State control method and device for rear wheel steering gear and vehicle

Abstract

The invention is suitable for the technical field of vehicle control, and provides a state control method and device for a rear wheel steering gear and a vehicle, and the method comprises the steps: obtaining the current state of the rear wheel steering gear, the current message receiving number of the rear wheel steering gear and the operation information of the vehicle; wherein the current message receiving number represents the number of specific messages sent by the vehicle controller and received by the rear wheel steering gear; determining the jump state of the rear wheel steering gear according to at least one of the current state of the rear wheel steering gear, the current message receiving number and the operation information; and according to the jumping state, the rear wheel steering gear is controlled to conduct state jumping. The technical problem that the state of the rear wheel steering gear is controlled according to the abnormal condition of the rear wheel steering gear in the prior art, so that the rear wheel steering gear is not controlled under other working conditions, and vehicle safety is affected can be solved.

Description

Technical Field

[0001] This application belongs to the field of vehicle control technology, and in particular relates to a state control method, device and vehicle for a rear wheel steering system. Background Technology

[0002] With people placing higher demands on vehicles' turning radius, high-speed stability, and other aspects, as well as the need for novel vehicle functions such as crab driving, rear-wheel steering is being used in more and more models. Furthermore, since rear-wheel steering is related to vehicle safety, the state control strategy for rear-wheel steering is particularly important.

[0003] Existing methods for controlling rear-wheel steering typically rely on the vehicle's driving status to control the rear wheels, especially when the vehicle is in abnormal conditions. However, many factors influence the state of the rear-wheel steering. Controlling it solely based on the vehicle's driving status or abnormal conditions can easily lead to insufficient precision in the control, failing to meet the vehicle's safe operation requirements. This can negatively impact the vehicle's safety and stability, posing potential hazards to the driver's safety. Summary of the Invention

[0004] This application provides a method, device, and vehicle for controlling the state of a rear wheel steering gear, which can solve the technical problem that existing methods of controlling the rear wheel steering gear based on the vehicle's driving state or abnormal vehicle conditions can easily lead to insufficient precision in the control of the rear wheel steering gear, thus failing to meet the requirements for safe vehicle operation.

[0005] In a first aspect, this application provides a method applied to a vehicle, comprising: The system acquires the current state of the rear wheel steering system, the current number of messages received by the rear wheel steering system, and the vehicle's operating information; wherein, the current number of messages received represents the number of specific messages sent by the vehicle controller received by the rear wheel steering system. The jump state of the rear wheel steering system is determined based on at least one of the following: the current state of the rear wheel steering system, the current number of received messages, and the operation information. Based on the jump state, control the rear wheel steering to perform a state jump.

[0006] In one possible implementation of the first aspect, determining the switching state of the rear wheel steering system based on at least one of the current state of the rear wheel steering system, the current number of received messages, and the operational information includes: Based on the current number of received messages, determine whether the rear wheel steering system is disconnected from the vehicle controller; When the vehicle mode management is active, if the rear wheel steering is initialized or the rear wheel steering is not disconnected from the vehicle controller, the jump state of the rear wheel steering is determined based on the current state of the rear wheel steering, the current rack position information, the current fault information, and the operating information.

[0007] In one possible implementation of the first aspect, determining the jump state of the rear wheel steering system based on the current state of the rear wheel steering system, the current rack position information, the current fault information, and the operating information includes: Based on the current fault information and the current state of the rear wheel steering system, the first jump state of the rear wheel steering system is determined; When the rear wheel steering system is in the initialization state, the second jump state of the rear wheel steering system is determined based on the current rack position information and the running information. The jump state of the rear wheel steering gear is determined based on the first jump state and the second jump state; When the current state of the rear wheel steering system is not the initialization state, the jump state of the rear wheel steering system is determined according to the first jump state.

[0008] In one possible implementation of the first aspect, determining the jump state of the rear wheel steering system based on the first jump state and the second jump state includes: When the first jump state is a serious fault, or when the second jump state is a serious fault, the jump state of the rear wheel steering system is determined to be a serious fault; When the first jump state is a minor fault and the second jump state is waiting to be shaken, the jump state of the rear wheel steering system is determined to be a minor fault; When the first transition state is pending handshake and the second transition state is pending handshake, the transition state of the rear wheel steering gear is determined to be pending handshake.

[0009] In one possible implementation of the first aspect, determining the first jump state of the rear wheel steering system based on the current fault information and the current state of the rear wheel steering system includes: When the current fault information is a minor fault and the current state of the rear wheel steering is the initialization state, the rear wheel steering is controlled to perform rack centering initialization. After the rear wheel steering completes rack centering initialization, the first jump state of the rear wheel steering is determined to be centering. After one message cycle, the first jump state of the rear wheel steering is determined to be a minor fault. When the current fault information is a minor fault and the current state of the rear wheel steering is not the initialization state, the first jump state of the rear wheel steering is determined to be returning to center, and when the rack is in the middle position, the first jump state of the rear wheel steering is determined to be a minor fault. When the current fault information is a severe fault, the first jump state of the rear wheel steering system is determined to be a serious fault; When the current fault information is no fault, if the current state of the rear wheel steering is the initialization state, control the rear wheel steering to perform rack centering initialization, and after the rear wheel steering completes rack centering initialization, determine the first jump state of the rear wheel steering to be waiting for handshake. When the current fault information is no fault, if the current state of the rear wheel steering is waiting to be shaken, the first jump state of the rear wheel steering is determined to be normal operation.

[0010] In one possible implementation of the first aspect, determining the second jump state of the rear wheel steering system based on the current rack position information and the operating information includes: Based on the current rack position information, determine whether the rack is within a safe range; When the rack is within a safe range, the rear wheel steering system is controlled to perform rack centering initialization, and after the rear wheel steering system completes rack centering initialization, the second jump state of the rear wheel steering system is determined to be ready for handshake. When the rack is not within the safe range, the second jump state of the rear wheel steering system is determined based on the operating information.

