Recognition and control method and system for stall protection of rear wheel steering system

Abstract

The application provides a kind of rear wheel steering system's stall protection identification and control method and system, it is related to vehicle steering control technical field, the method includes obtaining actual motor current, actual rear wheel rotation angle, actual motor torque, actual rear wheel rotation speed, whole vehicle speed signal and target rear wheel rotation angle request value;Determine whether to meet stall determination condition based on these signals;While meeting, start timer to accumulate;When the threshold value is reached, determine stall and enter protection mode, reduce target motor current;In protection mode, determine to exit protection or report fault according to vehicle state or target rotation angle change.The application can accurately identify the stall condition of rear wheel steering system, effectively protect the drive motor from overheating damage, ensure vehicle safety, and can also distinguish between external stall (such as rear wheel stuck on the shoulder) and internal mechanical failure, and can restore normal operation of the system after the external stall cause is eliminated, and report in time when internal failure to remind maintenance.

Description

Technical Field

[0001] This invention relates to the field of vehicle steering control technology, and in particular to a method and system for identifying and controlling stall protection in a rear wheel steering system. Background Technology

[0002] Rear-wheel steering (RWS), also known as four-wheel steering, is an important component of modern vehicle chassis control systems. At low speeds, this system causes the rear wheels to turn in the opposite direction to the front wheels, significantly reducing the vehicle's turning radius and improving maneuverability in narrow road conditions. At medium to high speeds, the rear wheels turn in the same direction as the front wheels, effectively improving the vehicle's yaw rate and lateral acceleration response, enhancing stability and safety during high-speed lane changes or turns. Furthermore, in intelligent driving systems, rear-wheel steering can serve as a redundant backup in case of front-wheel steering failure, enabling safety functions such as emergency lane changes.

[0003] Currently, rear-wheel steering systems can be classified into various types according to their structure, including mechanical, hydraulic, electric, and hybrid types. Among them, electric rear-wheel steering systems have become the mainstream in the market due to their advantages such as fast response, high control precision, and low energy consumption. Electric systems achieve steering action by driving the rear wheel steering tie rods with a motor. The target steering angle is usually obtained by looking up tables or calculating models based on CAN signals such as vehicle speed, front wheel angle, and steering wheel angle, and then the execution command is issued by a domain controller or dedicated steering controller.

[0004] Currently, patents and literature have conducted extensive research on the target steering angle calculation, mechanical structure, center position calibration, end-point limit, and testing systems of rear-wheel steering systems. However, existing technologies have not yet provided an effective identification and protection mechanism for the stalling phenomenon that occurs in rear-wheel steering systems under special operating conditions (such as rear wheels getting stuck on the curb, or excessive internal friction due to mechanical failure).

[0005] In an electric rear-wheel steering system, the controller tracks the target steering angle using a closed-loop control strategy. When the system stalls, a continuous deviation exists between the actual and target steering angles. The controller continuously increases the motor output current to attempt to eliminate this deviation, causing a sharp rise in the motor winding temperature. If this condition persists, it can easily lead to motor overheating or even burnout, resulting in permanent damage. More seriously, if the motor fails at a non-neutral angle, the rear wheels will maintain a certain deflection angle, causing the vehicle to veer off course and severely impacting driving safety.

[0006] In summary, existing rear-wheel steering systems have significant gaps in terms of stall protection, and there is an urgent need for a technical solution that can adapt to different operating conditions and accurately identify stall states in order to improve the reliability and driving safety of rear-wheel steering systems. Summary of the Invention

[0007] To address this issue, this invention provides a method and system for identifying and controlling stall protection in a rear wheel steering system, which solves the problem of motor overheating and damage, as well as high vehicle safety risks, caused by the lack of an effective stall protection mechanism in the prior art.

