Tire steering control method and device, storage medium, electronic device and computer program product
By acquiring and intervening in the control of tire steering parameters through the functional safety layer, the problem of exceeding the safety boundary when tire steering control is abnormal is solved, and the stability and safety of the vehicle are effectively restored.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-12
- Publication Date
- 2026-03-13
AI Technical Summary
Existing tire steering control systems lack effective intervention mechanisms in abnormal situations, resulting in conservative measures being taken when safety boundaries are exceeded, making it impossible to effectively recover and retry.
The system obtains the requested parameter value of the steering parameters through the functional safety layer of the target vehicle, uses the vehicle parameters to determine the second parameter value for intervention control, and guides the tire steering angle back to zero degrees or locks it at a safe angle when the abnormality persists, so as to ensure vehicle stability.
When tire steering control malfunctions, the intervention mechanism of the functional safety layer prevents the vehicle from losing control, ensures vehicle safety and stability, and provides an effective control recovery mechanism.
Smart Images
Figure CN121650641A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of vehicle technology, and more specifically, to a tire steering control method and device, storage medium, electronic device, and computer program product. Background Technology
[0002] With the continuous development of autonomous driving technology and Advanced Driver Assistance Systems (ADAS), vehicle steering control strategies are becoming increasingly complex. Active tire steering, a key function for improving vehicle handling and stability, allows the rear wheels to perform limited-angle steering operations based on vehicle driving conditions and driver input, thereby enhancing cornering performance and driving safety.
[0003] However, existing active steering safety features are based on determining the rear-wheel steering mode to be executed based on input information from vehicle bus signals. Once the requested steering angle or control speed exceeds the preset safety boundary, existing systems typically take the most conservative measures, attempting control at the maximum safe value, without considering how the safety mode would recover and retry after the safety boundary is triggered, thus lacking an effective control mechanism.
[0004] There is currently no effective solution to the problem of the lack of an effective intervention mechanism when tire steering control malfunctions in existing technologies. Summary of the Invention
[0005] This application provides a tire steering control method and apparatus, storage medium, electronic device, and computer program product to at least address the problem of lack of an effective intervention mechanism when tire steering control is abnormal.
[0006] According to one aspect of the embodiments of this application, a tire steering control method is provided, comprising: obtaining request parameter values of steering parameters determined by the functional application layer of a target vehicle based on vehicle data, wherein the steering parameters include the required steering angle and / or the rate of change of the required steering angle of the tires of the target vehicle; and, if the requested parameter values are all greater than a first parameter value within a first preset time period, intervening to control the tire steering of the target vehicle through the functional safety layer of the target vehicle, wherein the first parameter value is the parameter value of the steering parameters determined by the functional safety layer based on the vehicle data.
[0007] In an exemplary embodiment, intervening in the tire steering of the target vehicle through the functional safety layer of the target vehicle includes: determining a second parameter value of the steering parameter based on the parameter values of the vehicle parameters of the target vehicle through the functional safety layer of the target vehicle, wherein the vehicle parameters include at least one of the following: vehicle speed, steering wheel angle, tire angle, lateral acceleration, and yaw rate; the second parameter value is less than the first parameter value; and controlling the tire steering of the target vehicle based on the second parameter value through the functional safety layer.
[0008] In an exemplary embodiment, determining a second parameter value of the steering parameter based on the parameter values of the vehicle parameters of the target vehicle includes: determining a second parameter value of the steering parameter from a preset relationship based on the parameter values of the vehicle parameters, wherein the preset relationship has a correspondence between different parameter values of the vehicle parameters and the parameter values of the steering parameter.
[0009] In an exemplary embodiment, after the functional safety layer controls the tire steering of the target vehicle based on the second parameter value, the method further includes: if the requested parameter value is greater than the first parameter value within a second preset time period, determining a target number of times the functional safety layer controls the functional application layer to restart, wherein the duration corresponding to the second preset time period is greater than the duration corresponding to the first preset time period; if the target number is less than a preset number, guiding the tire steering angle of the target vehicle to return to zero degrees through the functional safety layer, controlling the functional application layer to restart, and incrementing the target number by one.