[0011] In one possible implementation of the first aspect, the operational information includes the vehicle speed quality signal status and the vehicle speed; When the rack is not within the safe range, determining the second jump state of the rear wheel steering system based on the operating information includes: When the rack is not within the safe range, within a first preset time period, the rear wheel steering system is controlled to perform rack centering initialization, and after the rear wheel steering system completes rack centering initialization, the second jump state of the rear wheel steering system is determined to be waiting for handshake. When the rack is not within the safe range, and the vehicle speed quality signal status is invalid after the first preset time, the second jump state of the rear wheel steering gear is determined to be a serious fault. When the rack is not within the safe range, the vehicle speed quality signal status is valid after the first preset time, and when the vehicle speed is greater than the preset speed threshold, the second jump state of the rear wheel steering gear is determined to be a serious fault. When the rack is not within the safe range, the vehicle speed quality signal status is valid after the first preset time, and the vehicle speed is less than or equal to the preset speed threshold, the rear wheel steering is controlled to perform rack centering initialization, and after the rear wheel steering completes rack centering initialization, the second jump state of the rear wheel steering is determined to be waiting for handshake.

[0012] In one possible implementation of the first aspect, determining the switching state of the rear wheel steering system based on at least one of the current state of the rear wheel steering system, the current number of received messages, and the operating information further includes: When the vehicle mode management is in the off state, the rear wheel steering is disconnected from the vehicle controller, the current state of the rear wheel steering is not in the initialization state, and the current rack position information meets the first preset condition, the jump state of the rear wheel steering is determined to be in the initialization state.

[0013] Secondly, this application provides a rear wheel steering system state control device for use in a vehicle, the device comprising: The data acquisition module is used to acquire the current state of the rear wheel steering system, the current number of messages received by the rear wheel steering system, and the vehicle's operating information; wherein, the current number of messages received represents the number of specific messages sent by the vehicle controller received by the rear wheel steering system. A jump state determination module is used to determine the jump state of the rear wheel steering system based on at least one of the current state of the rear wheel steering system, the current number of received messages, and the operation information. The transition control module is used to control the rear wheel steering gear to perform a state transition based on the transition state.

[0014] Thirdly, this application provides a vehicle including a rear-wheel steering system and the aforementioned state control device for the rear-wheel steering system.

[0015] Fourthly, this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method described in any of the preceding claims.

[0016] Fifthly, this application provides a computer program product that, when run on a vehicle, causes the vehicle to perform any of the methods described above.

[0017] The beneficial effects of this application compared with the prior art are as follows: By acquiring the current state of the rear wheel steering system, the current number of messages received by the rear wheel steering system, and the vehicle's operating information, the jump state of the rear wheel steering system is determined based on at least one of the following: the current state of the rear wheel steering system, the current number of messages received, and the operating information. Based on the jump state, the rear wheel steering system is controlled to perform a state transition. Here, the current number of messages received represents the number of specific messages sent by the vehicle controller received by the rear wheel steering system. The determination of the jump state of the rear wheel steering system is based on at least one of the following: the current state of the rear wheel steering system, the current number of messages received, and the operating information. It involves not only operating information but also other factors, which can make the determined jump state more accurate and conform to various operating conditions. Thus, it can effectively solve the technical problem that the existing method of controlling the rear wheel steering system by the vehicle's driving state or abnormal vehicle conditions is prone to insufficient control of the rear wheel steering system and cannot meet the requirements for safe vehicle operation. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in this application, the drawings used in the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some of those in this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0019] Figure 1 This is a flowchart illustrating a state control method for a rear wheel steering system provided in this application.

[0020] Figure 2 This is a flowchart illustrating another state control method for a rear wheel steering system provided in this application.

[0021] Figure 3 This is a flowchart illustrating another state control method for a rear wheel steering system provided in this application.

[0022] Figure 4 This is a flowchart illustrating another state control method for a rear wheel steering system provided in this application.

[0023] Figure 5 This is a schematic diagram illustrating the relationship between the mechanical return speed of a rear wheel steering system and the vehicle speed, as provided in this application.

[0024] Figure 6 This is a structural schematic diagram of the rack position of a rear wheel steering system provided in this application.

[0025] Figure 7 This is a schematic diagram of the state control device for a rear wheel steering system provided in this application. Detailed Implementation

[0026] In the following description, specific details such as particular system structures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of this application. However, those skilled in the art will understand that this application can be implemented in other ways without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0027] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0028] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0029] As used in this application specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if detected [the described condition or event]" may be interpreted, depending on the context, as meaning "once determined," "in response to determination," "once detected [the described condition or event]," or "in response to detection [the described condition or event]."

[0030] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0031] In this specification, references such as “a” or “some” mean that one or more of the features, structures, or characteristics described herein are included. Therefore, the phrases “in one,” “in some,” “in others,” “in still others,” etc., appearing in different parts of this specification are not necessarily all references to the same thing, but rather mean “one or more, but not all,” unless otherwise specifically emphasized. The terms “comprising,” “including,” “having,” and variations thereof mean “including, but not limited to,” unless otherwise specifically emphasized.

[0032] Regarding the control process of the rear wheel steering system, existing technologies often control the rear wheels based on the vehicle's driving state and when the vehicle is in abnormal driving conditions. However, they do not address the control of the rear wheel steering system under other operating conditions, which cannot guarantee the vehicle's driving safety and stability, and thus can easily pose safety hazards to the driver.

[0033] To address the aforementioned problems, this application provides a state control method for a rear wheel steering system, see [link to relevant documentation]. Figure 1 , Figure 1 This is a flowchart illustrating a state control method for a rear-wheel steering system provided in this application, applied to a vehicle. The method includes: Step S11: Obtain the current state of the rear wheel steering system, the current number of messages received by the rear wheel steering system, and the vehicle's operating information; wherein, the current number of messages received indicates the number of specific messages sent by the vehicle controller through the bus received by the rear wheel steering system.

[0034] Step S12: Determine the jump state of the rear wheel steering system based on at least one of the following: the current state of the rear wheel steering system, the current number of received messages, and the operation information.

[0035] Step S13: Control the rear wheel steering gear to change state according to the jump state.

[0036] It should be noted that the vehicle is equipped with a rear-wheel steering system, which includes rear-wheel steering mechanical components, a rear-wheel steering controller, and sensors. The rear-wheel steering mechanical components include a rack, housing, and tie rods. The rear-wheel steering controller controls the steering wheel's rotation state and, based on this state, adjusts the steering accordingly. Sensors collect vehicle operating parameters and parameters from the rear-wheel steering system and other related equipment.