[0008] To address the aforementioned problems, embodiments of the present invention provide a method for identifying and controlling stall protection in a rear-wheel steering system, the method comprising: S1: Obtain the operating status signal of the rear wheel steering system, including actual motor current, actual rear wheel angle, actual motor torque, actual rear wheel rotation speed, vehicle speed signal, and target rear wheel angle request value; S2: Determine whether the stall condition is met based on the operating status signal; S3: If multiple stall conditions are met simultaneously, start the timer to accumulate the results; S4: If the timer reaches the set time threshold, it is determined that a stalled state has occurred, and the stalled protection mode is entered, and the current output of the target motor is reduced. S5: In stall protection mode, determine whether to exit stall protection mode or report a fault based on vehicle operating status or target rear wheel angle changes.

[0009] Preferably, the stall determination conditions include a first determination condition, a second determination condition, and a third determination condition; The first determination condition is that the absolute value of the difference between the target rear wheel steering angle request value and the actual rear wheel steering angle exceeds the first set angle threshold. Second determination condition: The actual rear wheel rotation speed is lower than the set speed threshold; The third determination condition is that the actual motor current exceeds the set current threshold, and / or the actual motor torque exceeds the set torque threshold.

[0010] Preferably, during the accumulation process of the timer, if any one of the first determination condition, the second determination condition, or the third determination condition is no longer met, the timer is reset to zero.

[0011] Preferably, in the stall protection mode, determining whether to exit the stall protection mode or report a fault based on the vehicle's operating status or the target rear wheel steering angle includes: If the target rear wheel steering angle request value is detected to change in the opposite direction to the stall position, exit the stall protection state, clear the timer, and return to step S2.

[0012] Preferably, in the stall protection mode, determining whether to exit the stall protection mode or report a fault based on the vehicle's operating status or the target rear wheel steering angle further includes: If the vehicle is detected to change from a stationary state to a moving state, the stall protection state is exited, the timer is cleared, and the process returns to step S2.

[0013] Preferably, the step of determining whether to exit the stall protection state or report a fault based on the vehicle's operating status or target steering angle change further includes: If the vehicle is in motion and remains in the stalled state, it is determined to be an internal mechanical fault in the rear wheel steering system, and fault information is generated and sent to the vehicle's CAN network.

[0014] This invention also provides a stall protection identification and control system for a rear-wheel steering system. This system is used to implement the aforementioned stall protection identification and control method for a rear-wheel steering system, specifically including: The signal acquisition module is used to acquire the operating status signals of the rear wheel steering system, including the actual motor current, actual rear wheel angle, actual motor torque, actual rear wheel rotation speed, vehicle speed signal, and target rear wheel angle request value. A stall determination module is used to determine whether the stall determination conditions are met based on the operating status signal. The timing module is used to start a timer to accumulate when multiple stall conditions are met simultaneously; The protection control module is used to determine that a stalled state has occurred when the timer reaches a set time threshold, enter the stall protection mode, and reduce the current output of the target motor. The recovery judgment module is used to determine whether to exit the stall protection state or report a fault in the stall protection mode based on the vehicle's operating status or the change in the target rear wheel angle.

[0015] This invention also provides a vehicle that includes the aforementioned stall protection identification and control system for the rear wheel steering system.

[0016] This invention also provides an electronic device, which includes a processor, a memory, and a bus system. The processor and the memory are connected through the bus system. The memory is used to store instructions, and the processor is used to execute the instructions stored in the memory to realize the stall protection identification and control method of the rear wheel steering system described above.

[0017] This invention also provides a computer storage medium storing a computer software product, the computer software product including several instructions to cause a computer device to execute the aforementioned rear wheel steering system stall protection identification and control method.

[0018] As can be seen from the above technical solutions, this invention application has the following beneficial effects: (1) Effective protection of the drive motor and avoidance of permanent damage: This invention uses multiple conditions (the difference between the target and actual rear wheel angle exceeds the threshold, the rear wheel speed is lower than the threshold, and the motor current / torque exceeds the threshold) to jointly determine the stall condition. Once identified and the time reaches the threshold, it immediately enters the protection mode and reduces the target motor current output. This design can prevent the controller from continuously increasing the current during stall, which would cause the motor winding temperature to rise sharply, thereby preventing the motor from overheating and burning out, extending the motor's service life, and preventing the rear wheel steering system from permanently losing its steering ability due to motor damage.

