Steering control method and device based on angle module, electronic equipment and storage medium

Abstract

The present application relates to the technical field of vehicles, and discloses a steering control method and device based on an angle module, an electronic device and a storage medium, wherein the angle module comprises an upper controller, a middle controller and a lower controller; the method comprises the following steps: determining whether the upper controller has a fault; in response to the upper controller having a fault, acquiring a backup steering signal sent by a steering light controller through the middle controller, and sending the backup steering signal to the lower controller; acquiring the backup steering signal sent by the middle controller through the lower controller, and controlling four wheel ends of a target vehicle to perform steering operations according to the backup steering signal. The steering control method can be used to judge the steering intention of a driver by using the backup steering signal sent by the steering light controller when the upper controller has a fault, so as to realize vehicle steering, full-scene backup can be realized, and the use cost is reduced.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and in particular to a steering control method based on an angle module, a steering control device based on an angle module, an electronic device, and a computer-readable storage medium. Background Technology

[0002] In recent years, the intelligentization of automobiles has accelerated, and autonomous vehicles require more flexible "hands" and "feet." As the main execution carrier for realizing intelligent driving, especially high-level autonomous driving, the chassis is constantly evolving towards mechatronics, control integration, and intelligent electrification. Among these, four-wheel independent steering is a crucial component of the corner module. Unlike current steering systems, the corner module requires a four-wheel independent steering system, which necessitates a fully steerable steering system. A critical challenge is how to transmit the driver's steering requirements to the lower-level controller and achieve vehicle steering functionality when the upper-level controller fails.

[0003] In related technologies, when the upper-level controller fails, the middle-level controller determines the driver's steering intention by reading the angle of the external steering angle sensor SAS (Statistical Analysis System) and then turns the vehicle. However, this solution requires the entire vehicle to be equipped with a separate steering angle sensor SAS, which increases the overall vehicle cost. Furthermore, if the upper-level controller fails due to a physical jamming of the steering wheel, the backup solution for the external steering angle sensor SAS will also fail simultaneously, thus failing to provide backup. Summary of the Invention

[0004] This invention aims to at least partially solve one of the technical problems in related technologies. Therefore, the first objective of this invention is to propose a steering control method based on an angle module, which can determine the driver's steering intention using a backup steering signal sent by the turn signal controller when the upper-level controller malfunctions, thereby enabling vehicle steering. This method allows for full-scenario backup and reduces operating costs.

[0005] The second objective of this invention is to provide a steering control device based on an angle module.

[0006] The third objective of this invention is to provide an electronic device.

[0007] The fourth objective of this invention is to provide a computer-readable storage medium.

[0008] To achieve the above objectives, a first aspect of the present invention proposes a steering control method based on an angle module, wherein the angle module includes an upper controller, a middle controller, and a lower controller; the method includes: determining whether the upper controller has malfunctioned; in response to the malfunction of the upper controller, obtaining a backup steering signal sent by the turn signal controller through the middle controller and sending the backup steering signal to the lower controller; obtaining the backup steering signal sent by the middle controller through the lower controller, and controlling the four wheel ends of the target vehicle to perform steering operations according to the backup steering signal.

[0009] In addition, the steering control method based on the angle module according to the above embodiments of the present invention may also have the following additional technical features:

[0010] According to some embodiments of the present invention, the above-described corner module-based steering control method further includes: acquiring a steering signal for the target vehicle through an upper-level controller and sending the steering signal to a middle-level controller.

[0011] According to some embodiments of the present invention, determining whether the upper-level controller has malfunctioned includes: determining that the upper-level controller has malfunctioned in response to the upper-level controller failing to acquire a steering signal for the target vehicle within a preset time interval.

[0012] According to some embodiments of the present invention, determining whether the upper-level controller has malfunctioned includes: sending a heartbeat signal to the upper-level controller through the middle-level controller; determining whether the middle-level controller receives a feedback signal from the upper-level controller for the heartbeat signal within a preset time interval; and determining that the communication between the upper-level controller and the middle-level controller is interrupted in response to the middle-level controller not receiving a feedback signal from the upper-level controller for the heartbeat signal within the preset time interval.

[0013] According to some embodiments of the present invention, determining whether the upper-level controller is faulty includes: obtaining a steering signal sent by the upper-level controller through a middle-level controller; verifying whether the steering signal is correct; and determining that the upper-level controller is faulty in response to an incorrect steering signal.

[0014] According to some embodiments of the present invention, the backup steering signal includes a left steering signal and a right steering signal; wherein, the left steering signal represents a preset distance of the target vehicle's steering wheel turning left, and the right steering signal represents a preset distance of the target vehicle's steering wheel turning right.

