Rear wheel steering control method based on angle module and related device

Abstract

The invention discloses a rear wheel steering control method based on an angle module and related equipment. The method comprises the steps that the vehicle speed of a target vehicle is obtained through a control module; when the vehicle speed reaches the first preset vehicle speed, the working state of the locking mechanism at the last moment is obtained, and when the working state is an unlocked state, a locking instruction is sent to the execution module, so that the execution module controls the locking mechanism to enter the locking state according to the locking instruction; in the locking state, the control module is forbidden to control rear wheels of the target vehicle to conduct steering operation; when the vehicle speed reaches a second preset vehicle speed, the working state of the locking mechanism at the previous moment is obtained, and when the working state is a locking state, an unlocking instruction is sent to the execution module, so that the execution module controls the locking mechanism to enter the unlocking state according to the unlocking instruction; in the unlocking state, the control module is allowed to control rear wheels of the target vehicle to conduct steering operation; wherein the first preset vehicle speed is greater than the second preset vehicle speed.

Description

Technical Field

[0001] This application belongs to the field of vehicle control technology, specifically relating to a rear wheel steering control method based on an angle module, a rear wheel steering device based on an angle module, a vehicle, and a computer-readable storage medium. Background Technology

[0002] Corner module vehicles require independent steering capability for all four wheels. Current mainstream solutions often employ a kingpin-based steering structure, frequently utilizing worm gear mechanisms for reduction and transmission. However, this transmission method inevitably suffers from tooth surface wear during operation, increasing the meshing clearance at the worm gear engagement point and affecting vehicle stability at high speeds. Furthermore, existing four-wheel steering systems are completely decoupled between actuators, relying on an electronic control system for steering control, resulting in a high risk of system failure and posing a potential threat to overall vehicle safety. Considering that the four-wheel steering function of corner module vehicles is primarily suitable for low-speed scenarios, with significantly reduced rear-wheel steering requirements at high speeds, implementing physical mechanical locking of the rear-wheel steering actuators under high-speed conditions is an effective way to improve high-speed safety and driving stability.

[0003] Therefore, it is necessary to propose a feasible locking control method to achieve reliable locking of the rear wheel steering actuator under high-speed conditions. Summary of the Invention

[0004] This application aims to address at least one of the technical problems existing in the prior art. To this end, this application proposes a rear-wheel steering control method and related equipment based on an angle module.

[0005] In a first aspect, embodiments of this application provide a rear-wheel steering control method based on an angle module. The angle module includes a control module and an execution module. The execution module includes a locking mechanism. The control module is connected to the execution module. The rear-wheel steering control method based on the angle module includes: The speed of the target vehicle is obtained through the control module; In response to the vehicle speed reaching the first preset speed, the operating state of the locking mechanism at the previous moment is obtained. In response to the operating state being unlocked, a locking command is sent to the execution module so that the execution module controls the locking mechanism to enter the locking state according to the locking command. In the locking state, the control module is prohibited from controlling the rear wheels of the target vehicle to perform steering operations. In response to the vehicle speed reaching the second preset speed, the operating state of the locking mechanism at the previous moment is obtained. In response to the operating state being locked, an unlocking command is sent to the execution module so that the execution module controls the locking mechanism to enter the unlocked state according to the unlocking command. In the unlocked state, the control module is allowed to control the rear wheels of the target vehicle to perform steering operations. The first preset speed is greater than the second preset speed.

[0006] In some embodiments, the corner module includes a left rear corner module corresponding to the left rear wheel of the target vehicle and / or a right rear corner module corresponding to the right rear wheel.

[0007] In some embodiments, before sending the lock-up command to the execution module, the rear wheel steering control method based on the angle module further includes: Send a zero-angle control command to the execution module so that the execution module controls the steering angle of the rear wheels of the target vehicle to 0° according to the zero-angle control command.

[0008] In some embodiments, after sending an unlock command to the execution module, the rear wheel steering control method based on the angle module further includes: In response to the locking mechanism entering the unlocked state, a zero-angle control command is sent to the execution module, so that the execution module controls the steering angle of the rear wheels of the target vehicle to 0° according to the zero-angle control command.

[0009] In some embodiments, the rear-wheel steering control method based on the angle module further includes: In response to the locking mechanism being in an unlocked state, a target steering angle command is sent to the execution module, so that the execution module controls the rear wheels of the target vehicle to perform steering operations according to the target steering angle command.

[0010] In some embodiments, the rear-wheel steering control method based on the angle module further includes: After sending a locking or unlocking command to the execution module, the control module receives a status confirmation signal from the execution module and verifies whether the working status of the locking mechanism is consistent with the command based on the status confirmation signal. In response to a discrepancy between the operating status and the command, the control module resends the lock or unlock command until the operating status matches the command.

[0011] In some embodiments, the first preset vehicle speed and the second preset vehicle speed are dynamically adjusted based on the target vehicle's current driving mode or road conditions; wherein the current driving mode includes at least one of sport mode, comfort mode or economy mode, and the road conditions include at least one of dry road surface, wet road surface or rough road surface.

[0012] According to the rear-wheel steering control method based on an angle module of the present invention, the vehicle speed of the target vehicle is first obtained by the control module; in response to the vehicle speed reaching a first preset speed, the working state of the locking mechanism at the previous moment is obtained; in response to the working state being unlocked, a locking command is sent to the execution module, so that the execution module controls the locking mechanism to enter the locking state according to the locking command; in the locking state, the control module is prohibited from controlling the rear wheels of the target vehicle to perform steering operations; in response to the vehicle speed reaching a second preset speed, the working state of the locking mechanism at the previous moment is obtained; in response to the working state being locked, an unlocking command is sent to the execution module, so that the execution module controls the locking mechanism to enter the unlocking state according to the unlocking command; in the unlocking state, the control module is allowed to control the rear wheels of the target vehicle to perform steering operations. The first preset speed is greater than the second preset speed. This application actively locks the rear-wheel steering actuator at high speeds, effectively eliminating the steering instability caused by mechanical factors such as worm gear transmission backlash at high speeds. At the same time, mechanical locking reduces the failure risk that may arise from complete reliance on the electronic control system, fundamentally enhancing vehicle driving safety.