[0010] In an exemplary embodiment, the method further includes: when the target number is greater than or equal to the preset number, locking the tire steering angle of the target vehicle at a preset safety angle through the functional safety layer, and locking the tire steering angle of the target vehicle at zero degrees at a target time, wherein the target time includes at least one of the following: the steering wheel angle of the target vehicle is zero degrees, and the target vehicle is stationary.
[0011] In one exemplary embodiment, after locking the tire steering angle of the target vehicle to zero degrees at a target timing, the method further includes: releasing the lock of the tire steering of the target vehicle after a sleep-wake cycle of the vehicle controller of the target vehicle.
[0012] In an exemplary embodiment, after intervening to control the tire steering of the target vehicle through the functional safety layer of the target vehicle, the method further includes: controlling the tire steering of the target vehicle through the functional application layer when the speed of the target vehicle is less than a preset speed, the requested parameter value is less than the first parameter value, and the actual steering angle of the tires of the target vehicle is equal to the required steering angle.
[0013] According to another aspect of the embodiments of this application, a tire steering control device is also provided, comprising: an acquisition module, configured to acquire request parameter values of steering parameters determined by the functional application layer of a target vehicle based on vehicle data, wherein the steering parameters include the required steering angle of the tires of the target vehicle and / or the rate of change of the required steering angle; and a control module, configured to intervene and control the tire steering of the target vehicle through the functional safety layer of the target vehicle when the requested parameter values are all greater than a first parameter value within a first preset time period, wherein the first parameter value is the parameter value of the steering parameters determined by the functional safety layer based on the vehicle data.
[0014] According to another aspect of the embodiments of this application, a computer-readable storage medium is also provided, wherein a computer program is stored in the computer program, and the computer program is configured to execute the above-described tire steering control method when it is run.
[0015] According to another aspect of the embodiments of this application, an electronic device is also provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the above-described tire steering control method through the computer program.
[0016] According to another aspect of the embodiments of this application, a computer program product is also provided, including a computer program that, when executed by a processor, implements the steps of the methods described in various embodiments of this application.
[0017] This invention obtains the requested parameter values of the steering parameters determined by the functional application layer of the target vehicle. When the requested parameter values are all greater than the first parameter value for a period of time, i.e., when the tire steering control is abnormal, the functional safety layer of the target vehicle intervenes to control the tire steering. Because the functional safety layer intervenes to control the tire steering of the target vehicle when tire steering control is abnormal, the problem of lacking an effective intervention mechanism when tire steering control is abnormal is solved. Attached Figure Description
[0018] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.
[0019] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0020] Figure 1 This is a flowchart of an optional tire steering control method according to an embodiment of this application;
[0021] Figure 2 This is a schematic diagram of an optional functional security layer architecture according to an embodiment of this application;
[0022] Figure 3 This is a schematic diagram of an optional functional safety layer intervention control according to an embodiment of this application;
[0023] Figure 4 This is a structural block diagram of an optional tire steering control device according to an embodiment of this application. Detailed Implementation
[0024] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.
[0025] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.
[0026] To address the technical problems existing in related technologies, this embodiment provides a tire steering control method. Figure 1 This is a flowchart of an optional tire steering control method according to an embodiment of this application, the process including the following steps S102-S104:
[0027] Step S102: Obtain the requested parameter values of the steering parameters determined by the functional application layer of the target vehicle based on the vehicle data, wherein the steering parameters include the required steering angle of the tires of the target vehicle and / or the rate of change of the required steering angle.
[0028] Optionally, the tire steering in this application is rear-wheel steering, that is, the steering parameters include the required steering angle of the rear wheels of the target vehicle and / or the rate of change of the required steering angle.