[0015] According to some embodiments of the present invention, obtaining backup steering signals sent by a middle-level controller through a lower-level controller and controlling the four wheel ends of a target vehicle to perform steering operations according to the backup steering signals includes: in response to obtaining a left steering signal sent by a middle-level controller through a lower-level controller, generating wheel-end left steering commands for the four wheel ends of the target vehicle according to the left steering signals, and controlling the four wheel ends of the target vehicle to perform left steering operations according to the wheel-end left steering commands corresponding to each wheel end of the target vehicle; in response to obtaining a right steering signal sent by a middle-level controller through a lower-level controller, generating wheel-end right steering commands for the four wheel ends of the target vehicle according to the right steering signals, and controlling the four wheel ends of the target vehicle to perform right steering operations according to the wheel-end right steering commands corresponding to each wheel end of the target vehicle.

[0016] The corner module-based steering control method according to an embodiment of the present invention includes: determining whether an upper-level controller has malfunctioned; in response to a malfunction in the upper-level controller, acquiring a backup steering signal sent by the turn signal controller through a middle-level controller and sending the backup steering signal to a lower-level controller; acquiring the backup steering signal sent by the middle-level controller through the lower-level controller, and controlling the four wheels of the target vehicle to perform steering operations according to the backup steering signal. Therefore, this method can determine the driver's steering intention using the backup steering signal sent by the turn signal controller when the upper-level controller malfunctions, thereby achieving vehicle steering, enabling full-scenario backup and reducing usage costs.

[0017] The second objective of this invention is to propose a steering control device based on an angle module, which can determine the driver's steering intention by using a backup steering signal sent by the turn signal controller when the upper controller malfunctions, thereby realizing vehicle steering. This can achieve full-scenario backup and reduce usage costs.

[0018] To achieve the above objectives, a second aspect of the present invention provides a steering control device based on an angle module, comprising: a determining module configured to determine whether a fault has occurred in an upper-level controller; a responding module configured to, in response to a fault in the upper-level controller, acquire a backup steering signal sent by a turn signal controller through a middle-level controller and send the backup steering signal to a lower-level controller; and a controlling module configured to acquire the backup steering signal sent by the middle-level controller through the lower-level controller and control the four wheel ends of the target vehicle to perform steering operations according to the backup steering signal.

[0019] According to an embodiment of the present invention, a steering control device based on an angle module includes: a determining module configured to determine whether an upper-level controller has malfunctioned; a responding module configured to, in response to a malfunction in the upper-level controller, acquire a backup steering signal sent by a turn signal controller through a middle-level controller and send the backup steering signal to a lower-level controller; and a controlling module configured to acquire the backup steering signal sent by the middle-level controller through the lower-level controller and control the four wheels of the target vehicle to perform steering operations according to the backup steering signal. Therefore, this device can determine the driver's steering intention using the backup steering signal sent by the turn signal controller when the upper-level controller malfunctions, thereby achieving vehicle steering, enabling full-scenario backup and reducing operating costs.

[0020] To achieve the above objectives, a third aspect of the present invention provides an electronic device, comprising: a processor and a memory, wherein the memory stores a program or instructions executable on the processor, and the program or instructions, when executed by the processor, implement the steps of the above-described corner module-based steering control method.

[0021] According to the embodiments of the present invention, the electronic device, by executing the above-described corner module-based steering control method, can determine the driver's steering intention by using the backup steering signal sent by the turn signal controller when the upper controller malfunctions, thereby realizing vehicle steering. This enables full-scenario backup and reduces usage costs.

[0022] To achieve the above objectives, a fourth aspect of the present invention provides a computer-readable storage medium on which a program or instructions are stored, which, when executed by a processor, implement the steps of the above-described corner module-based steering control method.

[0023] According to the computer-readable storage medium of the present invention, by executing the above-described corner module-based steering control method, when the upper controller malfunctions, the driver's steering intention can be determined by using the backup steering signal sent by the turn signal controller, thereby realizing vehicle steering. This enables full-scenario backup and reduces usage costs.