[0037] The vehicle is also equipped with an Electronic Control Unit (ECU), which has a vehicle mode management function. When the vehicle mode management function is enabled, it is active, and the vehicle can activate corresponding function availability management and power distribution strategies based on user usage scenarios (such as remote mode, sleep mode, standby mode, and operating mode). For example, the rear-wheel steering control system can be activated to meet the needs of scenarios where the rear-wheel steering is used. When the vehicle mode management function is disabled, it is in a deactivated state.

[0038] Specifically, it can acquire the current state of the rear wheel steering system, the current number of messages received by the rear wheel steering system, and vehicle operating information. This application does not specifically limit the acquisition method; it can be acquired through sensors, vehicle monitoring, or direct acquisition via communication methods such as networks.

[0039] The current state of the rear wheel steering system indicates the current state of the rear wheel steering system. The state of the rear wheel steering system can be initialization, centering, waiting for handshake, minor fault, serious fault, and normal operation.

[0040] The initialization state indicates that the rear wheel steering system is in the hardware or software initialization state. The centering state indicates that the rear wheel steering rack is mechanically centering. The handshake-awaiting state indicates that the rear wheel steering system has completed initialization and mechanical centering, and is waiting to handshake with the host computer. The minor fault state indicates that the rear wheel steering system has experienced a minor fault that does not affect the mechanical centering function. The severe fault state indicates that the rear wheel steering system has experienced a more serious fault and is unable to perform mechanical centering. The normal operation state indicates that the rear wheel steering system has completed the handshake with the host computer and is operating normally without any faults.

[0041] It should be noted that status lights can also be set for the current condition of the rear-wheel steering system. For example, when the current condition of the rear-wheel steering system is a minor fault, the status light will be yellow. This yellow light will also be displayed on the instrument panel, and the vehicle's voice system will provide a voice prompt indicating a minor rear-wheel steering fault, urging drivers to be cautious. When the current condition of the rear-wheel steering system is a serious fault, the status light will be red. This red light will also be displayed on the instrument panel, and the vehicle's voice system will provide a voice prompt indicating a serious rear-wheel steering fault, urging drivers to contact their dealer.

[0042] Specifically, the jump state of the rear wheel steering system indicates the next state of the rear wheel steering system. The current state of the rear wheel steering system affects the jump state of the rear wheel steering system; if the current state of the rear wheel steering system is different, the jump state of the rear wheel steering system may also be different.

[0043] The current message reception count for the rear wheel steering system indicates the number of specific NM (Network Management) messages received by the rear wheel steering system from the vehicle controller at the current moment. The current message reception count is closely related to the specific NM messages sent via the bus. These specific NM messages sent via the bus serve as a wake-up signal and can be used to convey the node's sleep intent. For example, specific NM messages (0x500~0x53F) will wake up the rear wheel steering controller after receiving three frames. The current message reception count determines whether the rear wheel steering controller has been woken up, and it also affects the rear wheel steering system's switching state.

[0044] It should be noted that the current number of received messages can be 1 or 3, and this application does not make a specific limitation on this.

[0045] Vehicle operating information includes the vehicle speed-quality signal status and vehicle speed. The speed-quality signal status includes an invalid speed-quality signal status and a valid speed-quality signal status. Vehicle speed represents the speed at which the vehicle is traveling. When the rear wheel steering system is currently in the initialization state, both the speed-quality signal status and the vehicle speed affect the steering system's transition state.

[0046] The transition state of the rear wheel steering system can be determined based on at least one of the following: the current state of the rear wheel steering system, the current number of received messages, and operational information. For example, the transition state of the rear wheel steering system can be determined based on its current state. When the current state of the rear wheel steering system is "returning to center," if no fault has occurred, after the rear wheel steering system completes its centering initialization, its first transition state is "awaiting handshake." For example... Figure 2 As shown, Figure 2 This is a flowchart illustrating another state control method for a rear wheel steering system provided in this application. Based on any combination of the current state of the rear wheel steering system, the current number of received messages, the current rack position information, the current fault information, and the operating information, the jump state of the rear wheel steering system can be comprehensively determined.

[0047] The current rack position information of the rear wheel steering system indicates the position of the rack at the current moment. For example, if the current rack position is in the middle position, it means that the rack has completed mechanical centering. Based on the current rack position information, it can be determined whether the rear wheel steering system rack has completed mechanical centering. The determined steering state of the rear wheel steering system may differ depending on whether mechanical centering has been completed or not.

[0048] The vehicle's current fault information indicates all faults affecting the operation of the rear-wheel steering system at the current moment. This information includes no fault, minor fault, and major fault. For example, a minor fault in the rear-wheel steering system or an invalid angle request signal from the host computer are both considered minor faults in the current fault information. The corresponding rear-wheel steering system's switching state may differ depending on whether the current fault information is no fault, minor fault, or major fault.

[0049] In an optional example, when vehicle mode management is active, it indicates that the rear wheel steering can be activated. The rear wheel steering controller is awakened when it receives three consecutive frames of specific NM messages sent out via the bus, as shown below. Figure 3 As shown, Figure 3 This is a flowchart illustrating another state control method for the rear wheel steering system provided in this application. After being awakened, a time (a) Figure 3During software initialization (in milliseconds), the rear wheel steering controller sends its first message. The duration of 'a' can be set according to specific circumstances, for example, 'a' can be 310 milliseconds. Since the initialization process is not yet complete, the rear wheel angle signal sent by the rear wheel steering controller is invalid, and the rear wheel steering system is currently in the initialization state. Figure 3 (Initial in the text).

[0050] When the rear wheel steering controller does not receive NM messages from the bus, it can determine the transition state of the rear wheel steering unit based on its current state. For example, if the rear wheel steering unit is currently in the initialization state, and it is disconnected from the vehicle controller, the current message transmission is stopped, indicating that the rear wheel steering unit has entered a sleep state. When the rear wheel steering unit is not currently in the initialization state, it continues to transmit NM messages. The rear wheel steering unit can transmit valid messages, even if the bus is interrupted and specific NM messages are transmitted (i.e., the rear wheel steering unit is disconnected from the vehicle controller and cannot receive specific NM messages from the bus), the rear wheel steering unit can still maintain its operating state based on its own transmitted NM messages. That is, the transition state of the rear wheel steering unit can be determined based on its current state, current rack position information, current fault information, and operating information.