[0019] (2) Ensuring vehicle driving safety and avoiding the risk of veering: In the prior art, if the motor is damaged due to stalling at a non-neutral angle, the rear wheels will maintain a deflection angle, causing the vehicle to veer off course. This invention, on the one hand, prevents motor damage through stall protection, thus avoiding this risk at the source; on the other hand, it sets up a flexible protection exit mechanism (such as a reverse change in the target steering angle, or the vehicle turning from stationary to moving), which can promptly restore the normal operation of the rear wheel steering system after the stalling cause is eliminated (such as leaving the road shoulder), ensuring that the vehicle always has stable steering ability under normal operating conditions and ensuring driving safety.

[0020] (3) Accurately distinguish fault types to facilitate timely repair and function recovery: This invention can accurately identify the cause of stalling by the vehicle's operating status. When the vehicle is stationary and stalling occurs, it is mostly due to external factors (such as the rear wheels getting stuck on the shoulder). The system can be restored to operation after the cause is eliminated. When the vehicle is in motion and stalling continues, it is determined to be an internal mechanical fault of the rear wheel steering system (such as mechanical deformation or excessive friction), and fault information is generated and sent to the vehicle's CAN network. This design avoids unnecessary long-term system downtime when there is external stalling and can promptly remind the driver to deal with internal faults, taking into account both system practicality and timely repair, and improving the overall reliability of the rear wheel steering system. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly described below. Referring to the drawings will make the features and advantages of the present invention clearer. The drawings are illustrative and should not be construed as limiting the present invention in any way. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein: Figure 1 A flowchart of a stall protection identification and control method for a rear wheel steering system provided by the present invention; Figure 2 This is the logic diagram for stall detection and protection in this invention; Figure 3 A block diagram of a stall protection identification and control system for a rear wheel steering system provided by the present invention; Figure 4This is an overall connection diagram of the rear wheel steering system in this invention; Figure 5 This is a signal flow diagram of the stall protection system in this invention. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] This specific embodiment aims to elaborate in detail the stall protection identification and control method and system for the rear wheel steering system proposed in this invention, in conjunction with the appendix. Figure 1 Figure 5 illustrates how those skilled in the art can clearly understand the implementation logic, parameter settings, and practical application scenarios of the technical solution, ensuring that the present invention can be completely reproduced. In the following embodiments, parameters not explicitly defined can be flexibly adjusted according to the rear-wheel steering system (RWS) configuration, motor parameters, and mechanical characteristics of different vehicle models, all of which fall within the protection scope of the present invention.

[0024] To address the problem of motor overheating and damage, and the high risk to vehicle safety caused by the lack of an effective stall protection mechanism in existing technologies, such as... Figure 1 As shown, this invention proposes a method for identifying and controlling stall protection in a rear-wheel steering system, the method comprising: S1: Obtain the operating status signal of the rear wheel steering system, including actual motor current, actual rear wheel angle, actual motor torque, actual rear wheel rotation speed, vehicle speed signal, and target rear wheel angle request value; S2: Determine whether the stall condition is met based on the operating status signal; S3: If multiple stall conditions are met simultaneously, start the timer to accumulate the results; S4: If the timer reaches the set time threshold, it is determined that a stalled state has occurred, and the stalled protection mode is entered, and the current output of the target motor is reduced. S5: In stall protection mode, determine whether to exit stall protection mode or report a fault based on vehicle operating status or target rear wheel angle changes.

