of the vehicle, resulting in a risk that the vehicle may hit obstacles around the vehicle when controlling the rear wheels of the vehicle to steer during a U-turn of the vehicle.

[0041] In the method for controlling the steering of a vehicle provided in the present application, the limiting damping force is used for the driver of the vehicle to perceive the intervention of the rear wheels of the vehicle in the steering of the vehicle, so that when the rear wheels of the vehicle intervene in the steering of the vehicle, the driver of the vehicle can confirm the intervention of the rear wheels of the vehicle in the steering of the vehicle, and the turning radius of the vehicle will decrease. Once the driver of the vehicle confirms the intervention of the rear wheels of the vehicle in the steering of the vehicle and the turning radius of the vehicle will decrease, the driver of the vehicle will turn the steering wheel in a way that is suitable for avoiding hitting obstacles around the vehicle under a small turning radius, thereby avoiding hitting obstacles around the vehicle when controlling the rear wheels of the vehicle to steer during the steering of the vehicle and improving the safety of the vehicle steering when the rear wheels of the vehicle intervene in the steering of the vehicle.

[0042] Reference Figure 1 , which shows a schematic flowchart of the method for controlling the steering of a vehicle provided in an embodiment of the present application. The method for controlling the steering of a vehicle provided in an embodiment of the present application is executed during the steering of the vehicle.

[0043] In a possible implementation manner, the method for controlling the steering of a vehicle provided in an embodiment of the present application is executed during the low-speed steering of the vehicle or during a U-turn of the vehicle.

[0044] The method for controlling the steering of a vehicle provided in an embodiment of the present application can be applied to any vehicle with a rear-wheel steering function. As an example, the vehicle to which the method for controlling the steering of a vehicle provided in an embodiment of the present application is applied is an automobile with a rear-wheel steering function.

[0045] In step S101, when the steering angle of the steering wheel of the vehicle is less than the steering angle threshold, control the front wheels of the vehicle to steer.

[0046] When the steering wheel angle of the vehicle's steering wheel is less than the steering wheel angle threshold, controlling the front-wheel steering of the vehicle may mean: controlling the front-wheel steering of the vehicle before the steering wheel angle of the vehicle's steering wheel reaches the steering wheel angle threshold.

[0047] Before the steering wheel angle of the vehicle's steering wheel reaches the steering wheel angle threshold, the driver of the vehicle applies a steering wheel torque to the vehicle's steering wheel, causing the vehicle's steering wheel to rotate. During the period of controlling the front-wheel steering of the vehicle, the steering wheel angle of the vehicle's steering wheel can gradually increase.

[0048] During the period of controlling the front-wheel steering of the vehicle, the front wheels of the vehicle are deflected due to the rotation of the vehicle's steering wheel. During the period of controlling the front-wheel steering of the vehicle, the front-wheel angle of the vehicle's front wheels can gradually increase.

[0049] In a possible implementation, when the steering wheel angle of the vehicle's steering wheel is less than the steering wheel angle threshold, controlling the front-wheel steering of the vehicle includes: when the steering wheel angle of the vehicle's steering wheel is less than the steering wheel angle threshold and the vehicle's steering wheel rotates, the electronic control unit on the vehicle receives the voltage signal corresponding to the steering wheel angle of the vehicle's steering wheel detected by the sensor for detecting the steering wheel angle of the vehicle; the electronic control unit on the vehicle sends an instruction for driving the front-wheel steering of the vehicle to the motor controller of the vehicle according to the voltage signal corresponding to the steering wheel angle of the vehicle's steering wheel, and the motor controller of the vehicle controls the front-wheel steering of the vehicle according to the instruction for driving the front-wheel steering of the vehicle. Thus, when the vehicle's steering wheel rotates, the front wheels of the vehicle are deflected due to the rotation of the vehicle's steering wheel.

[0050] It should be noted that when the steering wheel angle of the vehicle's steering wheel is less than the steering wheel angle threshold, only the front-wheel steering of the vehicle is controlled. When the steering wheel angle of the vehicle's steering wheel is less than the steering wheel angle threshold, the rear-wheel steering of the vehicle is not controlled. When the steering wheel angle of the vehicle is less than the steering wheel angle of the vehicle's steering wheel, the rear wheels of the vehicle do not move. It can also be said that during the period of controlling the front-wheel steering of the vehicle, the rear-wheel steering of the vehicle is not controlled.