[0013] Secondly, embodiments of this application provide a rear-wheel steering control device based on an angle module, comprising: The acquisition module is configured to acquire the speed of the target vehicle; The first response module is configured to, in response to the vehicle speed reaching a first preset speed, obtain the working state of the locking mechanism at the previous moment, and in response to the working state being unlocked, send a locking command to the execution module so that the execution module controls the locking mechanism to enter the locking state according to the locking command; in the locking state, the control module is prohibited from controlling the rear wheels of the target vehicle to perform steering operations. The second response module is configured to, in response to the vehicle speed reaching a second preset speed, obtain the working state of the locking mechanism at the previous moment, and in response to the working state being locked, send an unlocking command to the execution module so that the execution module controls the locking mechanism to enter the unlocked state according to the unlocking command; in the unlocked state, the control module is allowed to control the rear wheels of the target vehicle to perform steering operations. The first preset speed is greater than the second preset speed.

[0014] According to an embodiment of the rear-wheel steering control device based on an angle module of the present invention, the control module first obtains the vehicle speed of the target vehicle; in response to the vehicle speed reaching a first preset speed, the working state of the locking mechanism at the previous moment is obtained; in response to the working state being unlocked, a locking command is sent to the execution module, so that the execution module controls the locking mechanism to enter the locking state according to the locking command; in the locking state, the control module is prohibited from controlling the rear wheels of the target vehicle to perform steering operations; in response to the vehicle speed reaching a second preset speed, the working state of the locking mechanism at the previous moment is obtained; in response to the working state being locked, an unlocking command is sent to the execution module, so that the execution module controls the locking mechanism to enter the unlocking state according to the unlocking command; in the unlocking state, the control module is allowed to control the rear wheels of the target vehicle to perform steering operations. The first preset speed is greater than the second preset speed. This application actively locks the rear-wheel steering actuator at high speeds, effectively eliminating the steering instability caused by mechanical factors such as worm gear transmission backlash at high speeds. Simultaneously, the mechanical locking reduces the failure risk that may arise from complete reliance on the electronic control system, fundamentally enhancing vehicle driving safety.

[0015] Thirdly, embodiments of this application provide a vehicle, including: a processor and a memory, wherein the memory stores a program or instructions that can run on the processor, and when the program or instructions are executed by the processor, they implement the steps of the user operation instruction recognition method of the first aspect; or, when the program or instructions are executed by the processor, they implement the steps of the method of the second aspect.

[0016] According to an embodiment of the present invention, the vehicle first obtains the vehicle speed of the target vehicle through the control module; in response to the vehicle speed reaching a first preset speed, the operating state of the locking mechanism at the previous moment is obtained; in response to the operating state being an unlocked state, a locking command is sent to the execution module, so that the execution module controls the locking mechanism to enter the locking state according to the locking command; in the locked state, the control module is prohibited from controlling the rear wheels of the target vehicle to perform steering operations; in response to the vehicle speed reaching a second preset speed, the operating state of the locking mechanism at the previous moment is obtained; in response to the operating state being a locked state, an unlocking command is sent to the execution module, so that the execution module controls the locking mechanism to enter the unlocked state according to the unlocking command; in the unlocked state, the control module is allowed to control the rear wheels of the target vehicle to perform steering operations. In this application, when the vehicle accelerates towards the first preset speed (which is greater than the second preset speed), the execution module adjusts the rear wheel steering angle to 0°. Upon reaching the first preset speed, it immediately locks and provides feedback. Upon receiving the feedback command, the control module exits rear wheel steering angle control, and the locking mechanism enters the locked state. When the vehicle decelerates to the second preset speed, the execution module unlocks and provides feedback. Upon receiving the unlock feedback command, the control module enters angle control and commands the execution module to control the rear wheel steering angle to 0°. This application actively locks the rear wheel steering actuator at high speeds, effectively eliminating steering instability caused by mechanical factors such as worm gear transmission backlash. Simultaneously, the mechanical locking reduces the risk of failure that might arise from complete reliance on the electronic control system, fundamentally enhancing vehicle driving safety. By independently controlling the rear wheel steering through the angle module, the safety and stability of the vehicle at high speeds are enhanced, driving smoothness is improved, and unstable factors and interference from rear wheel steering are effectively suppressed, enhancing the ability to handle complex road surfaces and thus comprehensively improving driving safety.

[0017] Fourthly, embodiments of this application provide a computer-readable storage medium storing a program or instructions, which, when executed by a processor, implement the steps of the user operation instruction recognition method of the first aspect; or, when executed by a processor, implement the steps of the method of the second aspect.