[0024] Additional aspects and advantages of the invention 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 the invention. Attached Figure Description

[0025] Figure 1 A flowchart of a steering control method based on an angle module according to some embodiments of the present invention;

[0026] Figure 2 A flowchart of a steering control method based on an angle module according to other embodiments of the present invention;

[0027] Figure 3A flowchart of a steering control method based on an angle module according to some embodiments of the present invention;

[0028] Figure 4 A schematic diagram of a steering control device based on an angle module according to some embodiments of the present invention;

[0029] Figure 5 This is a block diagram of an electronic device according to some embodiments of the present invention. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0031] It should be noted that, unless otherwise defined, the technical or scientific terms used in the embodiments of this invention should have the ordinary meaning understood by those skilled in the art. The terms "first," "second," and similar terms used in the embodiments of this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word covers the element or object listed after the word and its equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are only used to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0032] As discussed in the background section, in recent years, the intelligentization of automobiles has accelerated, and autonomous vehicles require more flexible "hands" and "feet." As the main execution carrier for realizing intelligent driving, especially high-level autonomous driving, the chassis is constantly evolving towards mechatronics, control integration, and intelligent electrification. Among these, four-wheel independent steering is a crucial component of the corner module. Unlike current steering systems, the corner module requires a four-wheel independent steering system, which necessitates a fully steerable steering system. A critical challenge is how to transmit the driver's steering requirements to the lower-level controller and achieve vehicle steering functionality when the upper-level controller fails.

[0033] In the process of developing this invention, the applicant discovered that in related technologies, when the upper-level controller fails, the middle-level controller determines the driver's steering intention by reading the angle of the external steering angle sensor SAS, thereby enabling vehicle steering. However, this solution requires the entire vehicle to be equipped with a separate steering angle sensor SAS, which increases the overall vehicle cost. Furthermore, if the upper-level controller fails due to physical jamming of the steering wheel, the backup solution for the external steering angle sensor SAS will also fail simultaneously, thus failing to provide backup.

[0034] The steering backup solution using an external steering angle sensor (SAS) requires the vehicle to be equipped with an additional steering angle sensor (SAS), which is currently very expensive for a single vehicle. The upper-level controller in the corner module steering system uses a built-in torque angle sensor to determine the driver's steering intention. The external steering angle sensor (SAS) backup solution uses an external steering angle sensor (SAS) to determine the driver's steering intention. The torque angle sensor built into the upper-level controller and the externally installed steering angle sensor (SAS) both detect the driver's steering intention by detecting the angle of steering wheel rotation. When the steering wheel mechanically jams, both will fail simultaneously. Therefore, the steering angle sensor (SAS) backup solution cannot provide backup for all scenarios.

[0035] Therefore, when the upper-level controller malfunctions, the present invention can use the backup steering signal sent by the turn signal controller to determine the driver's steering intention and thus realize vehicle steering, thereby achieving full-scenario backup and reducing usage costs.

[0036] The following description, with reference to the accompanying drawings, outlines an embodiment of the steering control method based on an angle module, a steering control device based on an angle module, an electronic device, and a computer-readable storage medium.

[0037] refer to Figure 1 This is a flowchart of a steering control method based on an angle module according to some embodiments of the present invention.

[0038] In some embodiments, the corner module includes an upper controller, a middle controller, and a lower controller. The upper controller is responsible for simulating the driver's hand feel and sending the driver's steering intentions to the middle controller. The middle controller is responsible for sending the driver's steering intentions to the lower controller. The lower controller is responsible for controlling the steering operation of the four wheels of the target vehicle according to the driver's steering intentions.

[0039] like Figure 1 As shown, the steering control method based on an angle module according to an embodiment of the present invention may include the following steps:

[0040] S101, determine if there is a fault in the upper-level controller.

[0041] Specifically, when the upper-level controller malfunctions and cannot determine the driver's steering intention, the middle-level controller will also be unable to receive the driver's steering intention sent by the upper-level controller. In this situation, whether the lower-level controller maintains the vehicle's original direction before the upper-level controller's failure or returns the vehicle to its neutral position, the safety of the vehicle and driver cannot be guaranteed, necessitating a determination of whether the upper-level controller has malfunctioned. If the upper-level controller is functioning correctly, it sends the driver's steering intention to the middle-level controller. The middle-level controller receives this intention and then forwards it to the lower-level controller. The lower-level controller receives this intention and, based on the driver's steering intention, controls the steering of each of the four wheels of the target vehicle accordingly.

[0042] S102, in response to a fault in the upper-level controller, obtains the backup turn signal sent by the turn signal controller through the middle-level controller, and sends the backup turn signal to the lower-level controller.

[0043] Specifically, when there is a fault in the upper-level controller, it may mean that the middle-level controller receives a fault signal sent by the upper-level controller or is unable to receive the driver's steering intention signal sent by the upper-level controller. At this time, the middle-level controller obtains the backup steering signal sent by the turn signal controller. The backup steering signal can be a left turn signal or a right turn signal. After the middle-level controller obtains the backup steering signal, it sends the backup steering signal to the lower-level controller.

[0044] S103 obtains the backup steering signal sent by the middle controller through the lower controller, and controls the four wheels of the target vehicle to perform steering operations according to the backup steering signal.

