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

Abstract

The application relates to the technical field of vehicles, and discloses a method and device for controlling the steering of a vehicle, computer equipment and a storage medium. The method comprises the following steps: when the steering wheel rotation angle of the steering wheel of the vehicle is less than a steering wheel rotation angle threshold value, controlling the steering of the front wheels of the vehicle; and when the steering wheel rotation angle of the steering wheel of the vehicle reaches the steering wheel rotation angle threshold value, applying a limiting damping force to the steering wheel of the vehicle.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and more specifically to a method, apparatus, computer device, and storage medium for controlling the steering of a vehicle. Background Technology

[0002] Currently, in certain operating conditions, such as parking, rear-wheel steering is used in some vehicle models because it can control the rear wheels to turn in the opposite direction, thereby reducing the vehicle's turning radius. Before driving a vehicle equipped with rear-wheel steering, drivers typically develop the habit of turning the steering wheel only when controlling the front wheels during a turn. This habit of turning the steering wheel only when controlling the front wheels during a turn helps maintain a safe distance from other objects around the vehicle, avoiding collisions with obstacles.

[0003] In related technologies, when controlling the rear wheel steering of a vehicle, the driver is unaware that the rear wheels are involved in the vehicle's steering. The driver will turn the steering wheel according to the established habit of turning the steering wheel when only controlling the front wheels during the steering process.

[0004] However, controlling the rear wheels to steer reduces the vehicle's turning radius. The habit of turning the steering wheel while only controlling the front wheels during a turn is only suitable for avoiding collisions with obstacles within that turning radius, but not for avoiding collisions with obstacles within the turning radius when controlling the rear wheels during a turn. This results in a risk of collisions with obstacles when controlling the rear wheels during a turn. Therefore, improving the safety of steering when the rear wheels intervene in the turn is a problem that needs to be solved. Summary of the Invention

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

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

[0007] When the steering wheel angle of the vehicle is less than a steering wheel angle threshold, the steering of the front wheels of the vehicle is controlled.

[0008] When the steering wheel angle 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 by the driver of the vehicle to perceive the rear wheel intervention of the vehicle in steering.

[0009] In one possible implementation, the method also includes:

[0010] When the steering wheel angle of the vehicle's steering wheel exceeds a steering wheel angle threshold, the rear wheels of the vehicle are controlled to steer.

[0011] In one possible implementation, the method further includes: during the period of controlling the rear wheel steering of the vehicle, not controlling the front wheel steering of the vehicle, such that during the period of controlling the rear wheel steering of the vehicle, the front wheel steering angle of the front wheels of the vehicle is maintained at the front wheel steering angle when the steering wheel angle of the vehicle's steering wheel reaches a steering wheel angle threshold.

[0012] In one possible implementation, when the steering wheel angle of the vehicle's steering wheel reaches a 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.

[0013] In one possible implementation, when the steering wheel angle of the vehicle reaches the maximum steering wheel angle within the range of steering wheel angles during the control of the rear wheel steering of the vehicle, the rear wheel angle of the vehicle reaches the maximum rear wheel angle within the range of rear wheel angles.

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

[0015] In one possible implementation, the vehicle's steering is either a low-speed steering or a U-turn, indicating that the vehicle's speed is less than a speed threshold.

[0016] Secondly, embodiments of this application provide a device for controlling the steering of a vehicle. The device for controlling the steering of a vehicle is installed on the vehicle and includes:

[0017] The first control unit is used to control the steering of the front wheels of the vehicle when the steering wheel angle is less than a steering wheel angle threshold.

[0018] A limiting damping force application unit is used to apply a limiting damping force to the steering wheel of the vehicle when the steering wheel angle of the vehicle reaches a steering wheel angle threshold, wherein the limiting damping force is used by the driver of the vehicle to perceive the rear wheel intervention of the vehicle in steering.

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

[0020] The second control unit is used to control the rear wheel steering of the vehicle when the steering wheel angle of the vehicle's steering wheel is greater than a steering wheel angle threshold.

[0021] In one 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, such that the front wheel steering angle of the front wheels of the vehicle is maintained at the front wheel steering angle when the steering wheel angle of the vehicle's steering wheel reaches a steering wheel angle threshold during the period of controlling the rear wheel steering of the vehicle.

[0022] In one possible implementation, when the steering wheel angle of the vehicle reaches a 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.