[0029] Optionally, the process by which the functional application layer determines the requested steering parameter values based on vehicle data typically involves real-time assessment of the vehicle's state and understanding of driving intentions. Specifically, the functional application layer comprehensively analyzes vehicle data obtained from the vehicle bus (including but not limited to vehicle speed, steering wheel angle, yaw rate, and lateral acceleration), and calculates the target vehicle's tire required steering angle and / or the rate of change of required steering angle, i.e., the requested steering parameter values, using vehicle dynamics control algorithms.
[0030] Optionally, the vehicle dynamics control algorithm includes, but is not limited to: proportional-integral-derivative control algorithm (PID control algorithm), adaptive algorithm, sliding mode control algorithm, model predictive control algorithm, adaptive control algorithm, fuzzy logic control algorithm, Kalman filter algorithm, state feedback control algorithm, etc.
[0031] It should be noted that the PID control algorithm combines vehicle data and adjusts the steering angle of the rear wheels by setting proportional (P), integral (I), and derivative (D) coefficients to reduce lateral slip and improve vehicle stability.
[0032] It should be noted that the sliding mode control algorithm, by designing sliding surfaces and sliding mode control laws, can ensure that the vehicle remains stable under various road conditions and effectively control the steering angle of the tires.
[0033] It should be noted that the Kalman filter algorithm can fuse data from multiple sensors, such as vehicle speed, steering wheel angle, yaw rate, and lateral acceleration, to estimate the required steering angle and / or the rate of change of the required steering angle, while reducing noise and improving estimation accuracy.
[0034] It should be noted that in practical applications, the functional application layer may use a combination of one or more of the above algorithms to calculate the required steering angle and / or the rate of change of the required steering angle in real time according to the specific scenario and vehicle characteristics, so as to achieve active steering control and enhance the driving safety of the vehicle.
[0035] Step S104: If all requested parameter values are greater than the first parameter value within a first preset time period, the tire steering of the target vehicle is intervened and controlled by the functional safety layer of the target vehicle, wherein the first parameter value is the parameter value of the steering parameter determined by the functional safety layer based on the vehicle data.
[0036] Optionally, the functional safety layer determines the safety parameter value of the steering parameter based on the vehicle data, and the algorithm by which the functional safety layer calculates the safety parameter value of the steering parameter based on the vehicle data is the same as the algorithm by which the functional application layer calculates the requested parameter value of the steering parameter based on the vehicle data.
[0037] Optionally, under normal circumstances, the security parameter value is equal to the request parameter value, the first parameter value is greater than the security parameter value, and the first parameter value is the security parameter value plus a preset parameter.
[0038] Optionally, refer to Figure 2 The requested parameter values include steering angle (rear turn request angle) and / or the rate of change of required steering angle (rear turn request slope). The first parameter value includes steering angle (rear turn safety angle) and / or the rate of change of required steering angle (rear turn safety slope). The functional safety layer will compare the first parameter value with the requested parameter value in real time. When the requested parameter value exceeds the first parameter value within a certain period of time (i.e., the first preset time), it indicates that the functional application layer has an anomaly, and the functional safety layer will then intervene in the steering of the tires to control it.
[0039] For example, if the steering angle in the requested parameter value of the steering parameters determined by the functional application layer is 110 degrees, and the steering angle in the first parameter value determined by the functional safety layer is 100 degrees, when the requested parameter value reaches 110 degrees for 5 seconds, the functional safety layer will intervene in the steering of the tires to control it.
[0040] Through the above steps, the requested parameter values of the steering parameters determined by the functional application layer of the target vehicle are obtained. When the requested parameter values are all greater than the first parameter value for a period of time, i.e., when the tire steering control is abnormal, the functional safety layer of the target vehicle intervenes to control the tire steering. Because the functional safety layer intervenes to control the tire steering of the target vehicle when the tire steering control is abnormal, the problem of lacking an effective intervention mechanism when tire steering control is abnormal is solved.