[0045] Specifically, when the lower-level controller receives the backup steering signal from the middle-level controller, it controls the four wheels of the target vehicle to perform steering operations based on the backup steering signal. Specifically, it controls the four wheels to turn left or right to achieve vehicle steering. This allows the driver's steering intention to be determined using the backup steering signal from the turn signal controller even if the upper-level controller malfunctions, thus enabling full-scenario backup and reducing operating costs.

[0046] In some embodiments of the present invention, the above-described corner module-based steering control method further includes: acquiring a steering signal for the target vehicle through an upper-level controller and sending the steering signal to a middle-level controller.

[0047] Specifically, when there is no fault in the upper controller, that is, under normal operating conditions, the upper controller obtains the steering signal for the target vehicle and sends the steering signal to the middle controller. The middle controller uses the steering signal (i.e. the driver's steering intention) sent by the upper controller to control the lower controller to distribute the steering to meet the driver's steering intention.

[0048] In some embodiments of the present invention, determining whether the upper-level controller has malfunctioned includes: determining that the upper-level controller has malfunctioned in response to the upper-level controller failing to acquire a steering signal for the target vehicle within a preset time interval. The preset time interval can be calibrated according to actual conditions.

[0049] Specifically, it is determined whether the upper-level controller has obtained the steering signal for the target vehicle within a preset time interval. If the upper-level controller cannot obtain the steering signal for the target vehicle within the preset time interval, it indicates that the upper-level controller cannot send the steering signal for the target vehicle to the middle-level controller, and at this time it is determined that the upper-level controller has malfunctioned.

[0050] In some embodiments of the present invention, determining whether the upper-level controller has malfunctioned includes: sending a heartbeat signal to the upper-level controller through the middle-level controller; determining whether the middle-level controller receives a feedback signal from the upper-level controller for the heartbeat signal within a preset time interval; and determining that the communication between the upper-level controller and the middle-level controller is interrupted in response to the middle-level controller not receiving a feedback signal from the upper-level controller for the heartbeat signal within the preset time interval.

[0051] Specifically, the middle-level controller periodically sends heartbeat signals to the upper-level controller according to a preset cycle. This process is automatic and continuous, designed to monitor the status of the upper-level controller in real time. After sending a heartbeat signal, the middle-level controller waits for a feedback signal from the upper-level controller. Within a preset time interval, the middle-level controller continuously listens for responses from the upper-level controller. The preset time interval is a reasonable value set after comprehensively considering factors such as actual system operation and communication latency to ensure accurate judgment of communication status. If the middle-level controller does not receive a feedback signal from the upper-level controller regarding the heartbeat signal within the preset time interval, it can be determined that the communication between the upper-level controller and the middle-level controller has been interrupted. Communication interruption may be caused by various reasons, such as hardware failure of the upper-level controller, software crash, or damage to the communication line. The method of detecting upper-level controller faults based on heartbeat signals has the characteristics of strong real-time performance and high reliability. It can promptly detect communication problems, providing accurate information for the system to quickly switch to the backup path, thereby improving the overall stability and security of the corner module switching system.

[0052] In some embodiments of the present invention, determining whether the upper-level controller is faulty includes: obtaining a steering signal sent by the upper-level controller through the middle-level controller; verifying whether the steering signal is correct; and determining that the upper-level controller is faulty in response to an incorrect steering signal.

[0053] Specifically, the middle-level controller continuously monitors the communication link with the upper-level controller, acquiring steering signals sent by the upper-level controller in real time. This process is a routine operation during normal system operation, ensuring that the middle-level controller can promptly grasp the upper-level controller's control commands for vehicle steering. The middle-level controller performs a detailed check on the acquired steering signals according to preset verification rules. For example, it checks whether the steering signal format conforms to the system's standard format, including signal length, encoding method, and data bit definitions. An incorrect signal format may indicate an error in the upper-level controller's signal generation or transmission. Furthermore, it checks whether the values ​​representing key parameters such as steering angle and steering speed in the steering signal are within a reasonable range. For instance, the steering angle should typically be within the vehicle's physical steering limits; if the received steering angle value exceeds this range, the signal is considered erroneous. When the middle-level controller detects an error in the steering signal, it triggers a fault determination mechanism, indicating a fault in the upper-level controller. This is because an erroneous steering signal is highly likely caused by hardware failure (such as sensor damage or short circuits), software failure (such as program errors or algorithm anomalies), or other abnormal conditions in the upper-level controller. The fault detection method based on steering signal verification can directly detect key control signals output by the upper controller. It is characterized by strong targeting and high accuracy, which helps to detect faults in the upper controller in a timely manner and improve the reliability and stability of the corner module steering system.