[0018] According to a computer-readable storage medium of an embodiment of the present invention, and a rear-wheel steering control method based on an angle module according to an embodiment of the present invention, the following steps are taken: First, the vehicle speed of the target vehicle is obtained by the control module; in response to the vehicle speed reaching a first preset speed, the working state of the locking mechanism at the previous moment is obtained; in response to the working state being unlocked, a locking command is sent to the execution module, so that the execution module controls the locking mechanism to enter the locking state according to the locking command; in the locking state, the control module is prohibited from controlling the rear wheels of the target vehicle to perform steering operations; in response to the vehicle speed reaching a second preset speed, the working state of the locking mechanism at the previous moment is obtained; in response to the working state being locked, an unlocking command is sent to the execution module, so that the execution module controls the locking mechanism to enter the unlocking state according to the unlocking command; in the unlocking state, the control module is allowed to control the rear wheels of the target vehicle to perform steering operations. In this application, when the vehicle accelerates towards the first preset speed (which is greater than the second preset speed), the execution module adjusts the rear wheel steering angle to 0°. Upon reaching the first preset speed, it immediately locks and provides feedback. Upon receiving the feedback command, the control module exits rear wheel steering angle control, and the locking mechanism enters the locked state. When the vehicle decelerates to the second preset speed, the execution module unlocks and provides feedback. Upon receiving the unlock feedback command, the control module enters angle control and commands the execution module to control the rear wheel steering angle to 0°. This application actively locks the rear wheel steering actuator at high speeds, effectively eliminating steering instability caused by mechanical factors such as worm gear transmission backlash. Simultaneously, the mechanical locking reduces the risk of failure that might arise from complete reliance on the electronic control system, fundamentally enhancing vehicle driving safety. By independently controlling the rear wheel steering through the angle module, the safety and stability of the vehicle at high speeds are enhanced, driving smoothness is improved, and unstable factors and interference from rear wheel steering are effectively suppressed, enhancing the ability to handle complex road surfaces and thus comprehensively improving driving safety.

[0019] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0020] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 A block diagram of a corner module provided in an embodiment of this application; Figure 2 A flowchart illustrating the rear-wheel steering control method based on an angle module provided in this application embodiment; Figure 3 A timing diagram of the rear wheel steering control method based on an angle module provided in an embodiment of this application; Figure 4This is a schematic diagram of the rear wheel steering control device based on the angle module in an embodiment of this application; Figure 5 This is a block diagram of a vehicle according to some embodiments of the present invention.

[0021] Figure description: Corner module 100, control module 10, execution module 20, locking mechanism 21, processor 510, memory 520, input / output interface 530, communication interface 540 and bus 550. Detailed Implementation

[0022] Embodiments of this application will now be described in more detail with reference to the accompanying drawings. While some embodiments of this application are shown in the drawings, it should be understood that this application can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of this application. It should be understood that the drawings and embodiments of this application are for illustrative purposes only and are not intended to limit the scope of protection of this application.

[0023] It should be understood that the steps described in the method embodiments of this application may be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of this application is not limited in this respect.

[0024] As described in the background section, in the prior art, angular module vehicles using a kingpin steering scheme have certain failure risks in high-speed driving scenarios, and the stability and safety of the steering system are poor due to the wear of the worm gear teeth.

[0025] Based on this, this application provides a rear-wheel steering control method based on an angle module. In this method, the control module collects real-time vehicle speed. When the vehicle speed rises to a first preset speed, and the locking mechanism is not locked, the control module sends a locking command to the execution module, so that the execution module controls the locking mechanism to enter the locked state according to the locking command, thereby temporarily prohibiting the angle module from performing rear-wheel steering. When the vehicle speed drops to a second preset speed, and the locking mechanism is locked, the control module sends an unlocking command to the execution module, so that the execution module controls the locking mechanism to enter the unlocked state according to the locking command, thereby temporarily restoring the angle module from performing rear-wheel steering.

[0026] refer to Figure 1 This is a block diagram of the corner module provided in an embodiment of this application.

[0027] like Figure 1 As shown, the corner module 100 includes a control module 10 and an execution module 20. The execution module 20 includes a locking mechanism 21, and the control module 10 is connected to the execution module 20.

[0028] In practical implementation, the control module 10 serves as the system's control center, responsible for processing vehicle status signals (such as vehicle speed), executing control logic, and issuing corresponding commands (such as steering, locking, or unlocking commands). The execution module 20 serves as the system's execution terminal, responsible for receiving commands from the control module 10 and directly driving the rear wheels to complete steering or locking actions. The execution module 20 integrates a key locking mechanism 21, used to achieve the physical mechanical locking and releasing of the rear wheel steering. The control module 10 and the execution module 20 are connected via electrical or bus connections to ensure real-time, reliable, bidirectional transmission of commands and status information.

[0029] For example, the control module 10 and the execution module 20 are connected by both electrical and communication connections. The electrical connection uses a combination of wiring harness and Deutsch DT06-2S sealed connectors to provide a continuous operating current of 12V / 10A to the locking mechanism 21. The communication connection uses a CAN-FD bus with a communication rate of 1Mbps to send locking or unlocking commands to the execution module 20 and to send status commands back to the control module 10. Through this dual-link design, even if the communication bus fails momentarily, the electrical connection can still maintain the holding force of the locking mechanism 21, thereby improving the fail-safe level of the corner module.

[0030] refer to Figure 2 A flowchart illustrating the rear-wheel steering control method based on an angle module provided for the implementation of this application; Step S201: Obtain the speed of the target vehicle through the control module 10.

[0031] In step S202, in response to the vehicle speed reaching the first preset speed, the working state of the locking mechanism 21 at the previous moment is obtained. In response to the working state being unlocked, a locking command is sent to the execution module 20 so that the execution module 20 controls the locking mechanism 21 to enter the locking state according to the locking command. In the locking state, the execution module 20 is prohibited from controlling the rear wheels of the target vehicle to perform steering operations. Specifically, when the target vehicle is in motion, the control module 10 reads the vehicle speed signal in real time. When the control module 10 determines that the collected vehicle speed has reached the first preset speed, it immediately obtains the working state of the locking mechanism 21 from the execution module 20 in the previous cycle. If the locking mechanism 21 was in an unlocked state in the previous moment, the control module 10 sends a locking command to the execution module 20. The execution module 20 drives the locking mechanism 21 according to the locking command, switching the locking mechanism 21 from the unlocked state to the locked state. If the locking mechanism 21 was in the locked state in the previous moment, it maintains the current state. In the locked state, the control module 10 is prohibited from controlling the rear wheels of the target vehicle to perform steering operations.