[0041] In an exemplary embodiment, the tire steering of the target vehicle can be intervened and controlled through the functional safety layer of the target vehicle via the following steps S11-S12:
[0042] Step S11: Based on the parameter values of the vehicle parameters of the target vehicle, determine the second parameter value of the steering parameter through the functional safety layer of the target vehicle, wherein the vehicle parameters include at least one of the following: vehicle speed, steering wheel angle, tire angle, lateral acceleration, and yaw rate; the second parameter value is less than the first parameter value;
[0043] Optionally, the second parameter value is the maximum steering angle and / or steering angle change rate that the functional safety layer will determine based on the parameter values of the vehicle parameters.
[0044] Step S12: Control the tire steering of the target vehicle based on the second parameter value through the functional safety layer.
[0045] Optionally, when the requested parameter value exceeds the first parameter value, it indicates that an anomaly has occurred in the functional application layer. The functional safety layer enters the first intervention stage, which means it will intervene in the tire steering to control it. That is, it outputs a second parameter value to control the tire steering of the target vehicle. For example, if the second parameter value determined by the functional safety layer includes a tire steering angle of 60 degrees, then the tires of the target vehicle will turn at 60 degrees.
[0046] In an exemplary embodiment, determining the second parameter value of the steering parameter based on the parameter values of the vehicle parameters of the target vehicle can be achieved through the following steps: determining the second parameter value of the steering parameter from a preset relationship according to the parameter values of the vehicle parameters, wherein the preset relationship has a correspondence between different parameter values of the vehicle parameters and the parameter values of the steering parameter.
[0047] Optionally, in the preset relationship, when the vehicle speed is high, a smaller rear wheel steering angle is used to maintain vehicle stability; when the vehicle speed is low, a larger rear wheel steering angle is used to improve vehicle agility. For example, when the vehicle speed is 20 km / h, the tire steering angle in the second parameter determined by the functional safety layer is 60 degrees.
[0048] Optionally, refer to Figure 3 If the functional application layer returns to normal within a preset time after the functional safety layer intervenes to control the tire steering of the target vehicle, the functional safety layer exits control, and the functional application layer resumes control of the tire steering. The preset time corresponds to a duration that is less than the duration corresponding to the first preset time.
[0049] In an exemplary embodiment, after controlling the tire steering of the target vehicle based on the second parameter value through the functional safety layer, the method further includes the following steps S21-S22:
[0050] Step S21: If the value of the request parameter is greater than the value of the first parameter within the second preset time, determine the target number of times the functional security layer controls the functional application layer to restart, wherein the duration corresponding to the second preset time is greater than the duration corresponding to the first preset time.
[0051] Step S22: If the target number is less than the preset number, guide the tire steering angle of the target vehicle to return to zero degrees through the functional safety layer, control the functional application layer to restart, and increment the target number by one.
[0052] Optionally, if the requested parameter values are all greater than the first parameter value within the second preset time, it indicates that the functional application layer cannot recover to normal for a long time, that is, it cannot recover to the parameter range allowed by the functional safety layer. The functional safety layer will enter the second intervention stage, that is, guide the tire steering angle of the target vehicle to return to zero degrees, control the functional application layer to restart, and record the number of restarts of the functional application layer.
[0053] For example, if the functional application layer malfunctions for 5 seconds, the functional safety layer will intervene. If the functional application layer returns to normal after 2 seconds of intervention, the functional safety layer will withdraw from control, and the functional application layer will regain control of the tire steering. If the functional application layer malfunctions for 8 seconds, the functional safety layer will guide the tire steering angle of the target vehicle back to zero degrees and control the functional application layer to restart.
[0054] It should be noted that the functional safety layer guides the tire steering angle of the target vehicle back to zero degrees, ensuring that the vehicle will not lose control due to abnormal rear wheel steering, even when the rear wheel steering angle returns to zero degrees, i.e., the vehicle is in a straight-line driving state.