[0051] When vehicle mode management is active, if the rear wheel steering system is not disconnected from the vehicle controller and the current message is not in a stopped state, the first transition state of the rear wheel steering system can be determined based on the current fault information and the current state of the rear wheel steering system. If the current state of the rear wheel steering system is not in the initialization state, the first transition state of the rear wheel steering system can also be determined based on the current fault information and the current state of the rear wheel steering system. For example: Figure 2 As shown, when the rear wheel steering system is currently in the initialization state, it controls the rear wheel steering system to perform rack centering initialization. If the current fault information is a minor fault, after the rear wheel steering system completes rack centering initialization, the first jump state of the rear wheel steering system is determined to be centering. After one message cycle, if the current fault information is still a minor fault, the first jump state of the rear wheel steering system is determined to be a slight fault. The current fault information being a minor fault can be a communication fault or a minor fault in the rear wheel steering system. When the rack position of the rear wheel steering system can be identified and rack centering can be performed, the current fault information is determined to be a slight fault. The rack position of the rear wheel steering system can be detected by sensors.

[0052] Due to differences in rear-wheel steering system selection or model, there may be instances where only a portion of the rear-wheel steering rack travel meets the safe operating range. Therefore, the rack position information of the rear-wheel steering system also affects its rotation state. The safe operating range refers to the ASIL D range (Automotive Safety Integrity Level D), meaning the rear-wheel steering rack travel falls within the ASIL D range. For example... Figure 5 As shown, Figure 5 This is a schematic diagram illustrating the relationship between the mechanical return speed of a rear wheel steering system and the vehicle speed, as provided in this application. After the rear wheel steering system is powered on, the mechanical return speed of the rack is related to the vehicle speed. The higher the vehicle speed, the slower the rack returns to center. The vehicle speed affects the initial safety judgment, so the rear wheel steering controller obtains the vehicle's operating information in real time.

[0053] The vehicle speed acceleration sensor requires initialization, a process that takes approximately 1 second. During this initialization, the vehicle speed mass signal is invalid. For example, if the vehicle speed mass signal is invalid during initialization, and the rack is outside the ASIL D range (safe range), relying solely on current fault information to determine the rear wheel steering gear's tripping state would result in a serious fault. However, the rear wheel steering gear might not actually be faulty; the sensor might simply be undergoing initialization. Therefore, it's necessary to use operational data to rule out false alarms of serious faults caused by vehicle speed and acceleration sensor initialization.

[0054] Based on the current rack position and operating information, the second transition state of the rear wheel steering system is determined. For example, when vehicle mode management is active and the rear wheel steering controller software initialization is complete, it is determined whether the rack of the rear wheel steering system is within the ASIL D range (safe range). If the rack is within the ASIL D range, the rear wheel steering system is controlled to initialize, performing rack centering initialization. After rack centering initialization is completed, the second transition state of the rear wheel steering system is determined to be Pending, waiting for the host computer to initiate a handshake.

[0055] Then, based on the first and second jump states, the jump state of the rear wheel steering system is determined comprehensively. For example, if the first jump state is a serious fault, or if the second jump state is a serious fault, the jump state of the rear wheel steering system is determined to be a serious fault; if the first jump state is a minor fault and the second jump state is pending handshake, the jump state of the rear wheel steering system is determined to be a minor fault.

[0056] Finally, based on the jump state, control the rear wheel steering to perform a state transition, that is, control the state of the rear wheel steering to transition from the current state to the jump state. For example, when the jump state is "waiting for handshake", control the rear wheel steering to transition to the "waiting for handshake" state. The state of the rear wheel steering to transition from the current state to the "waiting for handshake" state, wait for the host computer to send a handshake request signal, and then perform a handshake with the host computer after the host computer sends the handshake request signal.

[0057] When the jump status is a minor fault, control the rear wheel steering to jump to the minor fault status, turn the rear wheel steering status light to yellow, and after the fault disappears, control the rear wheel steering to jump to the handshake state.

[0058] When the jump state is the initialization state, the rear wheel steering system is controlled to perform rack centering initialization, and after the rear wheel steering system completes rack centering initialization, the jump state of the rear wheel steering system is determined.

[0059] When the jump state is normal, the control of the rear wheel steering system jumps to the normal working state. The rear wheel steering system follows the angle request issued by the host computer and executes the corresponding rack stroke according to the target rear wheel turning angle.

[0060] When the jump status is a serious fault, the control of the rear wheel steering system will switch to the serious fault status, and the motor power supply to the rear wheel steering system will be disconnected. The rack will stop moving and will be held in the current position by using the self-locking structure. The status light of the rear wheel steering system will then turn red.

[0061] It should be noted that, in order to inform the driver in real time whether there is a malfunction in the rear wheel steering system, so that the driver can respond in time when a malfunction occurs and reduce safety hazards, the status light signal of the rear wheel steering system can also be set. When the current state of the rear wheel steering system is initialization, waiting to shake hands, normal operation or returning to center, and there is no temporary malfunction, the status light of the rear wheel steering system will be green, and the driver can drive with peace of mind.

[0062] Understandably, the technical solution provided herein, by acquiring the current state of the rear wheel steering system, the current number of messages received by the rear wheel steering system, and the vehicle's operating information, determines the transition state of the rear wheel steering system based on at least one of these factors. Based on this transition state, the rear wheel steering system is controlled to perform a state transition. Here, the current number of messages received represents the number of specific messages sent by the vehicle controller received by the rear wheel steering system. Determining the transition state of the rear wheel steering system is based on at least one of these factors, involving not only operating information but also other factors. This allows for a more accurate determination of the transition state, conforming to various operating conditions. Therefore, it effectively solves the technical problem that existing methods of controlling the rear wheel steering system based on the vehicle's driving state or abnormal vehicle conditions often result in insufficient precision in the control of the rear wheel steering system, failing to meet the requirements for safe vehicle operation.