[0032] For example, when the target vehicle is in motion, the control module 10 reads the vehicle speed signal from wheel speed sensors (such as the ABS / ESC module) or the instrument cluster broadcast via the vehicle's common CAN bus at 10ms intervals. When the vehicle speed is greater than or equal to 30km / h, it immediately sends a status feedback command to the execution module 20 via the private CAN bus. After receiving the status feedback command, the execution module 20 feeds back the actual status of the locking mechanism 21 from the previous cycle to the control module 10 within 10ms. If the locking mechanism 21 was in an unlocked state in the previous cycle, the control module 10 sends a locking command to the execution module 20 via the private CAN bus in the next cycle. After receiving the command, the execution module 20 immediately drives the locking mechanism 21 to perform a locking action and enters the locked state. If the locking mechanism 21 was in the locked state in the previous cycle, it maintains the current state. After receiving the locking status feedback, the control module 10 exits the rear wheel steering control, and the control module 10 is prohibited from controlling the rear wheels of the target vehicle to perform steering operations.

[0033] In step S203, in response to the vehicle speed reaching the second preset speed, the working state of the locking mechanism 21 at the previous moment is obtained. In response to the working state being the locked state, an unlocking command is sent to the execution module 20 so that the execution module 20 controls the locking mechanism 21 to enter the unlocked state according to the unlocking command. In the unlocked state, the control module 10 is allowed to control the rear wheels of the target vehicle to perform steering operations. The first preset speed is greater than the second preset speed.

[0034] Specifically, when the control module 10 determines that the collected vehicle speed is less than or equal to the second preset vehicle speed, it immediately obtains the working state of the locking mechanism 21 from the execution module 20 in the previous cycle. If the locking mechanism 21 was in the locked state in the previous moment, the control module 10 sends an unlocking command to the execution module 20. The execution module 20 drives the locking mechanism 21 according to the unlocking command, switching the locking mechanism 21 from the locked state to the unlocked state. If the locking mechanism 21 was in the unlocked state in the previous moment, it maintains the current state. In the unlocked state, the control module 10 is allowed to control the rear wheels of the target vehicle to perform steering operations.

[0035] For example, when the vehicle speed is less than or equal to 25 km / h, the control module 10 immediately sends a status feedback command to the execution module 20 via the private CAN bus. The execution module 20 then returns the actual status of the locking mechanism 21 from the previous cycle to the control module 10 within 10 ms. If the locking mechanism 21 was in a locked state in the previous cycle, the control module 10 sends an unlock command to the execution module 20 via the private CAN bus in the next cycle. Upon receiving the command, the execution module 20 immediately drives the locking mechanism 21 to unlock, entering the unlocked state. If the locking mechanism 21 was in an unlocked state in the previous cycle, it maintains its current state. After receiving the unlocked status feedback, the control module 10 enters rear-wheel steering control and can send a rear-wheel steering request to the execution module 20.

[0036] Specifically, the first preset vehicle speed is specified to be greater than the second preset vehicle speed. This is because the need for rear wheel steering is reduced when the vehicle is traveling at high speed, while the four-wheel steering function of the corner module vehicle is mainly used in low-speed scenarios. Therefore, the locking mechanism 21 locks when the vehicle is traveling at high speed, that is, when the vehicle speed is greater than or equal to the first preset vehicle speed, and unlocks when the vehicle is traveling at low speed, that is, when the vehicle speed is less than or equal to the second preset vehicle speed, in order to enhance the safety and stability of the vehicle when traveling at high speed.

[0037] In some embodiments, the corner module includes a left rear corner module corresponding to the left rear wheel of the target vehicle and / or a right rear corner module corresponding to the right rear wheel.

[0038] Specifically, the corner module includes the left rear corner module and the right rear corner module of the target vehicle. The left rear corner module only controls the left rear wheel of the vehicle, and the right rear corner module only controls the right rear wheel of the vehicle.

[0039] In some embodiments, before sending a lock-up command to the execution module 20, the rear wheel steering control method based on the angle module further includes: A zero-angle control command is sent to the execution module 20 so that the execution module 20 controls the steering angle of the rear wheels of the target vehicle to 0° according to the zero-angle control command.

[0040] Specifically, before the control module 10 sends the locking command to the execution module 20, it must first send a zero-angle control command. If the rear wheels of the vehicle have a steering angle at this time, the execution module 20 will first control the rear wheels of the target vehicle to make its steering angle return to zero, and then execute the locking command to prevent the locking mechanism 21 from forcibly engaging when the wheel has a non-zero steering angle, thus avoiding mechanical impact.

[0041] For example, when the vehicle speed approaches 30 km / h, reaching 29 km / h, the control module 10 first sends a zero-angle control command to the execution module 20, instructing the execution module 20 to control the rear wheels of the vehicle, bringing their steering angle to zero. Once the vehicle speed reaches 30 km / h, the control module 10 then sends a locking command to the execution module 20. Upon receiving the locking command, the execution module 20 immediately controls the locking module to enter the locking state and feeds back the current status to the control module 10. This "zeroing first, then locking" timing control significantly improves the locking success rate and the overall high-speed stability of the vehicle.

[0042] In some embodiments, after sending an unlock command to the execution module 20, the rear wheel steering control method based on the angle module further includes: In response to the locking mechanism 21 entering the unlocked state, a zero-angle control command is sent to the execution module 20 so that the execution module 20 controls the steering angle of the rear wheels of the target vehicle to 0° according to the zero-angle control command.