[0051] In step S102, when the steering wheel angle of the vehicle's steering wheel reaches the steering wheel angle threshold, a limiting damping force is applied to the vehicle's steering wheel.

[0052] It should be noted that the damping force in the embodiments of the present application may refer to the steering damping force, and the limiting damping force may refer to: the limiting steering damping force.

[0053] In the embodiments of the present application, the limiting damping force can enable the driver of the vehicle to feel an obvious resistance. The limiting damping force is applied by a component of the vehicle for applying the damping force.

[0054] In a possible implementation, the limiting damping force can be significantly greater than the damping force applied to the vehicle's steering wheel when the steering wheel angle of the vehicle's steering wheel is less than the steering wheel angle threshold.

[0055] The steering wheel torque applied by the driver of the vehicle to the vehicle's steering wheel when the component for applying the damping force applies the limiting damping force to the vehicle's steering wheel must be greater than the limiting damping force in order to make the vehicle's steering wheel rotate.

[0056] The limiting damping force can be used for the driver of the vehicle to perceive that the rear wheels of the vehicle intervene in the steering of the vehicle. Once the limiting damping force is applied to the vehicle's steering wheel, the driver of the vehicle can feel the limiting damping force applied to the vehicle's steering wheel. The limiting damping force can make the driver of the vehicle feel that: compared with the rotation of the vehicle's steering wheel before the steering wheel angle of the vehicle's steering wheel reaches the steering wheel angle threshold, the rotation of the vehicle's steering wheel is more laborious.

[0057] Once the driver of the vehicle applies a steering wheel torque greater than the limiting damping force to the vehicle's steering wheel when the component for applying the damping force applies the limiting damping force to the vehicle's steering wheel, it can reflect that the driver of the vehicle hopes that the rear wheels of the vehicle intervene in the steering of the vehicle.

[0058] Once the driver of the vehicle applies a steering wheel torque greater than the limiting damping force to the vehicle's steering wheel when the component for applying the damping force applies the limiting damping force to the vehicle's steering wheel, the vehicle's steering wheel will rotate, and the rear wheels of the vehicle will intervene in the steering of the vehicle, enabling the driver of the vehicle to perceive that the rear wheels of the vehicle intervene in the steering of the vehicle.

[0059] In the embodiments of the present application, the driver of the vehicle can be made aware in advance that: when the steering wheel angle of the vehicle's steering wheel reaches a certain angle, the rotation of the vehicle's steering wheel is laborious, and when the rotation of the vehicle's steering wheel is laborious, the driver of the vehicle must apply a greater steering wheel torque to make the vehicle's steering wheel rotate, and the rear wheels of the vehicle intervene in the steering of the vehicle.

[0060] As an example, prompt content can be displayed in advance on the vehicle's in-vehicle computer screen on the interface for introducing the functions of the vehicle. The prompt content is used to prompt the driver of the vehicle to perceive that when the steering wheel angle of the vehicle's steering wheel reaches a certain angle, the rotation of the vehicle's steering wheel is laborious, and when the rotation of the vehicle's steering wheel is laborious, the driver of the vehicle must apply a greater steering wheel torque to make the vehicle's steering wheel rotate, and the rear wheels of the vehicle intervene in the steering of the vehicle.

[0061] In a possible implementation, the method further includes: step S103. In step S103, when the steering wheel angle of the vehicle's steering wheel is greater than the steering wheel angle threshold, the rear wheels of the vehicle are controlled to turn.

[0062] When the steering wheel angle of the vehicle's steering wheel is greater than the steering wheel angle threshold, controlling the rear wheels of the vehicle to turn may include: when the steering wheel angle of the vehicle's steering wheel is greater than the steering wheel angle threshold, controlling the rear wheels of the vehicle to deflect in the opposite direction.

[0063] The steering wheel torque applied by the driver of the vehicle to the vehicle's steering wheel when a component for applying a damping force applies a limiting damping force to the vehicle's steering wheel must be greater than the limiting damping force in order for the vehicle's steering wheel to rotate and for the steering wheel angle of the vehicle's steering wheel to be greater than the steering wheel angle threshold.

[0064] In a possible implementation, controlling the rear wheels of the vehicle to turn is triggered because the steering wheel torque applied by the driver of the vehicle to the vehicle's steering wheel is greater than the limiting damping force, that is, when the component for applying a damping force applies a limiting damping force to the vehicle's steering wheel, if the steering wheel torque applied by the driver of the vehicle to the vehicle's steering wheel is greater than the limiting damping force, it will trigger controlling the rear wheels of the vehicle to turn. It can also be said that once the steering wheel torque applied by the driver of the vehicle to the vehicle's steering wheel is greater than the limiting damping force, controlling the rear wheels of the vehicle to turn begins.