[0063] In one possible implementation, step S12, determining the transition state of the rear wheel steering system based on at least one of the following: the current state of the rear wheel steering system, the current number of received messages, and operational information, includes: Step S121: Determine whether the rear wheel steering system and the vehicle controller are disconnected based on the current number of received messages; Step S122: When vehicle mode management is active, if the rear wheel steering initialization is complete, or the rear wheel steering is not disconnected from the vehicle controller, determine the jump state of the rear wheel steering based on the current state of the rear wheel steering, the current rack position information, the current fault information, and the operating information.

[0064] Specifically, in step S12, since the state of the rear wheel steering system and the vehicle controller also affects the switching state of the rear wheel steering system, it is necessary to determine whether the rear wheel steering system and the vehicle controller are in a disconnected state. Here, the current message refers to a specific NM message sent by the vehicle via the bus or other means.

[0065] When the rear wheel steering controller is not awakened, when the rear wheel steering unit continuously receives 3 frames of specific NM messages sent out on the bus ( Figure 3 When the NM bus is activated, the rear wheel steering controller is awakened. After waking up, it undergoes software initialization for a time of 'a' milliseconds. Then, the rear wheel steering unit sends out its first application message. For example, after 310 milliseconds of software initialization, the rear wheel steering unit continues to send out application messages. Because the complete initialization process is not yet finished, the rear wheel angle signal contained in the sent application messages is invalid.

[0066] like Figure 3As shown, after the rear wheel steering controller's software initialization is complete and vehicle mode management is activated (i.e., vehicle mode management is in an active state), the rear wheel steering system performs rack centering initialization. At this time, the rear wheel steering system is in the initialization state. After a duration of b, the rear wheel steering system continuously sends out the first frame of NM messages, waking up the rear wheel steering controller. The duration b can be b milliseconds, for example, 100 milliseconds.

[0067] The system continuously monitors the current number of received messages, specifically the number of specific NM messages received by the rear wheel steering system from the vehicle controller. Based on this number, it determines whether the rear wheel steering system is disconnected from the vehicle controller, i.e., the status of the rear wheel steering system's reception of messages from the vehicle controller. If no specific NM message is received from the vehicle controller for a certain period of time, it is determined that the rear wheel steering system is disconnected from the vehicle controller.

[0068] When vehicle mode management is active, the rear wheel steering is currently in the initial state, and the rear wheel steering is disconnected from the vehicle controller, the rear wheel steering enters a dormant state. For example... Figure 3 As shown, controlling the rear wheel steering to enter sleep mode is specifically as follows: When the bus stops sending specific NM messages (i.e., the rear wheel steering has not received specific NM messages), after a duration of c, the rear wheel steering stops sending application messages. The duration c can be c seconds, for example, 4 seconds. After another duration d, the rear wheel steering enters sleep mode. The duration d can be d seconds, for example, 4 seconds. Accordingly, controlling the rear wheel steering to enter sleep mode can save resources.

[0069] When vehicle mode management is off, and the rear wheel steering has returned to center, the current state of the rear wheel steering is Initial. The rear wheel steering stops sending NM messages. When the rear wheel steering does not receive a specific NM message, after time c and then time d, the rear wheel steering enters a sleep state.

[0070] Once the rear-wheel steering system is initialized, meaning its current state is any of the following: Pending, Normal, Yellow (minor fault), Red (serious fault), or Ramping, the rear-wheel steering system can send valid messages. Even if the vehicle controller interrupts sending specific NM messages (i.e., the rear-wheel steering system is disconnected from the vehicle controller and cannot receive these messages), the rear-wheel steering system can still maintain its operational state based on its own sent NM messages. This means it can determine the rear-wheel steering system's transition state based on its current state, rack position information, fault information, and operational information. In this way, in the event of a fault in the ECU sending specific NM messages on the bus, or a bus failure, the rear-wheel steering controller can avoid entering a sleep state, preventing situations where the rear-wheel steering system fails to respond to angle requests from the host computer during normal vehicle operation, thus failing to meet the vehicle's performance requirements.

[0071] When vehicle mode management is active and the rear wheel steering is not disconnected from the vehicle controller, the rear wheel steering can receive specific NM messages sent by the vehicle controller. Based on the current state of the rear wheel steering, the current rack position information, the current fault information, and the operating information, the jump state of the rear wheel steering can be determined.

[0072] In one possible implementation, step S122, determining the jump state of the rear wheel steering system based on the current state of the rear wheel steering system, the current rack position information, the current fault information, and the operating information, includes: Step S1221: Determine the first jump state of the rear wheel steering system based on the current fault information and the current state of the rear wheel steering system; Step S1222: When the current state of the rear wheel steering gear is the initialization state, determine the second jump state of the rear wheel steering gear based on the current rack position information and running information; and execute step S1223. Step S1223: Determine the jump state of the rear wheel steering gear based on the first jump state and the second jump state; Step S1224: When the current state of the rear wheel steering gear is not the initialization state, determine the jump state of the rear wheel steering gear according to the first jump state.

[0073] Specifically, based on the current fault information and the current state of the rear wheel steering system, the first jump state of the rear wheel steering system can be determined. For example, as... Figure 2 As shown, when vehicle mode management is active, when the rear wheel steering gear is currently in a pending state and the current fault information is a minor fault ( Figure 2Condition 7) determines the first jump state of the rear wheel steering system as Ramping (returning to center). If the current state of the rear wheel steering system is Ramping, the fault disappears during the rack return process, and the current fault information is fault-free. The rear wheel steering system continues rack return until the rack returns to the center position (…). Figure 2 Condition 2), the first jump state of the rear wheel steering system is Pending (waiting for handshake). If the fault persists during the rack return process, the current fault information is a minor fault. Figure 2 Condition 6), the first jump state of the rear wheel steering gear is Yellow (minor fault).

[0074] When the current state of the rear wheel steering system is not the initialization state, that is, when the current state of the rear wheel steering system is any of the following states: Pending, Normal, Ramping, Yellow (minor fault), and Red (serious fault), the jump state of the rear wheel steering system is determined based on the first jump state of the rear wheel steering system. In other words, the jump state of the rear wheel steering system is consistent with its first jump state. For example, if the first jump state of the rear wheel steering system is Pending, then the jump state of the rear wheel steering system is determined to be Pending.