[0023] In one possible implementation, when the steering wheel angle of the vehicle reaches the maximum steering wheel angle within the range of steering wheel angles during the control of the rear wheel steering of the vehicle, the rear wheel angle of the vehicle reaches the maximum rear wheel angle within the range of rear wheel angles.

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

[0025] In one possible implementation, the vehicle's steering is either a low-speed steering or a U-turn, indicating that the vehicle's speed is less than a speed threshold.

[0026] Thirdly, embodiments of this application provide a computer device installed in a vehicle, comprising: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the computer instructions to perform the method described in the first aspect or any corresponding embodiment thereof.

[0027] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer instructions for causing a computer to perform the method described in the first aspect or any corresponding embodiment.

[0028] Fifthly, the present invention provides a computer program product, including computer instructions for causing a computer to perform the method described in the first aspect or any corresponding embodiment thereof.

[0029] The method for controlling vehicle steering provided in this application embodiment controls the steering of the front wheels of the vehicle when the steering wheel angle is less than a steering wheel angle threshold; and applies a limiting damping force to the steering wheel of the vehicle when the steering wheel angle reaches the steering wheel angle threshold.

[0030] The limiting damping force is used by the driver to perceive the rear wheel intervention in the vehicle's steering. The principle behind this is as follows: once a limiting damping force is applied to the steering wheel, the driver can feel it. This limiting damping force makes the driver feel that turning the steering wheel requires more effort compared to turning it before reaching a certain steering angle threshold. If the driver applies a steering torque greater than the limiting damping force, it indicates a desire for rear wheel intervention. When the driver applies a steering torque greater than the limiting damping force, the steering wheel turns, and the rear wheels intervene in the steering, allowing the driver to perceive this intervention.

[0031] Limiting damping force is used by the driver to perceive the rear wheel intervention in the vehicle's steering. When the rear wheels intervene, the driver can confirm that the turning radius has decreased. Once the driver confirms this, they will turn the steering wheel in a manner appropriate to avoid collisions with surrounding obstacles within this smaller turning radius. This improves steering safety by preventing collisions with obstacles while controlling rear-wheel steering during the turn. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0033] Figure 1 This is a schematic flowchart of a method for controlling the steering of a vehicle provided in an embodiment of this application;

[0034] Figure 2 This is a schematic diagram of another method for controlling the steering of a vehicle provided in an embodiment of this application;

[0035] Figure 3 This is a flowchart illustrating another method for controlling the steering of a vehicle provided in an embodiment of this application;

[0036] Figure 4 It is a diagram showing the steering wheel angle, steering wheel torque, front wheel angle, and rear wheel angle of a vehicle when controlling its steering.

[0037] Figure 5 This is a schematic diagram of the structure of the computer device provided in the embodiments of this application. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0039] In related technologies, when controlling the rear wheels of a vehicle, the driver is unaware of the rear wheels' intervention in steering. The driver will turn the steering wheel based on their established habit of only controlling the front wheels during a turn. However, controlling the rear wheels reduces the vehicle's turning radius. The habit of only controlling the front wheels during a turn is only suitable for avoiding collisions with surrounding obstacles within that turning radius, and is not suitable for controlling the rear wheels during a turn. This results in a risk of collision with surrounding obstacles when controlling the rear wheels during a turn.

[0040] As an example, in related technologies, during a U-turn, the rear wheels of a vehicle intervene in steering. The driver is unaware of this intervention and instead turns the steering wheel based on a pre-established habit of only controlling the front wheels during the turn. This habitual steering wheel movement, when only controlling the front wheels, involves turning the steering wheel fully when the vehicle is more than halfway between its front and rear wheels. Turning the steering wheel fully when only controlling the front wheels during a turn is suitable for avoiding collisions with surrounding obstacles within the vehicle's turning radius, but not for controlling the rear wheels during a U-turn. This creates a risk of collision with surrounding obstacles when controlling the rear wheels during a U-turn.

[0041] In the vehicle steering method provided in this application, a limiting damping force is used to allow the driver to perceive the rear wheels engaging in vehicle steering. This ensures that when the rear wheels engage, the driver can confirm that the turning radius of the vehicle has decreased. Once the driver confirms the rear wheels are engaged and the turning radius has decreased, the driver will turn the steering wheel in a manner suitable for avoiding collisions with obstacles around the vehicle within a small turning radius. This improves steering safety when the rear wheels are engaged, preventing collisions with obstacles while controlling rear-wheel steering during the steering process.