[0055] Optionally, refer to Figure 3 If the functional application layer returns to normal after two restarts, the functional safety layer exits control, and the functional application layer resumes control of the tire steering.
[0056] In an exemplary embodiment, the method further includes the following steps: when the target number is greater than or equal to the preset number, locking the tire steering angle of the target vehicle at a preset safety angle through the functional safety layer, and locking the tire steering angle of the target vehicle at zero degrees at a target time, wherein the target time includes at least one of the following: the steering wheel angle of the target vehicle is zero degrees, and the target vehicle is stationary.
[0057] Optionally, the preset number of times is 3. When the number of times the functional application layer restarts is 3, it means that the functional application layer has restarted too many times and it can no longer recover normally. The functional safety layer enters the third intervention stage. The functional safety layer will lock the tire steering angle of the target vehicle at a preset safety angle, and lock the tire steering angle of the target vehicle at zero degrees when the steering wheel angle of the target vehicle is zero degrees and / or when the target vehicle is stationary.
[0058] In an exemplary embodiment, after locking the tire steering angle of the target vehicle to zero degrees at a target time, the method further includes the step of: releasing the tire steering lock of the target vehicle after a sleep-wake cycle of the vehicle controller of the target vehicle.
[0059] Optionally, the sleep-wake cycle is 10 seconds, that is, after the tire steering angle of the target vehicle is locked at zero degrees for 10 seconds, the functional safety layer will release the lock of the tire steering of the target vehicle.
[0060] In an exemplary embodiment, after intervening to control the tire steering of the target vehicle through the functional safety layer of the target vehicle, the method further includes the following steps: when the speed of the target vehicle is less than a preset speed, the requested parameter value is less than the first parameter value, and the actual steering angle of the tires of the target vehicle is equal to the required steering angle, controlling the tire steering of the target vehicle through the functional application layer.
[0061] It should be noted that when the target vehicle's speed is less than the preset speed, the requested parameter value is less than the first parameter value, and the actual steering angle of the target vehicle's tires is equal to the required steering angle, the functional application layer returns to normal, the functional safety layer exits control, and the functional application layer resumes control of the tire steering.
[0062] Obviously, the embodiments described above are merely some embodiments of the present invention, and not all embodiments. To better understand the above method, the following description, in conjunction with embodiments, illustrates the process, but is not intended to limit the technical solutions of the embodiments of the present invention. Specifically:
[0063] After the vehicle controller determines the rear-wheel steering mode based on the vehicle bus signal input information, if an abnormality occurs in the rear wheel steering angle or control speed during the rear-wheel steering operation, the vehicle controller should actively control the rear-wheel steering according to the abnormal state and the actual state of the vehicle. This process can be roughly divided into three stages:
[0064] I. Post-function safety assessment stage;
[0065] Based on vehicle bus signal inputs such as vehicle speed, steering wheel angle, yaw rate and lateral acceleration, the functional application layer requests a back turn demand angle. The functional safety layer will combine relevant signals to determine a safe back turn angle. When the demand angle requested by the functional application layer and the slope of the demand angle change continuously exceed the safe angle and safe slope limits, a back turn functional safety anomaly judgment will be triggered.
[0066] II. Post-transfer functional safety intervention stage;
[0067] After a rear turn safety anomaly is triggered, the rear turn safety intervention phase will begin. At this time, the safety layer will select an intervention method to control the rear turn based on the rear turn angle request from the application layer, the steering wheel angle, the actual rear turn angle, and the vehicle speed. Simultaneously, the number of interventions will be counted. There are three intervention methods:
[0068] 1. Limit the maximum controllable angle and control slope of the backspin turn;
[0069] After a rear-turn safety anomaly occurs, the safety layer will limit the maximum controllable rear-turn angle and control slope based on the steering wheel angle and vehicle speed, ensuring that the rear-turn actually operates within a safe range. If the safety anomaly is resolved, the safety exit will be triggered; if the anomaly persists for an extended period, the intervention method will be upgraded to actively control the rear-turn to return to zero degrees.