[0054] As a specific example, such as Figure 2 As shown, the steering control method based on the angle module of the present invention may include the following steps:

[0055] S201, the upper-level controller acquires the steering signal for the target vehicle and sends the steering signal to the middle-level controller.

[0056] S202, the turn signal controller obtains the backup turn signal and sends the backup turn signal to the middle controller.

[0057] S203, Determine if the upper-level controller has malfunctioned. If yes, proceed to step S206; otherwise, proceed to step S204.

[0058] S204, Verify if the turn signal is correct. If yes, proceed to step S205; if no, proceed to step S206.

[0059] S205 obtains the steering signal for the target vehicle sent by the upper-level controller through the middle-level controller, and sends the steering signal for the target vehicle to the lower-level controller.

[0060] S206 obtains the backup turn signal sent by the turn signal controller through the middle layer controller and sends the backup turn signal to the lower layer controller.

[0061] In some embodiments of the present invention, the backup steering signal includes a left steering signal and a right steering signal; wherein, the left steering signal represents a preset distance of the target vehicle's steering wheel turning left, and the right steering signal represents a preset distance of the target vehicle's steering wheel turning right.

[0062] Specifically, the left turn signal indicates that the target vehicle's steering wheel needs to turn left by a preset distance. This preset distance is determined comprehensively based on factors such as the vehicle's mechanical structure, steering characteristics, and safe driving requirements. For example, the preset distance might be set to a certain angle of leftward rotation of the steering wheel, allowing the vehicle to turn to the left to a certain extent, meeting basic steering needs such as lane changing and obstacle avoidance. This preset distance is designed to ensure that, in backup control mode, the vehicle can perform left turns in a relatively stable and controllable manner. The corresponding right turn signal indicates that the target vehicle's steering wheel needs to turn right by a preset distance. Similarly, this preset distance is carefully designed and optimized to ensure that the vehicle can safely and smoothly turn right upon receiving the right turn signal, enabling the vehicle to smoothly complete rightward lane changes and turns when needed. The backup steering signal, as a backup control method, ensures that the system will not completely lose its steering function due to the failure of the upper-level controller. Through the left and right turn signals transmitted by the turn signal controller, the middle-level controller can promptly decompose the driver's intentions and transmit them to the lower-level controller to achieve vehicle steering control, greatly improving the reliability and fault tolerance of the entire steering system. In emergency situations, such as a malfunction in the upper-level controller causing loss of vehicle steering control, the backup steering signal provides the driver with a basic steering control method. The driver can communicate their steering intentions by activating the turn signal, enabling the vehicle to react promptly and avoid dangerous situations such as collisions, effectively ensuring driving safety.

[0063] In some embodiments of the present invention, obtaining backup steering signals sent by the middle-level controller through the lower-level controller and controlling the four wheel ends of the target vehicle to perform steering operations according to the backup steering signals includes: in response to obtaining a left steering signal sent by the middle-level controller through the lower-level controller, generating wheel-end left steering commands for the four wheel ends of the target vehicle according to the left steering signals, and controlling the four wheel ends of the target vehicle to perform left steering operations according to the wheel-end left steering commands corresponding to each wheel end of the target vehicle; in response to obtaining a right steering signal sent by the middle-level controller through the lower-level controller, generating wheel-end right steering commands for the four wheel ends of the target vehicle according to the right steering signals, and controlling the four wheel ends of the target vehicle to perform right steering operations according to the wheel-end right steering commands corresponding to each wheel end of the target vehicle.

[0064] Specifically, after the lower-level controller receives the left-turn signal from the middle-level controller, it generates left-turn commands for each of the four wheels of the target vehicle based on a preset algorithm and the vehicle's steering characteristics. These commands precisely specify the leftward turning angle, speed, and other parameters for each wheel. Different wheels are assigned different steering commands based on their role in the vehicle's steering process and the overall steering geometry of the vehicle, to achieve coordinated and stable leftward steering. The lower-level controller sends the generated left-turn commands to the corresponding wheel-end actuators. The wheel-end actuators, based on the received commands, control the motors, hydraulic systems, and other components to drive the wheels to perform leftward steering at the specified angle and speed. During the steering process, the lower-level controller monitors the steering status of each wheel in real time to ensure accurate execution of the commands. If it detects excessive deviation in the steering angle or abnormal steering speed of a particular wheel, it will promptly adjust and correct it.