[0042] refer to Figure 1 The diagram illustrates a flowchart of a method for controlling the steering of a vehicle according to an embodiment of this application. The method for controlling the steering of a vehicle according to an embodiment of this application is executed during the vehicle's steering process.

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

[0044] The vehicle steering method provided in this application can be applied to any vehicle with rear-wheel steering. As an example, the vehicle steering method provided in this application is applied to a car with rear-wheel steering.

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

[0046] When the steering wheel angle of the vehicle is less than the steering wheel angle threshold, controlling the steering of the front wheels of the vehicle can mean controlling the steering of the front wheels of the vehicle before the steering wheel angle reaches the steering wheel angle threshold.

[0047] Before the steering wheel angle of the vehicle reaches a steering wheel angle threshold, the driver applies steering torque to the steering wheel, causing it to turn. During the period of front-wheel steering, the steering wheel angle can be gradually increased.

[0048] During the period of controlling the front wheel steering of the vehicle, the front wheels of the vehicle deflect 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 steering angle of the vehicle's front wheels can be gradually increased.

[0049] In one possible implementation, when the steering wheel angle of the vehicle is less than a steering wheel angle threshold, controlling the front wheel steering of the vehicle includes: when the steering wheel angle is less than the threshold, the vehicle's electronic control unit receives a voltage signal corresponding to the steering wheel angle detected by a sensor used to detect the steering wheel angle; based on the voltage signal corresponding to the steering wheel angle, the electronic control unit sends a command to the vehicle's motor controller to drive the front wheels; and the motor controller controls the front wheel steering based on the command. Thus, when the steering wheel is turned, the front wheels of the vehicle deflect due to the steering wheel rotation.

[0050] It should be noted that when the steering wheel angle is less than a certain threshold, only the front wheels are controlled. When the steering wheel angle is less than the threshold, the rear wheels are not controlled. When the steering wheel angle is less than the threshold, the rear wheels do not move. In other words, while the front wheels are being controlled, the rear wheels are not being controlled.

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

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

[0053] In this embodiment, the limiting damping force allows the driver of the vehicle to feel significant resistance. The limiting damping force is applied by a component of the vehicle used to apply the damping force.

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

[0055] When the driver applies a limiting damping force to the steering wheel of the vehicle using the damping force application component, the steering wheel torque applied must be greater than the limiting damping force in order for the steering wheel to turn.

[0056] Limiting damping force is used by the driver to perceive the rear wheel intervention in the vehicle's steering. Once limiting damping force is applied to the steering wheel, the driver can feel the limiting damping force applied to the steering wheel. This limiting damping force makes the driver feel that turning the steering wheel requires more effort compared to turning the steering wheel before it reaches a certain steering angle threshold.

[0057] If the driver applies a steering wheel torque greater than the limit damping force to the steering wheel when the component used to apply damping force applies a limit damping force to the steering wheel, it reflects the driver's desire for the rear wheels to intervene in the steering of the vehicle.

[0058] Once the driver applies a steering wheel torque greater than the limit damping force to the steering wheel when the component used to apply damping force applies a limit damping force to the steering wheel, the steering wheel will turn, and the rear wheels will intervene in the steering of the vehicle, so that the driver can perceive the rear wheels intervening in the steering of the vehicle.

[0059] In this embodiment of the application, the driver of the vehicle can be informed in advance that when the steering wheel angle reaches a certain angle, it is difficult to turn the steering wheel. When it is difficult to turn the steering wheel, the driver must apply a greater steering wheel torque to turn the steering wheel, and the rear wheels of the vehicle will intervene in the steering of the vehicle.

[0060] As an example, the vehicle's infotainment screen can display a prompt message beforehand, indicating that the driver needs to be aware that the steering wheel requires more effort to turn when the steering wheel angle reaches a certain angle. When the steering wheel requires more effort to turn, the driver must apply a greater steering torque to turn the steering wheel, and the rear wheels of the vehicle will then intervene in the steering.

[0061] In one 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 a steering wheel angle threshold, the rear wheels of the vehicle are controlled to steer.