[0025] As can be seen from the above technical solution, this invention proposes a stall protection identification and control method for a rear-wheel steering system. Through S1, it acquires operating status signals such as actual motor current, actual rear wheel angle, actual motor torque, actual rear wheel rotation speed, vehicle speed signal, and target rear wheel angle request value, providing data support for subsequent stall determination. Through S2, it determines whether the stall determination conditions are met based on the above operating status signals, initially screening potential stall conditions. Through S3, it starts a timer to accumulate when multiple stall determination conditions are met simultaneously, avoiding misjudgments caused by instantaneous signal interference and improving determination accuracy. Through S4, it determines stall when the timer reaches a set time threshold and enters protection mode, reducing the target motor current output to prevent the motor from overheating and being damaged due to continuous high current output. Through S5, in protection mode, it determines whether to exit protection or report a fault based on the vehicle's operating status or changes in the target rear wheel angle, realizing system function recovery after the elimination of external stall causes and timely early warning of internal mechanical faults. Ultimately, it solves the problem of motor overheating damage and high vehicle driving safety risks caused by the lack of an effective stall protection mechanism in the prior art.

[0026] The following is combined Figure 2 (Lockout determination and protection logic diagram) illustrates the method of the present invention, specifically including the following steps: In step S1, the operating status signal of the rear wheel steering system is acquired, including the actual motor current, actual rear wheel angle, actual motor torque, actual rear wheel rotation speed, vehicle speed signal, and target rear wheel angle request value.

[0027] In step S2, it is determined whether the stall condition is met based on the above operating status signal.

[0028] Specifically, the stall determination conditions include a first determination condition, a second determination condition, and a third determination condition; wherein, the first determination condition is: the absolute value of the difference between the target rear wheel steering angle request value and the actual rear wheel steering angle exceeds a first set angle threshold; the second determination condition is: the actual rear wheel rotation speed is lower than a set speed threshold; the third determination condition is: the actual motor current exceeds a set current threshold, and / or the actual motor torque exceeds a set torque threshold.

[0029] In step S3, if multiple stall conditions are met simultaneously, a timer is started to accumulate the values. During the timer accumulation process, if any one of the first, second, or third conditions is no longer met, the timer is reset to zero.

[0030] In step S4, if the timer reaches the set time threshold, it is determined that a stalled state has occurred, the stall protection mode is entered, and the current output of the target motor is reduced.

[0031] In step S5, under stall protection mode, it is determined whether to exit stall protection mode or report a fault based on the vehicle's operating status or the change in the target rear wheel angle.

[0032] Specifically, in stall protection mode, if the target rear wheel steering angle request value is detected to change in the opposite direction to the stall position, the stall protection state is exited, the timer is cleared, and the process returns to step S2.

[0033] In stall protection mode, if the vehicle is detected to change from a stationary state to a moving state, the stall protection mode is exited, the timer is cleared, and the process returns to step S2.

[0034] In stall protection mode, if the vehicle is in motion and remains stalled, it is determined to be an internal mechanical fault in the rear wheel steering system, and fault information is generated and sent to the vehicle's CAN network.

[0035] The following examples illustrate the implementation of this invention: Example 1: The vehicle is parked stationary on the side of the road with the rear wheels against the shoulder. When the driver turns the steering wheel, the rear-wheel steering system executes the steering intention in the opposite direction to that of the front wheels. However, because the rear wheels are stuck against the curb and cannot turn, the system recognizes that the stall condition is met, enters the protection mode, reduces the motor current, and prevents the motor from overheating.

[0036] Example 2: Reverse steering wheel rotation Based on Example 1, when the driver turns the steering wheel in the opposite direction, the target rear wheel steering angle request value changes inward. After the system detects this change, it exits the protection state and resumes normal control.

[0037] Example 3: Vehicle starts moving and leaves the shoulder When the vehicle starts moving away from the shoulder while in stall protection mode, the system detects that the vehicle has changed from a stationary state to a moving state, exits the protection mode, and the rear wheel steering system resumes normal operation.

[0038] Example 4: Internal mechanical failure While the vehicle is in motion, the rear wheel steering system fails to respond to the target angle request due to an internal mechanical failure. The system detects the continuous stall state, determines it as an internal fault, and sends fault information to the vehicle network to prompt the driver to repair it in time.