[0043] Specifically, after the control module 10 sends an unlocking command to the execution module 20, the locking mechanism 21 enters the unlocked state. Then, the control module 10 sends a zero-angle control command to the execution module 20. At this time, the execution module 20 controls the steering angle of the rear wheels to return to zero according to the zero-angle control command.

[0044] For example, when the control module 10 sends an unlock command to the execution module 20, the execution module 20 immediately controls the locking module to enter the unlock state and feeds back the current state to the control module 10. After receiving the unlock state feedback, the control module 10 enters the rear wheel steering control, enables the rear wheel steering function, and sends a zero-angle control command to the execution module 20, so that the execution module 20 controls the steering angle of the rear wheels to return to zero, ensuring the elimination of yaw disturbance caused by residual angle and improving the driving smoothness at the moment of unlocking.

[0045] In some embodiments, the rear-wheel steering control method based on the angle module further includes: In response to the locking mechanism 21 being in an unlocked state, a target steering angle command is sent to the execution module 20, so that the execution module 20 controls the rear wheels of the target vehicle to perform a steering operation according to the target steering angle command.

[0046] For example, the control module 10 reads the current status returned by the execution module 20 via the CAN bus every 10ms. When the locking mechanism 21 is in the unlocked state, the control module 10 can calculate or receive the target rear wheel steering angle value required by the upper layer in real time, generate the target steering angle command, and send it to the execution module 20. The execution module 20 drives relevant components (such as brushless motors) to control the rear wheels of the target vehicle to perform steering operations according to this command.

[0047] In some embodiments, the rear-wheel steering control method based on the angle module further includes: After sending a locking or unlocking command to the execution module 20, the control module 10 receives a status confirmation signal from the execution module 20 and verifies whether the working status of the locking mechanism 21 is consistent with the command based on the status confirmation signal. In response to a discrepancy between the operating state and the command, the control module 10 resends the lock or unlock command until the operating state matches the command.

[0048] Specifically, after the control module 10 sends a locking command to the execution module 20, it receives a status feedback signal from the execution module 20. Simultaneously, the control module 10 can also sample the current of the power supply line of the locking mechanism 21 using an internally integrated high-side current mirror or shunt resistor to analyze the real-time status of the locking mechanism 21. Based on the status feedback signal and the current sampling signal, it verifies whether the working state of the locking mechanism 21 is consistent. If they are inconsistent, the control module 10 resends the locking command to the execution module 20 until the actual working state of the locking mechanism 21 is in the locked state. This dual verification mechanism reduces the risk of single-point misjudgment.

[0049] In some embodiments, the first preset vehicle speed and the second preset vehicle speed are dynamically adjusted based on the target vehicle's current driving mode or road conditions; wherein the current driving mode includes at least one of sport mode, comfort mode or economy mode, and the road conditions include at least one of dry road surface, wet road surface or rough road surface.

[0050] Furthermore, the target vehicle is tentatively set to a first preset speed of 30 km / h and a second preset speed of 25 km / h in normal driving mode. When the vehicle is driving on a mountain road, the control module 10 will acquire vehicle operating parameters in real time. The parameters read include at least: lateral acceleration, steering wheel angle, throttle opening rate of change, and vehicle speed. These parameters are analyzed, and when the analysis results show that the driving behavior has aggressive characteristics (e.g., lateral acceleration greater than 0.15g for 3 seconds, steering wheel angle standard deviation greater than 60°, vehicle speed fluctuating frequently between 25-60 km / h, and throttle opening rate of change greater than 30% / s), the driving mode will automatically switch to sport mode. At this point, the first preset speed is corrected to 40 km / h, allowing the vehicle to maintain active steering at higher speeds. This ensures that the rear wheels can still provide a counter-steering angle in continuous curves, providing continuous yaw assist, enhancing yaw response, and reducing understeer. The second preset speed is corrected to 32 km / h. When accelerating out of a curve, the vehicle speed will briefly increase. The locking mechanism 21 will not immediately enter the locking state due to the instantaneous speed exceeding 30 km / h, retaining 3–5 seconds of active steering capability. This allows the throttle response to be synchronized with the steering correction, providing more sensitive and wider-range rear-wheel steering assistance, while still retaining the protective function of the locking mechanism to ensure driving safety.

[0051] Furthermore, when the vehicle's cruise control system (CC / ACC) is activated, or the driver maintains a relatively constant throttle opening for an extended period, the control module 10 determines that the current scenario is a long-distance highway cruise. To alleviate driver fatigue from driving continuously for several hours on the highway, the driving mode is automatically switched to comfort mode. At this time, the first preset speed is adjusted to 110 km / h to reduce high-speed yaw sensitivity and improve straight-line stability and fuel economy. The second preset speed is adjusted to 90 km / h to allow for flexibility in case of emergency avoidance or ramp turns. A 20 km / h hysteresis is set to prevent the locking mechanism 21 from frequently switching between locked and unlocked states when the vehicle speed fluctuates between 90 and 110 km / h, thereby reducing wear on the locking mechanism 21 and the abrupt steering sensation perceived by the driver. By adjusting the preset speeds, energy consumption and system noise can be minimized during long-distance highway cruise, while providing stable high-speed straight-line driving performance.