[0075] When the rear wheel steering system is in the initialization state, only a portion of the rack travel within the initial range meets the safety requirements. Furthermore, the rack return speed after power-on is related to vehicle speed; the higher the vehicle speed, the slower the rack return speed. Additionally, vehicle speed affects the initialization safety assessment. Figure 5 As shown, when the rear wheel steering system is currently in the initialization state, the transition state of the rear wheel steering system is also related to the vehicle's operating information and the rack's position information. Based on the current rack position information and operating information, the second transition state of the rear wheel steering system can be determined. Then, based on the first and second transition states, the transition state of the rear wheel steering system is determined comprehensively to eliminate the problem of false alarms in the rear wheel steering system caused by the vehicle speed quality signal being in an invalid state during the initialization process of the vehicle speed acceleration sensor.

[0076] In one optional example, the transition state of the rear wheel steering system can be determined based on one of the following: the current state of the rear wheel steering system, the current number of messages received by the rear wheel steering system, and the vehicle's operational information. Alternatively, the transition state can be determined based on any combination of the following: the current state of the rear wheel steering system, the current number of messages received by the rear wheel steering system, the current rack position information of the rear wheel steering system, the vehicle's current fault information, and the vehicle's operational information.

[0077] The jump state of the rear wheel steering system can also be determined based on the current state of the rear wheel steering system and the vehicle's current fault information. Furthermore, when the rear wheel steering system is in its initialization state, the jump state can be determined by comprehensively considering the current rack position information of the rear wheel steering system and the vehicle's operating information.

[0078] In one possible implementation, step S1223 above, determining the jump state of the rear wheel steering system based on the first jump state and the second jump state, includes: When the first jump state is a serious fault, or the second jump state is a serious fault, the jump state of the rear wheel steering system is determined to be a serious fault; when the first jump state is a minor fault and the second jump state is pending handshake, the jump state of the rear wheel steering system is determined to be a minor fault; when the first jump state is pending handshake and the second jump state is pending handshake, the jump state of the rear wheel steering system is determined to be pending handshake.

[0079] Specifically, when the rear wheel steering system is currently in the initialization state, the first transition states include Pending, Yellow (minor fault), and Red (serious fault).

[0080] When the rear wheel steering is currently in the initialization state, the second jump state includes critical fault and pending handshake.

[0081] If the first jump state is a serious fault, the rear wheel steering system is determined to be in a serious fault state regardless of the second jump state. Similarly, if the second jump state is a serious fault, the rear wheel steering system is also determined to be in a serious fault state regardless of the first jump state.

[0082] When the first jump state is "minor fault" and the second jump state is "pending handshake," it indicates that the vehicle speed and quality information meet the requirements, the rack is within the safe range, and the jump state of the rear wheel steering system is determined to be "minor fault." When both the first and second jump states are "pending handshake," the jump state of the rear wheel steering system is determined to be "pending handshake." At this time, the rear wheel steering system can be controlled to return the rack to center, and after the rack returns to center, it jumps to the "pending handshake" state.

[0083] In one possible implementation, step S1221, determining the first jump state of the rear wheel steering system based on the current fault information and the current state of the rear wheel steering system, includes: When the current fault information is a minor fault and the current state of the rear wheel steering is the initialization state, control the rear wheel steering to perform rack centering initialization, and after the rear wheel steering completes rack centering initialization, determine the first jump state of the rear wheel steering to perform centering, and after one message cycle, determine the first jump state of the rear wheel steering to be a minor fault. When the current fault information is a minor fault and the current state of the rear wheel steering system is not the initialization state, the first jump state of the rear wheel steering system is determined to be returning to center, and when the rack is in the middle position, the first jump state of the rear wheel steering system is determined to be a minor fault. When the current fault information is a severe fault, the first jump state of the rear wheel steering system is determined to be a serious fault; When the current fault information is no fault, if the current state of the rear wheel steering system is the initialization state, control the rear wheel steering system to perform rack centering initialization, and after the rear wheel steering system completes rack centering initialization, determine the first jump state of the rear wheel steering system as waiting to handshake. When the current fault information is no fault, if the current state of the rear wheel steering system is waiting to be shaken, the first jump state of the rear wheel steering system is determined to be normal operation.

[0084] Specifically, when vehicle mode management is activated ( Figure 2 After condition 1) is met, vehicle mode management is activated, and the rear wheel steering controller performs software initialization. Once the rear wheel steering controller software initialization is complete, the rear wheel steering controller sends out its first application message. At this point, the rear wheel steering system is in the initialization state.

[0085] like Figure 2 As shown, condition 11 indicates that vehicle mode management is active, the rear wheel steering rack has returned to the center position, and a minor fault has occurred. When the current fault information is a minor fault, if the rear wheel steering is currently in the initialization state, after the rear wheel steering performs rack centering initialization, it means the rear wheel steering rack has returned to the center position, satisfying the condition. Figure 2 Condition 11 in the code changes the rear wheel steering state to "Ramping" (returning to center). Condition 6 indicates that vehicle mode management is active, the rear wheel steering rack has returned to the center position, and a minor fault has occurred. When the current fault information is a minor fault, if the current state of the rear wheel steering is "returning to center," then the condition is met. Figure 2 Condition 6 in the equation determines that the first jump state of the rear wheel steering system is a minor fault.

[0086] Figure 2 Condition 7 indicates a minor fault. When the current fault information is a minor fault, if the rear wheel steering system has completed initialization, the current state of the rear wheel steering system is Pending (awaiting handshake), which satisfies... Figure 2Condition 7 states that the rear wheel steering system can detect the position of the rear wheel steering rack and is capable of centering back, controlling the rear wheel steering system state to change to "Ramping" (centering). This condition is met when... Figure 2 When condition 6 is met, the first jump state of the rear wheel steering system is determined to be a minor fault.

[0087] Figure 2 Condition 2 indicates that the rear wheel steering system sends out its first valid rear wheel steering angle message (application message) without any internal or external faults. If the current fault disappears during the rack return initialization process (i.e., the current fault information is fault-free), the rack return initialization indicates that the rear wheel steering system rack has returned to the center position, satisfying the condition. Figure 2 Condition 2 in the equation determines that the first jump state of the rear wheel steering gear is pending handshake.