[0039] In summary, this invention achieves accurate identification and intelligent protection of the stall state of the rear wheel steering system through multi-condition joint judgment, timer accumulation mechanism, and setting of various exit conditions, effectively avoiding motor overheating damage and vehicle driving safety hazards, and improving the reliability and safety of the system.

[0040] like Figure 3As shown, this invention provides a stall protection identification and control system for a rear wheel steering system. This system is used to implement the aforementioned stall protection identification and control method for a rear wheel steering system, specifically including: The signal acquisition module 100 is used to acquire the operating status signals of the rear wheel steering system, including the actual motor current, actual rear wheel angle, actual motor torque, actual rear wheel rotation speed, vehicle speed signal, and target rear wheel angle request value. The stall determination module 200 is used to determine whether the stall determination conditions are met based on the operating status signal. The timing module 300 is used to start the timer to accumulate when multiple stall conditions are met simultaneously; The protection control module 400 is used to determine that a stalled state has occurred when the timer reaches a set time threshold, enter the stall protection mode, and reduce the current output of the target motor. The recovery judgment module 500 is used to determine whether to exit the stall protection state or report a fault in the stall protection mode based on the vehicle's operating status or the change in the target rear wheel angle.

[0041] The rear-wheel steering system stall protection identification and control system of the present invention is based on the existing electric rear-wheel steering system, and the overall architecture is shown in Figure 4 (overall connection diagram of the rear-wheel steering system). Figure 5 (Signal flow diagram of the stall protection system) shows that it specifically includes the following core components: Other vehicle controllers include domain controllers, vehicle control units (VCUs), and electronic power steering (EPS) controllers. These controllers interact with the rear-wheel steering system via the vehicle's CAN network. Examples of such interactions include target rear wheel steering angle requests from the domain controller, steering wheel angle signals from the EPS controller, vehicle speed signals from the VCU, and vehicle status information (lateral acceleration and yaw rate).

[0042] Rear wheel steering actuator: It consists of a drive motor (such as a permanent magnet synchronous motor) and a mechanical transmission mechanism (steering tie rod, gear mechanism), which is used to receive the current command from the motor controller and drive the rear wheel to rotate to the target angle; the actuator integrates an angle sensor (such as a Hall effect angle sensor) and a speed sensor to collect the actual rear wheel angle and the actual rear wheel rotation speed, respectively.

[0043] Motor controller: Integrated with the drive motor, it collects the actual motor current (through a current sampling resistor) and actual motor torque (through a torque calculation model or torque sensor) in real time, and receives the target motor current command issued by the stall protection identification and control system to adjust the motor output.

[0044] Stall protection identification and control system: As the core control unit, it can be integrated into the rear wheel steering controller itself. It obtains the above-mentioned operating status signals through the hardware interface and executes stall identification, timing, protection control and fault reporting logic. Its module composition is shown in Figure 3, including signal acquisition module 100, stall judgment module 200, timing module 300, protection control module 400 and recovery judgment module 500.

[0045] This embodiment provides a stall protection identification and control system for a rear-wheel steering system, used to implement the aforementioned stall protection identification and control method for a rear-wheel steering system. Therefore, the specific implementation of the stall protection identification and control system for the rear-wheel steering system can be found in the previous section on the implementation of the stall protection identification and control method for the rear-wheel steering system. For example, the signal acquisition module 100, stall determination module 200, timing module 300, protection control module 400, and recovery determination module 500 are respectively used to implement steps S1, S2, S3, S4, and S5 in the aforementioned stall protection identification and control method for the rear-wheel steering system. Therefore, its specific implementation can be referred to the descriptions of the corresponding embodiments. To avoid redundancy, further details are omitted here.

[0046] This invention provides a vehicle that includes the aforementioned stall protection identification and control system for the rear wheel steering system.