[0065] When the lower-level controller receives the right-turn signal from the middle-level controller, it generates right-turn commands for each of the four wheels according to preset rules. Similar to left-turn, each wheel-end right-turn command is carefully designed based on the vehicle's steering characteristics and overall geometry. The lower-level controller sends the wheel-end right-turn commands to the corresponding wheel-end actuators, driving the wheels to perform right-turn operations according to the commands. During the steering process, the wheel-end status is continuously monitored and adjusted to ensure that the four wheels work together to achieve smooth and accurate right-turning.

[0066] In some embodiments, upon receiving a backup steering signal, the backup steering signal is converted into the actual steering wheel angle. It is then determined whether the actual steering wheel angle is greater than or equal to a preset steering angle threshold. If the actual steering wheel angle is greater than or equal to the preset steering angle threshold, the backup steering signal is determined to instruct the target vehicle to perform a steering operation. Further, the steering direction of the target vehicle is determined based on the backup steering signal. For example, when the actual steering wheel angle is negative, the backup steering signal is a left steering signal; when the actual steering wheel angle is positive, the backup steering signal is a right steering signal. Furthermore, when the actual steering wheel angle is less than the preset steering angle threshold, it indicates that the actual steering wheel angle is small, possibly due to driver error. In this case, the target vehicle may not perform a steering operation to ensure driver safety.

[0067] As a specific example, such as Figure 3 As shown, the steering control method based on the angle module of the present invention may include the following steps:

[0068] S301, the turn signal controller acquires the backup turn signal and sends the backup turn signal to the intermediate controller.

[0069] S302, the middle layer controller converts the received left turn signal into a main road steering wheel angle signal. Each time a left turn signal is received, it is considered that the steering wheel has turned one degree to the left, and the left turn signal is sent to the lower layer controller.

[0070] S303, the middle layer controller converts the received right turn signal into a main road steering wheel angle signal. Each time a right turn signal is received, it is considered that the steering wheel has turned one degree to the right, and the right turn signal is sent to the lower layer controller.

[0071] S304 obtains the backup steering signal sent by the middle controller through the lower controller, and controls the four wheels of the target vehicle to perform steering operations according to the backup steering signal.

[0072] In some embodiments, upon receiving a backup steering signal, the backup steering signal is converted into a backup steering angle. It is then determined whether the absolute value of the backup steering angle is greater than a preset angle range. If the absolute value of the backup steering angle is greater than the preset angle range, it indicates that the backup steering signal is a left or right turn signal. Then, it is determined again based on the backup steering angle whether the backup steering signal is a left or right turn signal. For example, if the backup steering angle is negative, the backup steering signal is a left turn signal; if the backup steering angle is positive, the backup steering signal is a right turn signal. If the absolute value of the backup steering angle is not greater than the preset angle range, it indicates that the steering wheel remains stationary to prevent accidental steering wheel activation and ensure driver safety.

[0073] In summary, the corner module-based steering control method according to embodiments of the present invention includes: determining whether an upper-level controller has malfunctioned; in response to a malfunction in the upper-level controller, obtaining a backup steering signal sent by the turn signal controller through a middle-level controller and sending the backup steering signal to a lower-level controller; obtaining the backup steering signal sent by the middle-level controller through the lower-level controller, and controlling the four wheels of the target vehicle to perform steering operations according to the backup steering signal. Therefore, this method can determine the driver's steering intention using the backup steering signal sent by the turn signal controller when the upper-level controller malfunctions, thereby achieving vehicle steering, enabling full-scenario backup and reducing usage costs.

[0074] 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.

[0075] 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.

[0076] Corresponding to the above embodiments, the present invention also proposes a steering control device based on an angle module.

[0077] like Figure 4 As shown, the steering control device based on the angle module in this embodiment of the invention includes: a determination module 410, a response module 420, and a control module 430.

[0078] The determination module 410 is configured to determine whether the upper-level controller has malfunctioned; the response module 420 is configured to, in response to the malfunction of the upper-level controller, obtain the backup steering signal sent by the turn signal controller through the middle-level controller and send the backup steering signal to the lower-level controller; the control module 430 is configured to obtain the backup steering signal sent by the middle-level controller through the lower-level controller and control the four wheels of the target vehicle to perform steering operations according to the backup steering signal.

[0079] In some embodiments of the present invention, the control module 430 is further configured to acquire a steering signal for the target vehicle through the upper-level controller and send the steering signal to the middle-level controller.

[0080] In some embodiments of the present invention, the determining module 410 determines whether the upper-level controller has malfunctioned, specifically used to: determine that the upper-level controller has malfunctioned in response to the upper-level controller being unable to obtain a steering signal for the target vehicle within a preset time interval.