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

[0063] When the driver applies a limiting damping force to the steering wheel of the vehicle using the damping force application component, the steering wheel torque applied to the steering wheel must be greater than the limiting damping force in order for the steering wheel to rotate and for the steering wheel angle to be greater than the steering wheel angle threshold.

[0064] In one possible implementation, control of the vehicle's rear-wheel steering is triggered when the steering torque applied by the driver exceeds the limiting damping force. Specifically, when the driver applies a limiting damping force to the steering wheel using the damping mechanism, a steering torque exceeding the limiting damping force triggers control of the vehicle's rear wheels. Alternatively, control of the vehicle's rear-wheel steering begins once the driver applies a steering torque exceeding the limiting damping force.

[0065] It should be noted that the engagement of the rear wheels in vehicle steering can be understood as: enabling the rear-wheel steering function. The moment that triggers control of the rear wheels in steering may be the moment the rear wheels engage in steering. In other words, once the rear wheels engage in steering, steering begins immediately. Specifically, the moment when a steering wheel torque greater than the limit damping force is applied to the steering wheel while applying the limit damping force can be considered the moment that triggers control of the rear wheels in steering. The moment that triggers control of the rear wheels in steering may also be a short time after the moment the rear wheels engage in steering.

[0066] In another possible implementation, control of the vehicle's rear-wheel steering is triggered at a triggering moment, which can be later than the moment when a steering wheel torque greater than the limiting damping force is applied to the steering wheel while a limiting damping force is being applied. This triggering moment is defined as the moment when the vehicle's steering wheel angle reaches the angle required to trigger control of the vehicle's rear-wheel steering. This steering wheel angle can be greater than a steering wheel angle threshold. It should be noted that the steering wheel torque applied by the driver at this triggering moment may be less than the limiting damping force. Within a corresponding sub-time period of controlling the vehicle's rear-wheel steering, the steering wheel torque applied by the driver may be greater than the limiting damping force.

[0067] Once the driver applies a limiting damping force to the steering wheel and the resulting steering torque exceeds the limiting damping force, the steering wheel will turn. Applying steering torque after the moment the driver applies a torque exceeding the limiting damping force will cause the steering wheel to turn.

[0068] During the period when the rear wheels of the vehicle are being controlled to steer, the steering wheel angle of the vehicle exceeds a steering wheel angle threshold.

[0069] During the rear-wheel steering of the vehicle, the steering wheel angle can be gradually increased before the vehicle's steering wheel angle reaches its maximum.

[0070] During the control of the vehicle's rear wheel steering, the rear wheel steering angle of the vehicle's rear wheels can be gradually increased before the vehicle's maximum rear wheel steering angle is reached.

[0071] In one possible implementation, when the steering wheel angle of the vehicle exceeds a steering wheel angle threshold, controlling the rear wheel steering includes: when the steering wheel angle exceeds the threshold, as the steering wheel turns, the vehicle's electronic control unit receives a voltage signal corresponding to the steering wheel angle detected by a sensor used to detect the steering wheel angle; based on the voltage signal corresponding to the steering wheel angle, the electronic control unit sends a command to the vehicle's motor controller to drive the rear wheels to steer; the motor controller then controls the rear wheels to steer in the opposite direction (i.e., reverse deflection) based on the steering wheel steering command. Thus, when the steering wheel turns, the rear wheels deflect in the opposite direction due to the steering wheel rotation, reducing the vehicle's turning radius.

[0072] refer to Figure 2 The diagram illustrates another method for controlling the steering of a vehicle provided in an embodiment of this application.

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

[0074] The process of step S201 is the same as that of step S101.

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

[0076] The process of step S202 is the same as that of 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 wheel steering of the vehicle is controlled. During the period of controlling the rear wheel steering, the front wheel steering of the vehicle is not controlled, so that during the period of the rear wheel steering, the front wheel angle of the vehicle is maintained at 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 when the rear wheels of the vehicle are controlled to steer, the front wheels of the vehicle are not controlled, so that the front wheels of the vehicle will not deflect during the period when the rear wheels of the vehicle are controlled to steer. Thus, during the period when the rear wheels of the vehicle are controlled to steer, the front wheel steering angle of the vehicle is maintained at the front wheel steering angle that occurs when the steering wheel angle reaches a steering wheel angle threshold.