[0047] This invention provides an electronic device, which includes a processor, a memory, and a bus system. The processor and the memory are connected through the bus system. The memory is used to store instructions, and the processor is used to execute the instructions stored in the memory to realize the above-mentioned method for identifying and controlling stall protection in a rear wheel steering system.

[0048] This invention provides a computer storage medium storing computer software products, which include several instructions to cause a computer device to execute the aforementioned method for identifying and controlling stall protection in a rear wheel steering system.

[0049] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0050] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0051] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The functions specified in one or more boxes. These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable apparatus for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0052] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A method for identifying and controlling stall protection in a rear-wheel steering system, characterized in that, include: S1: Obtain the operating status signal of the rear wheel steering system, including actual motor current, actual rear wheel angle, actual motor torque, actual rear wheel rotation speed, vehicle speed signal, and target rear wheel angle request value; S2: Determine whether the stall condition is met based on the operating status signal; S3: If multiple stall conditions are met simultaneously, start the timer to accumulate the results; S4: If the timer reaches the set time threshold, it is determined that a stalled state has occurred, and the stalled protection mode is entered, and the current output of the target motor is reduced. S5: In stall protection mode, determine whether to exit stall protection mode or report fault based on vehicle operating status or target rear wheel angle change; The stall determination criteria include a first determination criterion, a second determination criterion, and a third determination criterion: The first determination condition is that the absolute value of the difference between the target rear wheel steering angle request value and the actual rear wheel steering angle exceeds the first set angle threshold. Second determination condition: The actual rear wheel rotation speed is lower than the set speed threshold; The third determination condition is: the actual motor current exceeds the set current threshold, and / or the actual motor torque exceeds the set torque threshold; In the stall protection mode, determining whether to exit the stall protection mode or report a fault based on the vehicle's operating status or the target rear wheel steering angle includes: If the target rear wheel steering angle request value is detected to change in the opposite direction to the stall position, exit the stall protection state, clear the timer and return to step S2; If the vehicle is detected to change from a stationary state to a moving state, the stall protection state is exited, the timer is cleared, and the process returns to step S2. If the vehicle is in motion and remains in the stalled state, it is determined to be an internal mechanical fault in the rear wheel steering system, and fault information is generated and sent to the vehicle's CAN network.

2. The method for identifying and controlling stall protection in a rear wheel steering system according to claim 1, characterized in that, During the accumulation process of the timer, if any one of the first, second, or third determination conditions is no longer met, the timer is reset to zero.

3. A stall protection identification and control system for a rear wheel steering system, characterized in that, The system is used to implement the stall protection identification and control method for the rear wheel steering system according to any one of claims 1 to 2, specifically including: The signal acquisition module is used to acquire the operating status signals of the rear wheel steering system, including the actual motor current, actual rear wheel angle, actual motor torque, actual rear wheel rotation speed, vehicle speed signal, and target rear wheel angle request value. A stall determination module is used to determine whether the stall determination conditions are met based on the operating status signal. The timing module is used to start a timer to accumulate when multiple stall conditions are met simultaneously; The protection control module is used to determine that a stalled state has occurred when the timer reaches a set time threshold, enter the stall protection mode, and reduce the current output of the target motor. The recovery judgment module is used to determine whether to exit the stall protection state or report a fault in the stall protection mode based on the vehicle's operating status or the change in the target rear wheel angle.

4. A vehicle, characterized in that, Includes the stall protection identification and control system for the rear wheel steering system as described in claim 3.

5. An electronic device, characterized in that, The electronic device includes a processor, a memory, and a bus system. The processor and the memory are connected through the bus system. The memory is used to store instructions, and the processor is used to execute the instructions stored in the memory to implement the stall protection identification and control method for the rear wheel steering system according to any one of claims 1 to 2.

6. A computer storage medium, characterized in that, The computer storage medium stores a computer software product, which includes several instructions to cause a computer device to execute the stall protection identification and control method for the rear wheel steering system according to any one of claims 1 to 2.

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