[0081] In some embodiments of the present invention, the determining module 410 determines whether the upper-level controller has malfunctioned, specifically configured to: send a heartbeat signal to the upper-level controller through the middle-level controller; determine whether the middle-level controller receives a feedback signal from the upper-level controller for the heartbeat signal within a preset time interval; and determine that the communication between the upper-level controller and the middle-level controller is interrupted in response to the middle-level controller not receiving a feedback signal from the upper-level controller for the heartbeat signal within the preset time interval.

[0082] In some embodiments of the present invention, the determining module 410 determines whether the upper-level controller is faulty, specifically for: obtaining the steering signal sent by the upper-level controller through the middle-level controller; verifying whether the steering signal is correct; and determining that the upper-level controller is faulty in response to an incorrect steering signal.

[0083] In some embodiments of the present invention, the backup steering signal includes a left steering signal and a right steering signal; wherein, the left steering signal represents a preset distance of the target vehicle's steering wheel turning left, and the right steering signal represents a preset distance of the target vehicle's steering wheel turning right.

[0084] In some embodiments of the present invention, the control module 430 obtains backup steering signals sent by the intermediate controller through the lower-level controller, and controls the four wheels of the target vehicle to perform steering operations according to the backup steering signals. Specifically, it is used to: in response to obtaining a left steering signal sent by the intermediate controller through the lower-level controller, generate wheel-end left steering commands for the four wheels of the target vehicle according to the left steering signals, and control the four wheels of the target vehicle to perform left steering operations according to the wheel-end left steering commands corresponding to each wheel of the target vehicle; in response to obtaining a right steering signal sent by the intermediate controller through the lower-level controller, generate wheel-end right steering commands for the four wheels of the target vehicle according to the right steering signals, and control the four wheels of the target vehicle to perform right steering operations according to the wheel-end right steering commands corresponding to each wheel of the target vehicle.

[0085] It should be noted that for details not disclosed in the corner module-based steering control device of this embodiment, please refer to the details disclosed in the corner module-based steering control method of this embodiment, which will not be repeated here.

[0086] In summary, the corner module-based steering control device according to an embodiment of the present invention includes: a determining module configured to determine whether an upper-level controller has malfunctioned; a responding module configured to, in response to a malfunction in the upper-level controller, acquire a backup steering signal sent by the turn signal controller through a middle-level controller and send the backup steering signal to a lower-level controller; and a controlling module configured to acquire the backup steering signal sent by the middle-level controller through the lower-level controller and control the four wheels of the target vehicle to perform steering operations according to the backup steering signal. Therefore, this device can determine the driver's steering intention using the backup steering signal sent by the turn signal controller when the upper-level controller malfunctions, thereby achieving vehicle steering, enabling full-scenario backup and reducing operating costs.

[0087] For ease of description, the above system is described by dividing it into various modules based on their functions. Of course, in implementing this invention, the functions of each module can be implemented in one or more software and / or hardware components.

[0088] The system described in 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.

[0089] Corresponding to the above embodiments, the present invention also proposes an electronic device.

[0090] refer to Figure 5 The diagram below is a block diagram of an electronic device according to some embodiments of the present invention. It illustrates a more specific hardware structure of the electronic device provided in this 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 interconnected internally via the bus 550.

[0091] 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.

[0092] 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.

[0093] 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.

[0094] 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.).

[0095] 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.

[0096] 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.

[0097] The electronic devices described above are used to implement the corresponding methods in any of the foregoing embodiments and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0098] Based on the same inventive concept, corresponding to the methods of any of the above embodiments, the present invention also provides a computer-readable storage medium storing computer instructions for causing a computer to perform the methods of any of the above embodiments.

[0099] 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)).

[0100] The computer instructions stored in the storage medium of the above embodiments are used to cause the computer to perform the methods of any of the above exemplary method sections, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0101] Furthermore, although the operations of the method of the present invention are described in a specific order in the accompanying drawings, this does not require or imply that these operations must be performed in that specific order, or that all of the operations shown must be performed to achieve the desired result. Rather, the steps depicted in the flowchart may be performed in a different order. Additionally or alternatively, certain steps may be omitted, multiple steps may be combined into one step, and / or one step may be broken down into multiple steps.

[0102] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0103] It should be noted that, unless otherwise defined, the technical or scientific terms used in the embodiments of this invention should have the ordinary meaning understood by those skilled in the art. The terms "first," "second," and similar terms used in the embodiments of this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word covers the element or object listed after the word and its equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are only used to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0104] While the spirit and principles of the invention have been described with reference to several specific embodiments, it should be understood that the invention is not limited to the disclosed specific embodiments, and the division of aspects does not imply that features in these aspects cannot be combined for benefit; such division is merely for ease of description. The invention is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims. The scope of the appended claims is to be interpreted in the broadest sense, thereby encompassing all such modifications and equivalent structures and functions.