[0079] In this embodiment, when the steering wheel angle of the vehicle is less than a steering wheel angle threshold, the front wheels of the vehicle are controlled to turn. The turning radius of the vehicle during the period of controlling the front wheel steering is the same as the turning radius when only the front wheels are controlled. During the period of controlling the rear wheel steering, the rear wheels of the vehicle are controlled, and the front wheels are not controlled, so that the turning radius of the vehicle during the period of controlling the rear wheel steering is the same as the turning radius when only the rear wheels are controlled.

[0080] The vehicle's turning radius during front-wheel steering is the same as when only the front wheels are controlled, and the vehicle's turning radius during rear-wheel steering is also the same. This allows the driver to become familiar with both the front-wheel and rear-wheel steering radii. Once the driver is familiar with the front-wheel steering radius, they can use a safer steering wheel maneuver when only the front wheels are controlled, thus improving steering safety. Similarly, once the driver is familiar with the rear-wheel steering radius, they can use a safer steering wheel maneuver when only the rear wheels are controlled, further enhancing steering safety.

[0081] refer to Figure 3 It shows a flowchart illustrating another method for controlling the steering of a vehicle provided in an embodiment of this application.

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

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

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

[0085] In this embodiment, when the front wheel angle of the vehicle reaches the maximum front wheel angle within its range, a limiting damping force is applied to the steering wheel. This takes into account that: typically, when only the front wheels are controlled during vehicle steering, the front wheel angle reaches its maximum when the steering wheel is turned to its maximum angle. After reaching the maximum steering wheel angle, the steering wheel cannot be turned further, which can be considered as applying a large damping force to the steering wheel. In this embodiment, when the front wheel angle reaches the maximum front wheel angle within its range, a limiting damping force is applied to the steering wheel. This large limiting damping force aligns with the driver's perception of the steering wheel's damping torque when only the front wheels are controlled during vehicle steering and the front wheel angle reaches its maximum, thus improving the driver's experience.

[0086] In this embodiment of the application, when the front wheel angle of the vehicle reaches the maximum front wheel angle within the range of front wheel angles, a limiting damping force is applied to the steering wheel of the vehicle. It also takes into account that when the front wheel angle of the vehicle reaches the maximum front wheel angle within the range of front wheel angles, it can be considered that the vehicle can no longer be steered by relying solely on the front wheels, 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 the need for the rear wheels of the vehicle 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, thereby improving the driver's experience.

[0087] In one possible implementation, the limiting damping force is the maximum damping force applied to the steering wheel of the vehicle during steering. After the driver applies a steering torque to the steering wheel greater than the limiting damping force, the components of the vehicle that apply damping force can apply a smaller damping force to the steering wheel relative to the limiting damping force.

[0088] The limiting damping force is the maximum damping force applied to the steering wheel during the vehicle's steering. It takes into account that applying this limiting damping force to the steering wheel when the steering angle reaches a threshold value allows the driver to perceive rear-wheel intervention in the steering. Since the driver has already perceived rear-wheel intervention, after applying a steering torque exceeding the limiting damping force, there is no need to apply further limiting damping force. A smaller damping force relative to the limiting damping force can be applied to the steering wheel, conserving vehicle energy.

[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 wheel steering of the vehicle is controlled. During the period of controlling the rear wheel steering, the front wheel steering of the vehicle is not controlled. When the steering wheel angle of the vehicle's steering wheel reaches the maximum steering wheel angle within the steering wheel angle range during the period of controlling the rear wheel steering, the rear wheel angle of the vehicle's rear wheels reaches the maximum rear wheel angle within the rear wheel angle range.

[0090] Typically, when only the front wheels of a vehicle are steered during a turn, the front wheel angle reaches its maximum when the steering wheel angle reaches its maximum range.

[0091] In this embodiment of the application, during the period of controlling the rear wheel steering of the vehicle, the steering wheel angle of the vehicle reaches the maximum steering wheel angle within the steering wheel angle range of the vehicle, the front wheel angle of the vehicle can be the maximum front wheel angle, and the rear wheel angle of the vehicle reaches the maximum rear wheel angle.

[0092] In this embodiment of the application, the characteristic of the vehicle's wheel angle when the steering wheel angle reaches its maximum is that the wheel angle reaches its maximum. This is consistent with the fact that the driver already knows that only the front wheels are controlled during the vehicle's steering period, and the characteristic of the vehicle's wheel angle when the steering wheel angle reaches its maximum is that the wheel angle reaches its maximum. This improves the driver's experience.