[0065] It should be noted that the fact that the rear wheels of the vehicle intervene in the vehicle's steering can be understood as: enabling the rear wheel steering function of the vehicle. The moment when the control of the rear wheels of the vehicle to turn is triggered may be the moment when the rear wheels of the vehicle intervene in the vehicle's steering. That is to say, once the rear wheels of the vehicle intervene in the vehicle's steering, the rear wheels of the vehicle are immediately steered. Among them, the moment when a steering wheel torque greater than the limiting damping force is applied to the vehicle's steering wheel when a limiting damping force is applied to the vehicle's steering wheel can be regarded as the moment when the control of the rear wheels of the vehicle to turn is triggered. The moment when the control of the rear wheels of the vehicle to turn is triggered may also be the moment after a short period of time from the moment when the rear wheels of the vehicle will intervene in the vehicle's steering.

[0066] In another possible implementation, the rear-wheel steering of the vehicle is triggered at a trigger moment, which can be later than the moment when a steering wheel torque greater than the limit damping force is applied to the steering wheel of the vehicle when the limit damping force is applied to the steering wheel of the vehicle. The trigger moment is: the moment when the steering wheel angle of the steering wheel of the vehicle reaches the steering wheel angle for triggering the rear-wheel steering of the vehicle. Among them, the steering wheel angle for triggering the rear-wheel steering of the vehicle can be greater than the steering wheel angle threshold. It should be noted that the steering wheel torque applied by the driver of the vehicle to the steering wheel of the vehicle at the trigger moment may be less than the limit damping force. During the corresponding sub-time period within the control of the rear-wheel steering of the vehicle, the steering wheel torque applied by the driver of the vehicle to the steering wheel of the vehicle may be greater than the limit damping force.

[0067] Once the steering wheel torque applied by the driver of the vehicle to the steering wheel of the vehicle is greater than the limit damping force when the limit damping force is applied to the steering wheel of the vehicle, the steering wheel of the vehicle rotates. After the moment when the driver of the vehicle applies a steering wheel torque greater than the limit damping force to the steering wheel of the vehicle, a steering wheel torque is applied to the steering wheel of the vehicle, causing the steering wheel of the vehicle to rotate.

[0068] During the control of the rear-wheel steering of the vehicle, the steering wheel angle of the steering wheel of the vehicle is greater than the steering wheel angle threshold.

[0069] During the control of the rear-wheel steering of the vehicle, before the steering wheel angle of the steering wheel of the vehicle reaches the maximum steering wheel angle of the steering wheel of the vehicle, the steering wheel angle of the steering wheel of the vehicle can gradually increase.

[0070] During the control of the rear-wheel steering of the vehicle, before the rear-wheel angle of the rear wheels of the vehicle reaches the maximum rear-wheel angle of the vehicle, the rear-wheel angle of the rear wheels of the vehicle can gradually increase.

[0071] In a possible implementation, when the steering wheel angle of the steering wheel of the vehicle is greater than the steering wheel angle threshold, controlling the rear-wheel steering of the vehicle includes: when the steering wheel angle of the steering wheel of the vehicle is greater than the steering wheel angle threshold and the steering wheel of the vehicle rotates, the electronic control unit on the vehicle receives the voltage signal corresponding to the steering wheel angle of the steering wheel of the vehicle detected by the sensor for detecting the steering wheel angle of the steering wheel of the vehicle on the vehicle; the electronic control unit on the vehicle sends an instruction for driving the rear-wheel steering of the vehicle to the motor controller of the vehicle according to the voltage signal corresponding to the steering wheel angle of the steering wheel of the vehicle, and the motor controller of the vehicle controls the rear wheels of the vehicle to steer in the reverse direction, that is, to deflect in the reverse direction. Thus, when the steering wheel of the vehicle rotates, the rear wheels of the vehicle deflect in the reverse direction due to the rotation of the steering wheel of the vehicle, reducing the turning radius of the vehicle.

[0072] ReferenceFigure 2 , which shows a schematic diagram of another method for controlling the steering of a vehicle provided by an embodiment of the present application.

[0073] In step S201, when the steering wheel angle of the vehicle's steering wheel is less than the steering wheel angle threshold, the front wheels of the vehicle are controlled to steer.