[0088] When the rear wheel steering system is currently in the centering state, if the current fault information is "no fault," after the rear wheel steering system performs rack centering, the current state of the rear wheel steering system satisfies... Figure 2 Condition 2 in the text determines that the first jump state of the rear wheel steering system is Pending (awaiting handshake). If the current fault still exists during the rack return process of the rear wheel steering system, i.e., the current fault information is a minor fault, and the current state of the rear wheel steering system is returning to center, then the following condition is met. Figure 2 Condition 6 in the equation determines that the first jump state of the rear wheel steering system is a minor fault.

[0089] Figure 2 Condition 4 indicates that the handshake signal sent by the host computer is an exit handshake signal, the current fault information is a minor fault, or the vehicle mode management is off and the vehicle speed is less than a preset speed threshold. When the current fault information is a minor fault, if the rear wheel steering system is currently in normal operation, the handshake signal sent by the host computer is an exit handshake signal, the current fault information is a minor fault, or the vehicle mode management is off and the vehicle speed is less than a preset speed threshold, satisfying the condition... Figure 2 Condition 4 states that after the rear wheel steering system completes rack return to center, the first jump state of the rear wheel steering system is determined to be return to center. After rack return to center, if the current fault information is still a minor fault, the condition is satisfied. Figure 2 Condition 6 in the equation determines that the first jump state of the rear wheel steering system is a minor fault.

[0090] Figure 2Condition 5 indicates that the current fault information is a severe fault. When the current fault information is a severe fault, the following conditions must be met if the current state of the rear wheel steering system is any of the following states: Initial, Pending, Normal, Ramping, or Yellow. Figure 2 Condition 5 in the equation determines that the first jump state of the rear wheel steering gear is a serious fault.

[0091] When the current fault information is no fault, if the rear wheel steering system is currently in the initialization state, the following conditions are met: Figure 2 Condition 2 in the code controls the rear wheel steering to perform rack centering initialization, and after the rear wheel steering completes rack centering initialization, the first jump state of the rear wheel steering is determined to be waiting for handshake.

[0092] Figure 2 Condition 8 indicates that the minor fault has disappeared. When the current fault information is no fault, that is, when the minor fault has disappeared, if the current state of the rear wheel steering system is a minor fault, and the rack has already returned to center, then the condition is satisfied. Figure 2 Condition 8 in the code states that the rear wheel steering unit waits for a handshake request from the host computer, and determines that the first jump state of the rear wheel steering unit is "waiting for handshake".

[0093] Figure 2 Condition 9 indicates that vehicle mode management is off and the rear wheel steering rack has returned to the center position. When the current fault information is no fault and vehicle mode management is off, if the current state of the rear wheel steering is returning to center or a minor fault, the rear wheel steering rack is in the center position, satisfying condition 9, and the first jump state of the rear wheel steering is determined to be initialization.

[0094] Figure 2 Condition 10 indicates that vehicle mode management is off. When the current fault information is no fault, if the current state of the rear wheel steering is pending handshake and vehicle mode management is off, then condition 10 is met, and the first jump state of the rear wheel steering is determined to be initialization.

[0095] Figure 2 Condition 3 indicates that vehicle mode management is active, the handshake signal sent by the host computer is a request handshake signal, and there are no internal or external faults in the rear wheel steering system. When the current fault information is no fault, if the current state of the rear wheel steering system is pending handshake, and the host computer sends a request handshake signal, then condition 3 is met, and the first jump state of the rear wheel steering system is determined to be normal operation.

[0096] In one possible implementation, step S1222, determining the second jump state of the rear wheel steering system based on the current rack position information and operating information, includes: Step S12221: Determine whether the rack is within the safe range based on the current rack position information; Step S12222: When the rack is within the safe range, control the rear wheel steering system to perform rack centering initialization, and after the rear wheel steering system completes rack centering initialization, determine the second jump state of the rear wheel steering system as waiting to handshake. Step S12223: When the rack is not within the safe range, determine the second jump state of the rear wheel steering system based on the operating information.

[0097] Specifically, such as Figure 4 As shown, Figure 4 This is a flowchart illustrating another state control method for the rear wheel steering system provided in this application. When the ECU software is initialized, and the current state of the rear wheel steering system is the initialization state, if the vehicle mode management is active, the rear wheel steering controller determines whether the rack is within the safe range based on the current rack position information. If the rack is within the safe range, it controls the rear wheel steering system to perform rack centering initialization. The rear wheel steering system performs rack centering operation, and the current state of the rear wheel steering system is the initialization state. After the rear wheel steering system completes rack centering initialization, the second jump state of the rear wheel steering system is determined to be waiting for handshake, waiting for the handshake request from the host computer.

[0098] Among them, the ASIL D range of the rack is as follows Figure 6 As shown, Figure 6 This is a structural schematic diagram of the rack position of a rear wheel steering system provided in this application. When the rack travel is within the ASIL D range, the rack is within the safe range.

[0099] Because the speed at which the rear wheel steering system returns the rack to center is related to the vehicle speed—the higher the vehicle speed, the slower the rack returns to center—and because vehicle speed affects the initial safety assessment, therefore, if... Figure 5 As shown, before receiving a valid vehicle speed quality signal, the rack centering speed is the default safe centering speed corresponding to the maximum vehicle speed. After receiving a valid vehicle speed quality signal, the rack centering speed is the safe centering speed corresponding to the actual vehicle speed. After the rear wheel steering system completes rack centering initialization, the second transition state of the rear wheel steering system is determined to be "awaiting handshake".

[0100] During the initialization of the vehicle speed acceleration sensor, the rear wheel steering system cannot receive a valid vehicle speed mass signal. The initialization duration of the vehicle speed acceleration sensor is a first preset duration, assuming it is x seconds. Within x seconds of the acceleration sensor starting initialization, the centering is performed at the functional safety centering speed corresponding to the default maximum vehicle speed. After x seconds of the acceleration sensor starting initialization, the rack centering is initialized at the functional safety centering speed corresponding to the actual vehicle speed.