[0093] refer to Figure 4 It shows a schematic diagram of the steering wheel angle, steering wheel torque, front wheel angle, and rear wheel angle when controlling the steering of a vehicle.

[0094] In this example, the vehicle's front wheel steering is controlled when the steering wheel angle is less than a steering wheel angle threshold. During the period of controlling the vehicle's front wheel steering, the steering wheel angle can be gradually increased before the vehicle's steering wheel angle reaches the steering wheel angle threshold.

[0095] In this example, while the front wheels of the vehicle are being controlled to steer, the rear wheel angle is not controlled, the rear wheels do not move, and the rear wheel angle can be 0 degrees.

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

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

[0098] In this example, a limiting damping force is applied to the steering wheel when the steering wheel angle reaches a threshold. When the driver applies this limiting damping force to the steering wheel via the damping force application mechanism, a steering torque exceeding the limiting damping force is applied, causing the steering wheel to turn and the rear wheels to engage in steering. Rear-wheel steering begins shortly after the moment a steering torque exceeding the limiting damping force is applied.

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

[0100] In this example, during the control of the vehicle's rear wheel steering, the rear wheel steering angle of the vehicle's rear wheels can be gradually increased before the rear wheel steering angle of the vehicle reaches its maximum.

[0101] In the example example, during the rear-wheel steering of the vehicle, when the steering wheel angle of the vehicle reaches its maximum, the rear wheel angle of the vehicle reaches its maximum within the range of rear wheel angles.

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

[0103] This application provides an apparatus for controlling the steering of a vehicle. This apparatus is used to implement the above embodiments and preferred embodiments, and details already described will not be repeated. As used below, the term "unit" can refer to a combination of software and / or hardware that performs a predetermined function. Although the apparatus described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

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

[0105] The first control unit is used to control the steering of the front wheels of the vehicle when the steering wheel angle is less than a steering wheel angle threshold.

[0106] A limiting damping force application unit is used to apply a limiting damping force to the steering wheel of the vehicle when the steering wheel angle of the vehicle reaches a steering wheel angle threshold, wherein the limiting damping force is used by the driver of the vehicle to perceive the rear wheel intervention of the vehicle in steering.

[0107] In one possible implementation, the device for controlling the steering of the vehicle also includes:

[0108] The second control unit is used to control the rear wheel steering of the vehicle when the steering wheel angle of the vehicle's steering wheel is greater than a steering wheel angle threshold.

[0109] In one 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, such that the front wheel steering angle of the front wheels of the vehicle is maintained at the front wheel steering angle when the steering wheel angle of the vehicle's steering wheel reaches a steering wheel angle threshold during the period of controlling the rear wheel steering of the vehicle.

[0110] In one possible implementation, when the steering wheel angle of the vehicle reaches a 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.

[0111] In one possible implementation, when the steering wheel angle of the vehicle reaches the maximum steering wheel angle within the range of steering wheel angles during the control of the rear wheel steering of the vehicle, the rear wheel angle of the vehicle reaches the maximum rear wheel angle within the range of rear wheel angles.

[0112] In one possible implementation, the limiting damping force is the maximum damping force applied to the steering wheel of the vehicle during the steering process.

[0113] In one possible implementation, the vehicle's steering is either a low-speed steering or a U-turn, indicating that the vehicle's speed is less than a speed threshold.

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

[0115] Further functional descriptions of the above-mentioned units are the same as those in the corresponding embodiments described above, and will not be repeated here.

[0116] refer to Figure 5 This illustration shows a schematic diagram of a computer device provided in an embodiment of this application. The computer device includes one or more processors 10, a memory 20, and interfaces for connecting the various components, including high-speed interfaces and low-speed interfaces. The various components are interconnected via different buses and can be mounted on a common motherboard or otherwise installed as needed. The processors can process instructions executed within the computer device, including instructions stored in or on memory to display graphical information of a GUI on an external input / output device (such as a display device coupled to the interface). In some alternative implementations, multiple processors and / or multiple buses can be used with multiple memories and multiple memory modules, if desired. Similarly, multiple computer devices can be connected, each providing some of the necessary operations (e.g., as a server array, a group of blade servers, or a multiprocessor system).

[0117] Processor 10 may be a central processing unit, a network processor, or a combination thereof. Processor 10 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The programmable logic device may be a complex programmable logic device (CAMP), a field-programmable gate array (FPGA), a general-purpose array logic (GDA), or any combination thereof.