[0052] Furthermore, focusing on optimizing vehicle energy efficiency and reducing vehicle energy consumption, especially for the typical scenario of commuting in congested urban traffic, where vehicles frequently start and stop and crawl at low speeds on roads with dense traffic lights and congestion, the control module 10 continuously reads and analyzes parameters such as average vehicle speed, acceleration and deceleration frequency, and the percentage of brake switch activation time. If the analysis results match the characteristics of congestion (such as an average vehicle speed in the range of 5-25 km / h and a brake switch activation time percentage greater than 40%), the driving mode will be automatically switched to the economy mode. At this time, the first preset vehicle speed is corrected to 40 km / h, and the second preset vehicle speed is corrected to 28 km / h, so that the vehicle can maintain the rear wheel active steering function for a longer period of time in congested sections, enter the active steering state earlier to reduce the turning radius, facilitate continuous lane changes and U-turns at intersections, and set a 12 km / h backlash to avoid the sudden steering feeling perceived by the driver when the vehicle speed fluctuates between 28-40 km / h, thereby improving the handling flexibility and driving ease in congested traffic conditions.

[0053] Furthermore, to meet the specific requirements of vehicle stability and agility under different road conditions, optimization is achieved by dynamically adjusting the first and second preset speeds. On dry roads, to enhance high-speed stability, the first preset speed is increased to 35 km / h, allowing the rear wheels to lock at higher speeds and ensuring stable straight-line driving; simultaneously, the second preset speed is set to 28 km / h, maintaining stability while also ensuring low-speed agility. On wet roads, to reduce the risk of high-speed skidding, the first preset speed is reduced to 29 km / h, allowing the rear wheels to lock earlier to suppress instability; simultaneously, the second preset speed is adjusted to 26 km / h, allowing the rear wheels to unlock earlier to maintain necessary low-speed handling agility. On rough roads, to improve vehicle passability and adaptability, the first preset speed is further increased to 50 km / h, and the second preset speed to 40 km / h, thereby expanding the operating range of the rear-wheel active steering and enhancing the vehicle's ability to cope with complex road conditions and its driving stability.

[0054] Furthermore, based on the aforementioned examples, considering that slippery road surfaces (such as rain, ice, and snow) significantly reduce the friction between the tires and the ground, causing the tires to float on the surface of the water film at high speeds, completely losing traction and leading to loss of steering control, this application can also effectively address the complex scenario of vehicles traveling at high speeds on slippery roads. When the control module 10 determines, based on parameters such as wheel speed difference, road surface adhesion coefficient, and vehicle speed, that the vehicle is on a slippery road surface and traveling at high speed (e.g., wheel speed difference greater than 3 km / h for 2 seconds and road surface adhesion coefficient less than 0.5), it automatically performs the following parameter adjustments: The first preset vehicle speed is increased from the default 30 km / h to 80 km / h to raise the rear wheel steering lock trigger threshold, prioritizing straight-line stability. Compared to the previously mentioned case where the first preset speed is adjusted to 110 km / h during high-speed cruising, this adjustment locks the rear wheel steering earlier, reducing the risk of sudden yaw changes on slippery surfaces. Simultaneously, the second preset vehicle speed is increased from 25 km / h to 60 km / h, creating a stable hysteresis range of 20 km / h, reducing system actuations and minimizing driver jerking. Through this strategy, the system ensures that the vehicle enters mechanical lock-up earlier during high-speed cruising on slippery surfaces, minimizing the potential interference of active rear wheel steering on yaw stability and thus improving driving safety.

[0055] It should be noted that the values ​​of the first preset speed and the second preset speed in the above embodiments are only reasonable examples. In specific implementations, the values ​​of the first preset speed and the second preset speed can be flexibly set according to actual needs.

[0056] refer to Figure 3 The timing diagram shows the rear wheel steering control method based on the angle module provided for the implementation of this application.

[0057] like Figure 3As shown, when the vehicle starts and begins to accelerate, the control module sends a status feedback command to the execution module. Upon receiving the command, the execution module reads the current status of the locking mechanism and then sends it back to the control module. When the vehicle speed approaches the first preset speed, the control module sends a zero-angle control command to the execution module. Upon receiving this command, the execution module controls the rear wheels to return to zero steering angle. Once the vehicle speed reaches the first preset speed, the control module sends a locking command to the execution module. Upon receiving this command, the execution module controls the locking mechanism to lock. After confirming the locking mechanism is locked, it sends a locked-state command to the control module. Upon receiving the locked-state feedback, the control module exits rear-wheel steering control and enters the locked state. At this point, the execution module no longer controls the rear-wheel steering angle. When the vehicle begins to decelerate and its speed approaches the second preset speed, the control module sends a status feedback command to the execution module. Upon receiving the status feedback command, the execution module sends a locked status command to the control module. When the vehicle speed has dropped to the second preset speed, the control module sends an unlock command to the execution module. Upon receiving the unlock command, the execution module controls the locking mechanism to unlock. After confirming that the locking mechanism is unlocked, it sends an unlocked status command to the control module. Upon receiving the unlock status feedback, the control module enters the unlocked state. At this time, the control module can control the execution module to steer the rear wheels.

[0058] In summary, the rear-wheel steering control method based on an angle module provided in this application first obtains the vehicle speed of the target vehicle through a control module; in response to the vehicle speed reaching a first preset speed, the operating state of the locking mechanism at the previous moment is obtained; in response to the operating state being unlocked, a locking command is sent to the execution module, so that the execution module controls the locking mechanism to enter the locking state according to the locking command; in the locking state, the control module is prohibited from controlling the rear wheels of the target vehicle to perform steering operations; in response to the vehicle speed reaching a second preset speed, the operating state of the locking mechanism at the previous moment is obtained; in response to the operating state being locked, an unlocking command is sent to the execution module, so that the execution module controls the locking mechanism to enter the unlocking state according to the unlocking command; in the unlocking state, the control module is allowed to control the rear wheels of the target vehicle to perform steering operations. The first preset speed is greater than the second preset speed. This application actively locks the rear wheel steering actuator at high speeds, effectively eliminating steering instability caused by mechanical factors such as worm gear transmission backlash. At the same time, mechanical locking reduces the risk of failure that may result from complete reliance on the electronic control system, fundamentally enhancing vehicle driving safety.