[0070] 2. After active control, return to zero degree;
[0071] If the angle at the functional application layer cannot be restored to the range allowed by the functional safety layer for an extended period, the functional safety layer will proactively guide the backswing back to zero degrees and attempt to guide the functional application layer to re-run the control flow. If both the functional application layer and the actual backswing angle can return to zero degrees, a functional safety exit will be triggered. If multiple interventions occur, the intervention method will be upgraded to actively locking the backswing angle.
[0072] 3. Actively lock the rotation angle;
[0073] When the functional safety layer detects multiple abnormal interventions, it will lock the turn request angle to a safe state. Depending on the vehicle speed and turn angle, the turn will be locked at zero using a safe angle slope. Once the active lock is triggered, it will not exit; it will only recover after the vehicle controller completes a sleep-wake cycle.
[0074] III. Safe exit phase of the back-end function;
[0075] When the vehicle speed is below a certain speed, and the functional application layer requests recovery of the abnormal angle and the actual angle meets the requirements, the safe exit of the turn function is triggered. After the safe exit of the turn function, the active control of the turn will be returned to the functional application layer.
[0076] It should be noted that when an angle or slope request exceeds the design safety boundary during the control of rear wheel steering, the system will actively intervene to control the rear wheel steering, which can maintain the vehicle's attitude in a safe and controllable state and reduce the risk of customer instability.
[0077] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods of the various embodiments of this application.
[0078] This embodiment also provides a tire steering control device for implementing the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" 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.
[0079] Figure 4 This is a structural block diagram of an optional tire steering control device according to an embodiment of this application; as shown... Figure 4 As shown, the tire steering control device includes:
[0080] The acquisition module 42 is used to acquire the requested parameter values of the steering parameters determined by the functional application layer of the target vehicle based on the vehicle data, wherein the steering parameters include the required steering angle of the tires of the target vehicle and / or the rate of change of the required steering angle.
[0081] The control module 44 is used to intervene and control the tire steering of the target vehicle through the functional safety layer of the target vehicle when the requested parameter values are all greater than the first parameter value within a first preset time. The first parameter value is the parameter value of the steering parameter determined by the functional safety layer based on the vehicle data.
[0082] The aforementioned device acquires the requested parameter values for steering parameters determined by the functional application layer of the target vehicle. When the requested parameter values are all greater than the first parameter value for a period of time, indicating an abnormality in tire steering control, the functional safety layer of the target vehicle intervenes to control the tire steering. Because the functional safety layer intervenes to control the tire steering of the target vehicle when tire steering control is abnormal, the problem of lacking an effective intervention mechanism when tire steering control is abnormal is solved.
[0083] In an exemplary embodiment, the control module 44 is further configured to determine a second parameter value of the steering parameter based on the parameter values of the vehicle parameters of the target vehicle through the functional safety layer of the target vehicle, wherein the vehicle parameters include at least one of the following: vehicle speed, steering wheel angle, tire angle, lateral acceleration, and yaw rate; the second parameter value is less than the first parameter value; and control the tire steering of the target vehicle based on the second parameter value through the functional safety layer.
[0084] In an exemplary embodiment, the control module 44 is further configured to determine a second parameter value of the steering parameter from a preset relationship based on the parameter values of the vehicle parameters, wherein the preset relationship has a correspondence between different parameter values of the vehicle parameters and the parameter values of the steering parameter.
[0085] In an exemplary embodiment, the above-described apparatus further includes: a processing module, configured to, after controlling the tire steering of the target vehicle based on the second parameter value through the functional safety layer, if the requested parameter value is greater than the first parameter value within a second preset time period, determine a target number of times the functional safety layer controls the functional application layer to restart, wherein the duration corresponding to the second preset time period is greater than the duration corresponding to the first preset time period; if the target number is less than a preset number, guide the tire steering angle of the target vehicle to return to zero degrees through the functional safety layer, control the functional application layer to restart, and increment the target number by one.