[0074] The process of step S201 refers to step S101.

[0075] In step S202, when the steering wheel angle of the vehicle's steering wheel reaches the steering wheel angle threshold, a limiting damping force is applied to the vehicle's steering wheel.

[0076] The process of step S202 refers to step S102.

[0077] In step S203, when the steering wheel angle of the vehicle's steering wheel is greater than the steering wheel angle threshold, the rear wheels of the vehicle are controlled to steer. During the period of controlling the rear wheels of the vehicle to steer, the front wheels of the vehicle are not controlled, so that during the period of controlling the rear wheels of the vehicle to steer, the front wheel angle of the front wheels of the vehicle remains the front wheel angle when the steering wheel angle of the vehicle's steering wheel reaches the steering wheel angle threshold.

[0078] During the period of controlling the rear wheels of the vehicle to steer, the front wheels of the vehicle are not controlled. Thus, during the period of controlling the rear wheels of the vehicle to steer, the front wheels of the vehicle will not deflect. Thus, during the period of controlling the rear wheels of the vehicle to steer, the front wheel angle of the front wheels of the vehicle remains the front wheel angle when the steering wheel angle of the vehicle's steering wheel reaches the steering wheel angle threshold.

[0079] In the embodiment of the present application, when the steering wheel angle of the vehicle's steering wheel is less than the steering wheel angle threshold, the front wheels of the vehicle are controlled to steer, and the turning radius of the vehicle during the period of controlling the front wheels of the vehicle to steer is: the turning radius when only the front wheels of the vehicle are controlled to steer. During the period of controlling the rear wheels of the vehicle to steer, the rear wheels of the vehicle are controlled to steer, and the front wheels of the vehicle are not controlled, so that the turning radius of the vehicle during the period of controlling the rear wheels of the vehicle to steer is: the turning radius when only the rear wheels of the vehicle are controlled to steer.

[0080] The turning radius of the vehicle during the control of the front-wheel steering of the vehicle is the turning radius when only the front-wheel steering of the vehicle is controlled, and the turning radius of the vehicle during the control of the rear-wheel steering of the vehicle is the turning radius when only the rear-wheel steering of the vehicle is controlled, so that the driver of the vehicle can be familiar with: the turning radius when only the front-wheel steering of the vehicle is controlled, and the turning radius when only the rear-wheel steering of the vehicle is controlled. Once the driver of the vehicle is familiar with the turning radius when only the front-wheel steering of the vehicle is controlled, when only the front-wheel steering of the vehicle is controlled, the steering wheel of the vehicle can be turned in a way that can make the vehicle have a higher safety, thereby improving the safety of the steering of the vehicle. Once the driver of the vehicle is familiar with the turning radius when only the rear-wheel steering of the vehicle is controlled, when only the rear-wheel steering of the vehicle is controlled, the steering wheel of the vehicle can be turned in a way that can make the vehicle have a higher safety, thereby improving the safety of the steering of the vehicle.

[0081] Reference Figure 3 , which shows a schematic flow chart of another method for controlling the steering of a vehicle provided by an embodiment of the present application.

[0082] In step S301, when the steering wheel angle of the vehicle's steering wheel is less than the steering wheel angle threshold, the front wheels of the vehicle are controlled to steer.

[0083] In step S302, when the steering wheel angle of the vehicle's steering wheel reaches the steering wheel angle threshold, a limiting damping force is applied to the vehicle's steering wheel, where when the steering wheel angle of the vehicle's steering wheel reaches the steering wheel angle threshold, the front wheel angle of the vehicle's front wheels reaches the maximum front wheel angle within the front wheel angle range.

[0084] When the steering wheel angle of the vehicle's steering wheel reaches the steering wheel angle threshold, the front wheel angle of the vehicle's front wheels reaches the maximum front wheel angle within the front wheel angle range. When the steering wheel angle of the vehicle's steering wheel reaches the steering wheel angle threshold, applying a limiting damping force to the vehicle's steering wheel can be equivalent to: when the front wheel angle of the vehicle's front wheels reaches the maximum front wheel angle within the front wheel angle range of the vehicle's front wheels, applying a limiting damping force to the vehicle's steering wheel.