[0059] It should be noted that the method of this embodiment can be executed by a single device, such as a computer or server. The method of this embodiment can also be applied to a distributed scenario, where multiple devices cooperate to complete the task. In such a distributed scenario, one of these devices may execute only one or more steps of the method of this embodiment, and the multiple devices will interact with each other to complete the above method.

[0060] It should be noted that the above description describes some embodiments of the present invention. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps described in the claims may be performed in a different order than that shown in the above embodiments and still achieve the desired results. Furthermore, the processes depicted in the drawings do not necessarily require a specific or sequential order to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0061] Corresponding to the above embodiments, the present invention also proposes a rear wheel steering control device based on an angle module.

[0062] refer to Figure 4 This is a schematic diagram of a rear wheel steering control device based on an angle module in an embodiment of this application.

[0063] This application provides a rear wheel steering control device 400 based on an angle module, including: The acquisition module 401 is configured to acquire the speed of the target vehicle; The first response module 402 is configured to, in response to the vehicle speed reaching a first preset vehicle speed, obtain the working state of the locking mechanism at the previous moment, and in response to the working state being unlocked, send a locking command to the execution module so that the execution module controls the locking mechanism to enter the locking state according to the locking command; in the locking state, the control module 10 is prohibited from controlling the rear wheels of the target vehicle to perform steering operations. The second response module 403 is configured to, in response to the vehicle speed reaching a second preset vehicle speed, obtain the working state of the locking mechanism at the previous moment, and in response to the working state being locked, send an unlocking command to the execution module so that the execution module controls the locking mechanism to enter the unlocking state according to the unlocking command; in the unlocking state, the control module 10 is allowed to control the rear wheels of the target vehicle to perform steering operations. The first preset speed is greater than the second preset speed.

[0064] Optionally, the corner module includes a left rear corner module corresponding to the left rear wheel of the target vehicle and / or a right rear corner module corresponding to the right rear wheel.

[0065] Optionally, before sending the lock command to the execution module 20, the first response module 402 is also configured to: A zero-angle control command is sent to the execution module 20 so that the execution module 20 controls the steering angle of the rear wheels of the target vehicle to 0° according to the zero-angle control command.

[0066] Optionally, after sending the unlock command to the execution module 20, the second response module 403 is also configured to: In response to the locking mechanism 21 entering the unlocked state, a zero-angle control command is sent to the execution module 20 so that the execution module 20 controls the steering angle of the rear wheels of the target vehicle to 0° according to the zero-angle control command.

[0067] Optionally, the second response module 403 is also configured to: In response to the locking mechanism 21 being in an unlocked state, a target steering angle command is sent to the execution module 20, so that the execution module 20 controls the rear wheels of the target vehicle to perform a steering operation according to the target steering angle command.

[0068] Optionally, the first response module 402 and the second response module 403 are further configured as follows: After sending a locking or unlocking command to the execution module 20, the control module 10 receives a status confirmation signal from the execution module 20 and verifies whether the working status of the locking mechanism 21 is consistent with the command based on the status confirmation signal. In response to a discrepancy between the operating state and the command, the control module 10 resends the lock or unlock command until the operating state matches the command.

[0069] Optionally, the first preset speed and the second preset speed are dynamically adjusted based on the target vehicle's current driving mode or road conditions; wherein the current driving mode includes at least one of sport mode, comfort mode or economy mode, and the road conditions include at least one of dry road surface, wet road surface or rough road surface.

[0070] For ease of description, the above apparatus is described in terms of its functions, divided into various modules. Of course, in implementing this invention, the functions of each module can be implemented in one or more software and / or hardware components.

[0071] The apparatus of the above embodiments is used to implement the corresponding method in any of the foregoing embodiments and has the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0072] Corresponding to the above embodiments, the present invention also proposes a vehicle. (See reference...) Figure 5The diagram below is a block diagram of a vehicle according to some embodiments of the present invention. It also illustrates a more specific vehicle hardware structure provided in this application embodiment. The device may include: a processor 510, a memory 520, an input / output interface 530, a communication interface 540, and a bus 550. The processor 510, memory 520, input / output interface 530, and communication interface 540 are internally connected to each other via the bus 550.

[0073] The processor 510 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0074] The memory 520 can be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 520 can store the operating system and other applications. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program code is stored in the memory 520 and is called and executed by the processor 510.

[0075] Input / output interface 530 is used to connect input / output modules to realize information input and output. Input / output modules can be configured as components in the device (not shown in the figure) or externally connected to the device to provide corresponding functions. Input devices may include keyboards, mice, touch screens, microphones, various sensors, etc., and output devices may include displays, speakers, vibrators, indicator lights, etc.

[0076] The communication interface 540 is used to connect a communication module (not shown in the figure) to enable communication between this device and other devices. The communication module can communicate via wired means (such as USB, Ethernet cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

[0077] Bus 550 includes a pathway for transmitting information between various components of the device, such as processor 510, memory 520, input / output interface 530, and communication interface 540.

[0078] It should be noted that although the above-described device only shows the processor 510, memory 520, input / output interface 530, communication interface 540, and bus 550, in specific implementations, the device may also include other components necessary for normal operation. Furthermore, those skilled in the art will understand that the above-described device may only include the components necessary for implementing the embodiments of this specification, and not necessarily all the components shown in the figures.