[0086] In an exemplary embodiment, the processing module is further configured to, when the target number is greater than or equal to the preset number, lock the tire steering angle of the target vehicle at a preset safety angle through the functional safety layer, and lock the tire steering angle of the target vehicle at zero degrees at a target timing, wherein the target timing includes at least one of the following: the steering wheel angle of the target vehicle is zero degrees, and the target vehicle is stationary.
[0087] In an exemplary embodiment, the processing module is further configured to, after locking the tire steering angle of the target vehicle to zero degrees at a target time, release the lock of the tire steering of the target vehicle after a sleep-wake cycle of the vehicle controller of the target vehicle.
[0088] In an exemplary embodiment, the control module 44 is further configured to control the tire steering of the target vehicle through the functional application layer after intervening in the tire steering control of the target vehicle through the functional safety layer of the target vehicle, when the speed of the target vehicle is less than the preset speed, the requested parameter value is less than the first parameter value, and the actual steering angle of the tires of the target vehicle is equal to the required steering angle.
[0089] Embodiments of this application also provide a storage medium including a stored program, wherein the program executes any of the methods described above when it is run.
[0090] Optionally, in this embodiment, the storage medium may be configured to store program code for performing the following steps:
[0091] S1, obtain the requested parameter values of the steering parameters determined by the functional application layer of the target vehicle based on the vehicle data, wherein the steering parameters include the required steering angle of the tires of the target vehicle and / or the rate of change of the required steering angle.
[0092] S2, if the requested parameter values are all greater than the first parameter value within a first preset time, the tire steering of the target vehicle is intervened and controlled by the functional safety layer of the target vehicle, wherein the first parameter value is the parameter value of the steering parameter determined by the functional safety layer based on the vehicle data.
[0093] Embodiments of this application also provide an electronic device including a memory and a processor. The memory stores a computer program, and the processor is configured to run the computer program to perform the steps in any of the above method embodiments. Optionally, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor, and the input / output device is connected to the processor.
[0094] Optionally, in this embodiment, the processor can be configured to perform the following steps via a computer program:
[0095] S1, obtain the requested parameter values of the steering parameters determined by the functional application layer of the target vehicle based on the vehicle data, wherein the steering parameters include the required steering angle of the tires of the target vehicle and / or the rate of change of the required steering angle.
[0096] S2, if the requested parameter values are all greater than the first parameter value within a first preset time, the tire steering of the target vehicle is intervened and controlled by the functional safety layer of the target vehicle, wherein the first parameter value is the parameter value of the steering parameter determined by the functional safety layer based on the vehicle data.
[0097] Optionally, in this embodiment, the storage medium may include, but is not limited to, various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.
[0098] Embodiments of this application also provide a computer program product, including a non-volatile computer-readable storage medium storing the computer program product, wherein the computer program, when executed by a processor, implements the steps of the methods described in various embodiments of this application.
[0099] Optionally, in this embodiment, the computer program described above can be configured to perform the following steps when executed by a processor:
[0100] S1, obtain the requested parameter values of the steering parameters determined by the functional application layer of the target vehicle based on the vehicle data, wherein the steering parameters include the required steering angle of the tires of the target vehicle and / or the rate of change of the required steering angle.
[0101] S2, if the requested parameter values are all greater than the first parameter value within a first preset time, the tire steering of the target vehicle is intervened and controlled by the functional safety layer of the target vehicle, wherein the first parameter value is the parameter value of the steering parameter determined by the functional safety layer based on the vehicle data.
[0102] Optionally, specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementations, which will not be repeated here. Obviously, those skilled in the art should understand that the modules or steps of this application described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. Optionally, they can be implemented using computer-executable program code, thereby storing them in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than presented here, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, this application is not limited to any specific hardware and software combination.