[0085] When the front wheel steering angle of the front wheels of the vehicle in the embodiment of the present application reaches the maximum front wheel steering angle within the range of the front wheel steering angle of the front wheels of the vehicle, a limiting damping force is applied to the steering wheel of the vehicle. It is considered that: Generally, when only the front wheels of the vehicle are controlled to steer during the steering of the vehicle, when the steering wheel of the vehicle rotates to the maximum steering wheel angle, the front wheel steering angle of the front wheels of the vehicle reaches the maximum front wheel steering angle. After the steering wheel of the vehicle rotates to the maximum steering wheel angle, the steering wheel of the vehicle cannot rotate. At this time, it can be regarded that the damping force applied to the steering wheel of the vehicle is very large. When the front wheel steering angle of the front wheels of the vehicle in the embodiment of the present application reaches the maximum front wheel steering angle within the range of the front wheel steering angle, a limiting damping force is applied to the steering wheel of the vehicle. The limiting damping force is very large, which conforms to the feeling of the driver of the vehicle about the damping torque of the steering wheel of the vehicle when only the front wheels of the vehicle are controlled to steer during the steering of the vehicle and the front wheel steering angle of the front wheels of the vehicle reaches the maximum front wheel steering angle, and improves the experience of the driver of the vehicle.

[0086] When the front wheel steering angle of the front wheels of the vehicle in the embodiment of the present application reaches the maximum front wheel steering angle within the range of the front wheel steering angle, a limiting damping force is applied to the steering wheel of the vehicle. It is also considered that: when the front wheel steering angle of the front wheels of the vehicle reaches the maximum front wheel steering angle within the range of the front wheel steering angle, it can be regarded that the vehicle cannot complete the steering only by relying on the front wheels of the vehicle, and the rear wheels of the vehicle must intervene in the steering of the vehicle. Applying a limiting damping force to the steering wheel of the vehicle can reflect that the rear wheels of the vehicle need to intervene in the steering of the vehicle, so that the driver of the vehicle can perceive that the rear wheels of the vehicle need to intervene in the steering of the vehicle, and improves the experience of the driver of the vehicle.

[0087] In a possible implementation manner, the limiting damping force is the maximum damping force applied to the steering wheel of the vehicle during the steering of the vehicle. After the driver of the vehicle applies a steering wheel torque greater than the limiting damping force to the steering wheel of the vehicle, the component for applying the damping force of the vehicle can apply a damping force relatively smaller than the limiting damping force to the steering wheel of the vehicle.

[0088] The fact that the limiting damping force is the maximum damping force applied to the steering wheel of the vehicle during the steering of the vehicle is considered that: applying a limiting damping force to the steering wheel of the vehicle when the steering wheel angle of the steering wheel of the vehicle reaches the steering wheel angle threshold can be used for the driver of the vehicle to perceive that the rear wheels of the vehicle intervene in the steering of the vehicle. Since the driver of the vehicle has perceived that the rear wheels of the vehicle intervene in the steering of the vehicle, therefore, after the driver of the vehicle applies a steering wheel torque greater than the limiting damping force to the steering wheel of the vehicle, there is no need to apply a limiting damping force to the steering wheel of the vehicle anymore, and a damping force relatively smaller than the limiting damping force can be applied to the steering wheel of the vehicle, saving the energy of the vehicle.

[0089] In step S303, when the steering wheel angle of the vehicle's steering wheel is greater than the steering wheel angle threshold, the rear wheels of the vehicle are controlled to turn. During the period of controlling the rear wheels of the vehicle to turn, the front wheels of the vehicle are not controlled to turn. When the steering wheel angle of the vehicle's steering wheel reaches the maximum steering wheel angle within the range of the steering wheel angle of the vehicle's steering wheel during the period of controlling the rear wheels of the vehicle to turn, the rear wheel angle of the vehicle's rear wheels reaches the maximum rear wheel angle within the range of the rear wheel angle of the vehicle's rear wheels.

[0090] Generally, when only the front wheels of the vehicle are controlled to turn during the steering period of the vehicle, when the steering wheel angle of the vehicle's steering wheel reaches the maximum steering wheel angle within the range of the steering wheel angle, the front wheel angle of the vehicle's front wheels reaches the maximum front wheel angle.

[0091] In the embodiment of the present application, when the steering wheel angle of the vehicle's steering wheel reaches the maximum steering wheel angle within the range of the steering wheel angle of the vehicle's steering wheel during the period of controlling the rear wheels of the vehicle to turn, the front wheel angle of the vehicle's front wheels can be the maximum front wheel angle and the rear wheel angle of the vehicle's rear wheels reaches the maximum rear wheel angle.