Claims

1. A steering control method based on an angle module, characterized in that, The corner module includes an upper-layer controller, a middle-layer controller, and a lower-layer controller; The method includes: Determine whether the upper-level controller has malfunctioned; In response to a fault in the upper-level controller, the middle-level controller acquires a backup steering signal sent by the turn signal controller and sends the backup steering signal to the lower-level controller. This includes: the middle-level controller converts the backup steering signal into a steering wheel angle signal, wherein the backup steering signal includes a left steering signal or a right steering signal. For each frame of the left steering signal acquired, the middle-level controller accumulates a preset left steering angle increment to generate a left steering wheel angle signal; for each frame of the right steering signal acquired, the middle-level controller accumulates a preset right steering angle increment to generate a right steering wheel angle signal. The lower-level controller obtains the backup steering signal sent by the middle-level controller, and controls the four wheels of the target vehicle to perform steering operations according to the backup steering signal.

2. The steering control method based on an angle module according to claim 1, characterized in that, The method further includes: The upper-level controller acquires the steering signal for the target vehicle and sends the steering signal to the middle-level controller.

3. The steering control method based on an angle module according to claim 1, characterized in that, Determining whether the upper-level controller has malfunctioned includes: If the upper-level controller fails to acquire a steering signal for the target vehicle within a preset time interval, it is determined that the upper-level controller has malfunctioned.

4. The steering control method based on an angle module according to claim 1, characterized in that, Determining whether the upper-level controller has malfunctioned includes: The middle layer controller sends a heartbeat signal to the upper layer controller. Determine whether the middle-level controller receives a feedback signal from the upper-level controller regarding the heartbeat signal within a preset time interval; If the middle layer controller does not receive a feedback signal for the heartbeat signal from the upper layer controller within a preset time interval, it is determined that the communication between the upper layer controller and the middle layer controller is interrupted.

5. The steering control method based on an angle module according to claim 2, characterized in that, Determining whether the upper-level controller has a fault includes: The steering signal sent by the upper-level controller is obtained through the middle-level controller; Verify that the steering signal is correct; In response to the incorrect steering signal, it is determined that the upper-level controller has malfunctioned.

6. The steering control method based on an angle module according to claim 1, characterized in that, The backup steering signals include a left steering signal and a right steering signal; wherein, the left steering signal represents a preset distance of the target vehicle's steering wheel turning to the left, and the right steering signal represents a preset distance of the target vehicle's steering wheel turning to the right.

7. The steering control method based on an angle module according to claim 6, characterized in that, The step of obtaining the backup steering signal sent by the middle-level controller through the lower-level controller, and controlling the steering operation of the four wheels of the target vehicle according to the backup steering signal, includes: In response to obtaining the left turn signal sent by the middle controller through the lower controller, the left turn signal is used to generate wheel-end left turn commands for the four wheel ends of the target vehicle, and the four wheel ends of the target vehicle are controlled to perform left turn operation according to the wheel-end left turn command corresponding to each wheel end of the target vehicle. In response to receiving the right turn signal sent by the middle controller through the lower controller, wheel-end right turn commands are generated for the four wheel ends of the target vehicle according to the right turn signal, and the four wheel ends of the target vehicle are controlled to perform right turn operation according to the wheel-end right turn command corresponding to each wheel end of the target vehicle.

8. A steering control device based on an angle module, characterized in that, include: The determination module is configured to determine whether the upper-level controller has failed. The response module is configured to, in response to a fault in the upper-level controller, acquire a backup steering signal sent by the turn signal controller through the middle-level controller and send the backup steering signal to the lower-level controller. This includes: converting the backup steering signal into a steering wheel angle signal through the middle-level controller, wherein the backup steering signal includes a left steering signal or a right steering signal; for each frame of the left steering signal acquired, the middle-level controller accumulates a preset left steering angle increment to generate a left steering wheel angle signal; for each frame of the right steering signal acquired, the middle-level controller accumulates a preset right steering angle increment to generate a right steering wheel angle signal. The control module is configured to acquire the backup steering signal sent by the middle controller through the lower controller, and control the four wheel ends of the target vehicle to perform steering operations according to the backup steering signal.

9. An electronic device, characterized in that, include: A processor and a memory, the memory storing a program or instructions executable on the processor, the program or instructions, when executed by the processor, implementing the steps of the corner module-based steering control method as described in any one of claims 1 to 7.

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 corner module-based steering control method as described in any one of claims 1 to 7.

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