[0103] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the principles of this application should be included within the protection scope of this application.
Claims
1. A method for controlling tire steering, characterized in that, include: The application layer of the target vehicle obtains the requested parameter values of the steering parameters determined by the vehicle data, wherein the steering parameters include the required steering angle of the tires of the target vehicle and / or the rate of change of the required steering angle. If all requested parameter values are greater than the first parameter value within a first preset time period, the tire steering of the target vehicle is intervened and controlled by the functional safety layer of the target vehicle, wherein the first parameter value is the parameter value of the steering parameter determined by the functional safety layer based on the vehicle data.
2. The method according to claim 1, characterized in that, Intervention control of tire steering of the target vehicle through the functional safety layer of the target vehicle includes: The second parameter value of the steering parameter is determined based on the parameter values of the vehicle parameters of the target vehicle through the functional safety layer of the target vehicle, wherein the vehicle parameters include at least one of the following: vehicle speed, steering wheel angle, tire angle, lateral acceleration, and yaw rate; the second parameter value is less than the first parameter value; The functional safety layer controls the tire steering of the target vehicle based on the second parameter value.
3. The method according to claim 2, characterized in that, Determining the second parameter value of the steering parameter based on the parameter values of the vehicle parameters of the target vehicle includes: The second parameter value of the steering parameter is determined from a preset relationship based on the parameter value of the vehicle parameter, wherein the preset relationship contains a correspondence between different parameter values of the vehicle parameter and the parameter value of the steering parameter.
4. The method according to claim 2, characterized in that, After controlling the tire steering of the target vehicle based on the second parameter value through the functional safety layer, the method further includes: If the value of the request parameter is greater than the value of the first parameter within a second preset time, the target number of times the functional security layer controls the functional application layer to restart is determined, wherein the duration corresponding to the second preset time is greater than the duration corresponding to the first preset time; If the target number is less than the preset number, the functional safety layer guides the tire steering angle of the target vehicle to return to zero degrees, controls the functional application layer to restart, and increments the target number by one.
5. The method according to claim 4, characterized in that, The method further includes: When the target number is greater than or equal to the preset number, the tire steering angle of the target vehicle is locked at a preset safety angle through the functional safety layer, and the tire steering angle of the target vehicle is locked at zero degrees at the target timing, wherein the target timing includes at least one of the following: the steering wheel angle of the target vehicle is zero degrees, and the target vehicle is stationary.
6. The method according to claim 5, characterized in that, After locking the tire steering angle of the target vehicle to zero degrees at the target timing, the method further includes: After a sleep-wake cycle of the vehicle controller of the target vehicle, the tire steering lock of the target vehicle is released.
7. The method according to any one of claims 1 to 6, characterized in that, After intervening to control the tire steering of the target vehicle through the functional safety layer of the target vehicle, the method further includes: controlling the tire steering of the target vehicle through the functional application layer when the speed of the target vehicle is less than a preset speed, the requested parameter value is less than the first parameter value, and the actual steering angle of the tires of the target vehicle is equal to the required steering angle.
8. A tire steering control device, characterized in that, include: The acquisition module is used to acquire the requested parameter values of the steering parameters determined by the functional application layer of the target vehicle based on the vehicle data. The steering parameters include the required steering angle of the tires of the target vehicle and / or the rate of change of the required steering angle. The control module is configured to intervene and control the tire steering of the target vehicle through the functional safety layer of the target vehicle when the requested parameter values are all greater than the first parameter value within a first preset time period, wherein the first parameter value is the parameter value of the steering parameter determined by the functional safety layer based on the vehicle data.
9. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein the program, when executed, performs the method described in any one of claims 1 to 7.
10. An electronic device comprising a memory and a processor, characterized in that, The memory stores a computer program, and the processor is configured to execute the method described in any one of claims 1 to 7 through the computer program.
11. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the method described in any one of claims 1 to 7.