[0092] The characteristic of the wheel angle when the steering wheel angle of the vehicle's steering wheel in the embodiment of the present application reaches the maximum steering wheel angle, that is, the wheel angle reaches the maximum angle, is consistent with the characteristic of the wheel angle when the steering wheel angle of the vehicle's steering wheel reaches the maximum steering wheel angle during the steering period of the vehicle that the vehicle driver already knows, that is, the wheel angle reaches the maximum angle, improving the experience of the vehicle driver.

[0093] Reference Figure 4 , which shows a schematic diagram of the steering wheel angle of the vehicle's steering wheel, the steering wheel torque of the vehicle's steering wheel, the front wheel angle of the vehicle's front wheels, and the rear wheel angle of the vehicle's rear wheels when controlling the steering of the vehicle.

[0094] In this example, when the steering wheel angle of the vehicle's steering wheel is less than the steering wheel angle threshold, the front wheels of the vehicle are controlled to turn. During the period of controlling the front wheels of the vehicle to turn, before the steering wheel angle of the vehicle's steering wheel reaches the steering wheel angle threshold, the steering wheel angle of the vehicle's steering wheel can gradually increase.

[0095] In this example, during the period of controlling the front wheels of the vehicle to turn, the rear wheel angle of the vehicle is not controlled, the rear wheels of the vehicle do not move, and the rear wheel angle of the vehicle can be 0 degrees.

[0096] During the period of controlling the front wheels of the vehicle to turn, before the front wheel angle of the vehicle's front wheels reaches the maximum front wheel angle, the front wheel angle of the vehicle's front wheels gradually increases.

[0097] In this example, when the steering wheel angle of the vehicle's steering wheel reaches the steering wheel angle threshold, a limiting damping force is applied to the vehicle's steering wheel. When the steering wheel angle of the vehicle's steering wheel reaches the steering wheel angle threshold, the front wheel angle of the vehicle's front wheels reaches the maximum front wheel angle. Therefore, the moment when the steering wheel angle of the vehicle's steering wheel reaches the steering wheel angle threshold is also the moment when the front wheel angle of the vehicle's front wheels reaches the maximum front wheel angle.

[0098] In this example, when the steering wheel angle of the vehicle's steering wheel reaches the steering wheel angle threshold, a limiting damping force is applied to the vehicle's steering wheel. When the component for applying the damping force applies the limiting damping force to the vehicle's steering wheel, the driver of the vehicle applies a steering wheel torque greater than the limiting damping force to the vehicle's steering wheel, causing the vehicle's steering wheel to rotate and the vehicle's rear wheels to intervene in the vehicle's steering. The control of the vehicle's rear wheel steering starts after a short period of time from the moment when a steering wheel torque greater than the limiting damping force is applied to the vehicle's steering wheel when the limiting damping force is applied to the vehicle's steering wheel.

[0099] In this example, during the period of controlling the vehicle's rear wheel steering, the vehicle's front wheel steering is not controlled. During the period of controlling the vehicle's rear wheel steering, the vehicle's front wheels do not move. During the period of controlling the vehicle's rear wheel steering, the front wheel angle of the vehicle's front wheels remains at the maximum front wheel angle of the vehicle's front wheels. During the period of controlling the vehicle's rear wheel steering, before the steering wheel angle of the vehicle's steering wheel reaches the maximum steering wheel angle, the steering wheel angle of the vehicle's steering wheel can gradually increase.

[0100] In this example, during the period of controlling the vehicle's rear wheel steering, before the rear wheel angle of the vehicle's rear wheels reaches the maximum rear wheel angle, the rear wheel angle of the vehicle's rear wheels can gradually increase.

[0101] In the example, during the period of controlling the vehicle's rear wheel steering, when the steering wheel angle of the vehicle's steering wheel reaches the maximum steering wheel angle, the rear wheel angle of the vehicle's rear wheels reaches the maximum rear wheel angle within the range of the vehicle's rear wheel angles.

[0102] In this example, the period of controlling the vehicle's rear wheel steering is the time period between the start moment of the period of controlling the vehicle's rear wheel steering and the moment when the rear wheel angle of the vehicle's rear wheels reaches the maximum rear wheel angle.

[0103] An embodiment of the present application provides a device for controlling the steering of a vehicle. The device for controlling the steering of the vehicle is used to implement the above-mentioned embodiments and preferred implementation manners, and those that have been described will not be repeated. As used hereinafter, the term "unit" may be a combination of software and / or hardware that can implement a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware is also possible and contemplated.