[0079] The vehicle described above is used to implement the corresponding rear-wheel steering control method based on the angle module in any of the foregoing embodiments, and has the beneficial effects of the corresponding rear-wheel steering control method based on the angle module, which will not be repeated here.

[0080] Based on the same concept, corresponding to the rear wheel steering control method based on the angle module provided in any of the above embodiments, this application also provides a computer-readable storage medium storing a program or instructions, which, when executed by a processor, implements the vehicle braking control method based on the angle module as described in the first aspect.

[0081] The aforementioned computer-readable storage medium can be any available medium or data storage device that a computer can access, including but not limited to magnetic storage (e.g., floppy disks, hard disks, magnetic tapes, magneto-optical disks (MOs), etc.), optical storage (e.g., CDs, DVDs, BDs, HVDs, etc.), and semiconductor storage (e.g., ROMs, EPROMs, EEPROMs, non-volatile memory (NAND flash), solid-state drives (SSDs)).

[0082] The computer instructions stored in the storage medium of the above embodiments are used to cause the computer to execute the corresponding rear wheel steering control method based on the corner module in any of the foregoing embodiments, and have the beneficial effects of the corresponding rear wheel steering control method based on the corner module, which will not be repeated here.

[0083] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0084] From the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of computer software products plus necessary general-purpose hardware platforms, and of course, they can also be implemented by hardware. The computer software product is stored in a storage medium (such as ROM, RAM, magnetic disk, optical disk, etc.) and includes several instructions to cause the terminal or network-side device to execute the methods described in the various embodiments of this application.

[0085] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other implementations under the guidance of this application without departing from the spirit and scope of the claims. All of these implementations are within the protection scope of this application.

Claims

1. A rear-wheel steering control method based on an angle module, characterized in that, The corner module includes a control module and an execution module. The execution module includes a locking mechanism. The control module is connected to the execution module. The method includes: The speed of the target vehicle is obtained through the control module; In response to the vehicle speed reaching a first preset speed, the operating state of the locking mechanism at the previous moment is obtained. In response to the operating state being an unlocked state, a locking command is sent to the execution module so that the execution module controls the locking mechanism to enter the locking state according to the locking command. In the locking state, the control module is prohibited from controlling the rear wheels of the target vehicle to perform steering operations. In response to the vehicle speed reaching a second preset speed, the operating state of the locking mechanism at the previous moment is obtained. In response to the operating state being locked, an unlocking command is sent to the execution module so that the execution module controls the locking mechanism to enter the unlocked state according to the unlocking command. In the unlocked state, the control module is allowed to control the rear wheels of the target vehicle to perform steering operations. Wherein, the first preset vehicle speed is greater than the second preset vehicle speed.

2. The rear wheel steering control method based on an angle module according to claim 1, characterized in that, The corner module includes the left rear corner module corresponding to the left rear wheel of the target vehicle and / or the right rear corner module corresponding to the right rear wheel.

3. The rear wheel steering control method based on an angle module according to claim 1, characterized in that, Before sending the lock command to the execution module, the method further includes: A zero-angle control command is sent to the execution module so that the execution module controls the steering angle of the rear wheels of the target vehicle to 0° according to the zero-angle control command.

4. The rear wheel steering control method based on an angle module according to claim 1, characterized in that, After sending the unlock command to the execution module, the method further includes: In response to the locking mechanism entering the unlocked state, a zero-angle control command is sent to the execution module so that the execution module controls the steering angle of the rear wheels of the target vehicle to 0° according to the zero-angle control command.

5. The rear-wheel steering control method based on an angle module according to claim 1, characterized in that, The method further includes: In response to the locking mechanism being in an unlocked state, a target steering angle command is sent to the execution module, so that the execution module controls the rear wheels of the target vehicle to perform a steering operation according to the target steering angle command.

6. The rear-wheel steering control method based on an angle module according to claim 1, characterized in that, The method further includes: After sending a locking or unlocking command to the execution module, the control module receives a status confirmation signal from the execution module and verifies whether the working status of the locking mechanism is consistent with the command based on the status confirmation signal. In response to a discrepancy between the operating state and the instruction, the control module resends the lock or unlock instruction until the operating state matches the instruction.

7. The rear wheel steering control method based on an angle module according to claim 1, characterized in that, The first preset speed and the second preset speed are dynamically adjusted based on the target vehicle's current driving mode or road conditions; wherein, the current driving mode includes at least one of sport mode, comfort mode or economy mode, and the road conditions include at least one of dry road surface, wet road surface or rough road surface.

8. A rear-wheel steering control device based on an angle module, characterized in that, include: The acquisition module is configured to acquire the speed of the target vehicle; The first response module is configured to, in response to the vehicle speed reaching a first preset speed, obtain the working state of the locking mechanism at the previous moment, and in response to the working state being an unlocked state, send a locking command to the execution module so that the execution module controls the locking mechanism to enter the locking state according to the locking command; in the locking state, the control module is prohibited from controlling the rear wheels of the target vehicle to perform steering operations. The second response module is configured to, in response to the vehicle speed reaching a second preset speed, acquire the working state of the locking mechanism at the previous moment, and in response to the working state being locked, send an unlocking command to the execution module so that the execution module controls the locking mechanism to enter the unlocked state according to the unlocking command; in the unlocked state, the control module is allowed to control the rear wheels of the target vehicle to perform steering operations; Wherein, the first preset vehicle speed is greater than the second preset vehicle speed.

9. A vehicle, characterized in that, include: At least one processor; At least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor performs as claimed in claim 1. The steps of any one of the following rear-wheel steering control methods based on an angle module:

10. A computer-readable storage medium, characterized in that, The readable storage medium stores a program or instructions that, when executed by a processor, implement the steps of the rear wheel steering control method based on an angle module as described in any one of claims 1 to 7.

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