[0118] The memory 20 stores instructions executable by at least one processor 10 to cause the at least one processor 10 to perform the method shown in the above embodiments.

[0119] The memory 20 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the computer device. Furthermore, the memory 20 may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some alternative embodiments, the memory 20 may optionally include memory remotely located relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

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

[0121] The computer device also includes an input device 30 and an output device 40. The processor 10, memory 20, input device 30, and output device 40 can be connected via a bus or other means.

[0122] Input device 30 can receive input numerical or character information, and generate key signal inputs related to user settings and function control of the computer device, such as a touchscreen, keypad, mouse, trackpad, touchpad, joystick, one or more mouse buttons, trackball, joystick, etc. Output device 40 may include display devices, auxiliary lighting devices (e.g., LEDs), and haptic feedback devices (e.g., vibration motors). The aforementioned 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 touchscreen.

[0123] This application also provides a computer-readable storage medium. The methods described in this application can be implemented in hardware or firmware, or implemented as recordable on a storage medium, or implemented as computer code downloaded over a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and subsequently stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code. When the software or computer code is accessed and executed by the computer, processor, or hardware, the methods shown in the above embodiments are implemented.

[0124] A portion of the embodiments of this application can be applied as a computer program product, such as computer program instructions. When executed by a computer, these instructions, through the operation of the computer, can invoke or provide the methods and / or technical solutions according to the present invention. Those skilled in the art will 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. Accordingly, the ways in which computer program instructions are executed by a computer include, but are not limited to: the computer directly executing the instructions, or the computer compiling the instructions and then executing the corresponding compiled program, or the computer reading and executing the instructions, or the computer reading and installing the instructions and then executing the corresponding installed program. Here, the computer-readable medium can be any available computer-readable storage medium or communication medium accessible to a computer.

[0125] Although embodiments of this 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 this application, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A method of controlling steering of a vehicle, characterized by, The method comprises: controlling the front wheel steering of the vehicle when the steering wheel angle of the steering wheel of the vehicle is less than a steering wheel angle threshold value; applying 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 value, wherein the limit damping force is for the driver of the vehicle to perceive the rear wheel of the vehicle to intervene in the steering of the vehicle.

2. The method of claim 1, wherein, The method comprises: controlling the rear wheel steering of the vehicle when the steering wheel angle of the steering wheel of the vehicle is greater than a steering wheel angle threshold value.

3. The method of claim 2, wherein, The method further comprises: during the period of controlling the rear wheel steering of the vehicle, not controlling the front wheel steering of the vehicle, so that the front wheel angle of the front wheel of the vehicle remains the front wheel angle when the steering wheel angle of the steering wheel of the vehicle reaches a steering wheel angle threshold value during the period of controlling the rear wheel steering of the vehicle.

4. The method of claim 2, wherein, When the steering wheel angle of the steering wheel of the vehicle reaches a steering wheel angle threshold value, the front wheel angle of the front wheel of the vehicle reaches the maximum front wheel angle in the front wheel angle range of the front wheel of the vehicle.

5. The method of claim 4, wherein, When the steering wheel angle of the steering wheel of the vehicle reaches the maximum steering wheel angle in 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 wheel of the vehicle reaches the maximum rear wheel angle in the rear wheel angle range of the rear wheel of the vehicle.

6. The method of claim 1, wherein, The limit damping force is the maximum damping force applied to the steering wheel of the vehicle during the steering of the vehicle.

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

8. An apparatus for controlling steering of a vehicle, characterized by The device is installed on a vehicle, and the device comprises: a first control unit for controlling the front wheel steering of the vehicle when the steering wheel angle of the steering wheel of the vehicle is less than a steering wheel angle threshold value; a limit damping force application unit for applying 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 value, wherein the limit damping force is for the driver of the vehicle to perceive the rear wheel of the vehicle to intervene in the steering of the vehicle.

9. A computer device, comprising: comprise: a memory and a processor, which are communicatively connected to each other, and the memory stores computer instructions, and the processor executes the computer instructions to perform the method of any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions for causing a computer to execute the method of any one of claims 1 to 7.

11. A computer program product, characterised in that, comprise computer instructions for causing a computer to execute the method of any one of claims 1 to 7.

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