[0104] The device for controlling the steering of the vehicle includes:

[0105] A first control unit, configured to control the front wheels of the vehicle to steer when the steering wheel angle of the vehicle's steering wheel is less than the steering wheel angle threshold;

[0106] A limit damping force application unit, configured to apply a limit damping force to the vehicle's steering wheel when the steering wheel angle of the vehicle's steering wheel reaches the steering wheel angle threshold, wherein the limit damping force is used for the driver of the vehicle to perceive that the rear wheels of the vehicle intervene in the steering of the vehicle;

[0107] In a possible implementation manner, the device for controlling the steering of the vehicle further includes:

[0108] A second control unit, configured to control the rear wheels of the vehicle to steer when the steering wheel angle of the vehicle's steering wheel is greater than the steering wheel angle threshold.

[0109] In a possible implementation manner, the first control unit is further configured to not control the front wheels of the vehicle during the period of controlling the rear wheels of the vehicle to steer, so that the front wheel angle of the front wheels of the vehicle remains the front wheel angle when the steering wheel angle of the vehicle's steering wheel reaches the steering wheel angle threshold during the period of the rear wheels of the vehicle steering.

[0110] In a possible implementation manner, when the steering wheel angle of the vehicle's steering wheel reaches the steering wheel angle threshold, the front wheel angle of the front wheels of the vehicle reaches the maximum front wheel angle within the front wheel angle range.

[0111] In a possible implementation manner, when the steering wheel angle of the vehicle's steering wheel reaches the maximum steering wheel angle within the steering wheel angle range of the vehicle during the period of controlling the rear wheels of the vehicle to steer, the rear wheel angle of the rear wheels of the vehicle reaches the maximum rear wheel angle within the rear wheel angle range of the vehicle.

[0112] In a possible implementation manner, the limit damping force is the maximum damping force applied to the vehicle's steering wheel during the steering of the vehicle.

[0113] In a possible implementation, the steering of the vehicle is a low-speed steering that indicates the vehicle is turning when its speed is less than a speed threshold or a U-turn of the vehicle.

[0114] In this embodiment, the device is presented in the form of functional units. Here, a unit refers to an ASIC circuit, a processor and a memory that execute one or more software or fixed programs, and / or other devices that can provide the above functions.

[0115] The further function descriptions of the above respective units are the same as those in the corresponding embodiments above and will not be elaborated here.

[0116] Reference Figure 5 , which shows a schematic structural diagram of a computer device provided by an embodiment of the present application. The computer device includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including a high-speed interface and a low-speed interface. Each component communicates with each other using different buses and can be installed on a common motherboard or installed in other ways as needed. The processor can process instructions executed within the computer device, including instructions stored in the memory or on the memory to display graphical information of the GUI on an external input / output device (such as a display device coupled to the interface). In some optional implementation manners, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple computer devices can be connected, and each device provides some necessary operations (for example, as a server array, a set of blade servers, or a multi-processor system).

[0117] The processor 10 can be a central processing unit, a network processor, or a combination thereof. Among them, the processor 10 can further include a hardware chip. The above hardware chip can be an application-specific integrated circuit, a programmable logic device, or a combination thereof. The above programmable logic device can be a complex programmable logic device, a field programmable gate array, a general array logic, or any combination thereof.

[0118] Among them, the memory 20 stores instructions executable by at least one processor 10, so that the at least one processor 10 executes the method shown in the above embodiment.

[0119] The memory 20 may include a program storage area and a data storage area. The program storage area may store an operating system and application programs required for at least one function. The data storage area may store data created according to the use of the computer device, etc. In addition, the memory 20 may include a high-speed random access memory and may also include a non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices. In some alternative embodiments, the memory 20 may optionally include a memory remotely disposed relative to the processor 10, and these remote memories may be connected to the computer device through a network. Examples of the above networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0120] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk, or a solid-state drive; the memory 20 may further include a combination of the above types of memories.

[0121] The computer device further includes an input device 30 and an output device 40. The processor 10, the memory 20, the input device 30, and the output device 40 may be connected through a bus or other means.

[0122] The input device 30 may receive input digital or character information and generate key signal inputs related to the user settings and function controls of the computer device, such as a touch screen, a keypad, a mouse, a trackpad, a touchpad, a pointing stick, one or more mouse buttons, a trackball, a joystick, etc. The output device 40 may include a display device, an auxiliary lighting device (e.g., an LED), and a haptic feedback device (e.g., a vibration motor), etc. The above display devices include, but are not limited to, liquid crystal displays, light-emitting diodes, displays, and plasma displays. In some alternative embodiments, the display device may be a touch screen.

[0123] The embodiments of the present application also provide a computer-readable storage medium. The methods according to the embodiments of the present application can be implemented in hardware, firmware, or be implemented as computer code that can be recorded on a storage medium, or be implemented as computer code that is originally stored in a remote storage medium or a non-transitory machine-readable storage medium and downloaded through a network and will be stored in a local storage medium, so that the methods described herein can be processed by such software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only memory, a random access memory, a flash memory, a hard disk, or a solid-state drive, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by the computer, the processor, or the hardware, the methods shown in the above embodiments are implemented.

[0124] A part of the embodiments of the present application can be applied as a computer program product, for example, computer program instructions. When executed by a computer, through the operation of the computer, the methods and / or technical solutions according to the present invention can be invoked or provided. Those skilled in the art should be able to understand that the forms in which computer program instructions exist in a computer-readable medium include, but are not limited to, source files, executable files, installation package files, etc. Correspondingly, the ways in which computer program instructions are executed by a computer include, but are not limited to: the computer directly executes the instructions, or the computer compiles the instructions and then executes the corresponding compiled program, or the computer reads and executes the instructions, or the computer reads and installs the instructions and then executes the corresponding installed program. Herein, the computer-readable medium can be any available computer-readable storage medium or communication medium accessible by the computer.

[0125] Although the embodiments of the present application have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present application, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A method for controlling the steering of a vehicle, characterized in that: The method comprises: When a steering wheel angle of a steering wheel of the vehicle is less than a steering wheel angle threshold, controlling the front wheel steering of the vehicle; When the steering wheel angle of the steering wheel of the vehicle reaches a steering wheel angle threshold, a limiting damping force is applied to the steering wheel of the vehicle, wherein the limiting damping force is used for the driver of the vehicle to sense that the rear wheels of the vehicle are involved in steering the vehicle.

2. The method according to claim 1, characterized in that The method comprises: When a steering wheel angle of a steering wheel of the vehicle is greater than a steering wheel angle threshold, the rear wheel steering of the vehicle is controlled.

3. The method according to claim 2, characterized in that The method further comprises: During the period of controlling the rear-wheel steering of the vehicle, the front-wheel steering of the vehicle is not controlled so that the front wheel steering angle of the front wheels of the vehicle during the period of the rear-wheel steering of the vehicle is maintained at the front wheel steering angle when the steering wheel angle of the steering wheel of the vehicle reaches a steering wheel angle threshold.

4. The method according to claim 2, characterized in that: When the steering wheel angle of the steering wheel of the vehicle reaches a steering wheel angle threshold, the front wheel angle of the front wheels of the vehicle reaches a maximum front wheel angle within the front wheel angle range of the front wheels of the vehicle.

5. The method according to claim 4, characterized in that When the steering wheel angle of the steering wheel of the vehicle reaches the maximum steering wheel angle within the steering wheel angle range of the vehicle during the period of controlling the rear wheel steering of the vehicle, the rear wheel steering angle of the rear wheels of the vehicle reaches the maximum rear wheel steering angle within the rear wheel steering angle range of the vehicle.

6. The method according to claim 1, characterized in that The limit damping force is a maximum damping force applied to a steering wheel of the vehicle during a steering period of the vehicle.

7. The method according to any one of claims 1 to 6, characterized in that The turning of the vehicle is a low-speed turn indicating a turn performed when the speed of the vehicle is less than a speed threshold or a U-turn of the vehicle.

8. A device for controlling the steering of a vehicle, characterized in that: Installed on a vehicle, the device comprises: a first control unit, configured to control the steering of the front wheels of the vehicle when a steering wheel angle of the steering wheel of the vehicle is less than a steering wheel angle threshold; A limit damping force applying unit is used to apply a limit damping force to the steering wheel of the vehicle when the steering wheel angle of the steering wheel of the vehicle reaches a steering wheel angle threshold, wherein the limit damping force is used for the driver of the vehicle to sense that the rear wheels of the vehicle are involved in the steering of the vehicle.

9. A computer device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the method according to any one of claims 1 to 7 by executing the computer instructions.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the method according to any one of claims 1 to 7.

11. A computer program product, characterized in that The method comprises computer instructions for causing a computer to execute the method according to any one of claims 1 to 7.

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