[0101] like Figure 4 As shown, after the rear wheel steering controller software initialization is complete, if vehicle mode management is active, a timer starts when the rack is outside the safe range. Based on the vehicle speed-quality signal status and vehicle speed, the second transition state of the rear wheel steering is determined. For example, if the duration of the invalid vehicle speed-quality signal status is less than the first preset duration, it indicates that the vehicle speed acceleration sensor has completed initialization and sent a valid vehicle speed-quality signal. At this time, the rear wheel steering is controlled to perform rack centering initialization. After the rear wheel steering completes rack centering initialization, the second transition state of the rear wheel steering is determined to be "waiting for handshake." The first preset duration can be set according to the vehicle speed acceleration sensor initialization duration, for example, 1 second.

[0102] In one possible implementation, the operational information includes the vehicle speed quality signal status and the vehicle speed; In step S12223, when the rack is not within the safe range, the second jump state of the rear wheel steering system is determined based on the operating information, including: When the rack is not within the safe range, the rear wheel steering system is controlled to perform rack centering initialization within the first preset time period, and after the rear wheel steering system completes rack centering initialization, the second jump state of the rear wheel steering system is determined to be waiting for handshake. When the rack is not within the safe range and the vehicle speed quality signal status is invalid after the first preset time, the second jump state of the rear wheel steering system is determined to be a serious fault. When the rack is not within the safe range, the vehicle speed quality signal status becomes valid after the first preset time, and when the vehicle speed is greater than the preset speed threshold, the second jump state of the rear wheel steering system is determined to be a serious fault. When the rack is not within the safe range, the vehicle speed quality signal status becomes valid after the first preset time. When the vehicle speed is less than or equal to the preset speed threshold, the rear wheel steering system is controlled to perform rack centering initialization. After the rear wheel steering system completes rack centering initialization, the second jump state of the rear wheel steering system is determined to be ready for handshake.

[0103] Specifically, such as Figure 4 As shown, when the rack is not within the safe range, timing begins, and the vehicle speed quality signal status is judged. When it is less than the first preset time, the vehicle speed quality signal status is valid, and the vehicle speed acceleration sensor initialization is determined to be complete. The vehicle speed quality signal is continuously monitored, and the current state of the rear wheel steering is initialization. The rear wheel steering is controlled to perform rack centering initialization. After the rear wheel steering completes rack centering initialization, the second jump state of the rear wheel steering is determined to be centering. After one message cycle, the second jump state of the rear wheel steering is determined to be waiting for handshake.

[0104] When the vehicle speed quality signal is invalid within a time period less than the first preset time, it is determined that the vehicle speed acceleration sensor is in the initialization process. Since the vehicle has just been powered on, the vehicle speed is not high within the first preset time, so there is no safety risk and no false alarm will be reported. At this time, the rear wheel steering system is controlled to perform rack centering initialization. After the rear wheel steering system completes rack centering initialization, the second jump state of the rear wheel steering system is determined to be centering. After one message cycle, the second jump state of the rear wheel steering system is determined to be waiting for handshake.

[0105] When the rack is not within the safe range, the vehicle speed quality signal status is valid after the first preset time, and the vehicle speed is greater than the preset speed threshold, the second jump state of the rear wheel steering system is determined to be a serious fault. If the rack travel is not within the ASIL D range, start timing and determine the vehicle speed quality signal status. If the duration is greater than or equal to the first preset duration, the vehicle speed quality signal is invalid. It is determined that the vehicle speed quality signal is invalid after the vehicle speed acceleration sensor initialization is completed. At this time, it is determined that there is a vehicle fault, the obtained vehicle speed is unreliable, and the vehicle speed may be very high. Since the rack is not within the safe range, there is a safety risk when returning to center. At this time, it is determined that the second state of the rear wheel steering system jumps to a serious fault, and the rack travel of the rear wheel steering system is stuck at the current position.

[0106] If the duration is greater than or equal to the first preset duration, the vehicle speed quality signal is valid, and the second jump state of the rear wheel steering system can be determined based on the vehicle speed. If the vehicle speed is greater than or equal to a preset speed threshold (Y km / h), the vehicle speed is high, and the rack is not within the safe range, making rack return initialization a safety risk. In this case, the second state of the rear wheel steering system is determined to be a serious fault, and the rack travel of the rear wheel steering system is stuck at the current position. Y km / h can be 5 km / h; this application does not impose a specific limitation.

[0107] If the duration is greater than or equal to the first preset duration, and the vehicle speed quality signal is in a valid state, if the vehicle speed is less than the preset speed threshold, and there is no risk of the rear wheel steering returning to center, the rear wheel steering is controlled to perform rack return to center initialization. After the rear wheel steering completes rack return to center initialization, the second jump state of the rear wheel steering is determined to be returning to center. After one message cycle, the second jump state of the rear wheel steering is determined to be waiting for handshake.

[0108] It should be noted that the rack return speed of the rear wheel steering system is related to the vehicle speed. For functional safety reasons, when the vehicle speed quality signal is invalid or lost, the rear wheel steering controller can return to center based on the rack return speed corresponding to the default vehicle speed set in its software. For example, at a vehicle speed of 150 km / h, the rack return speed will be slightly slower. When the vehicle speed quality signal is valid, the rear wheel steering system can return to center based on the rack return speed corresponding to the actual vehicle speed.

[0109] In one possible implementation, step S12, which determines the jump state of the rear wheel steering system based on at least one of the current state of the rear wheel steering system, the current number of received messages, and operational information, further includes: When vehicle mode management is off, the rear wheel steering is disconnected from the vehicle controller, the current state of the rear wheel steering is not initialized, and the current rack position information meets the first preset condition, the jump state of the rear wheel steering is determined to be initialized.

[0110] Specifically, the first preset condition indicates that the rack is in the middle position. For example... Figure 3 As shown, when vehicle mode management is off and the rack of the rear wheel steering gear is in the middle position, the rear wheel steering gear is determined to be in the initialization state. The state of the rear wheel steering gear is then changed to initialization, and the power-down process begins.

[0111] At this point, during the power-down process, after a second preset duration, the rear wheel steering system is determined to enter a sleep state. The second preset duration includes duration c and duration d. Duration c is c seconds and duration d is d seconds, respectively. After c seconds, the rear wheel steering system stops sending application messages, and after d seconds, it enters a sleep state. Duration c and duration d can be the same (4 seconds) or different.

[0112] It should be noted that before the rear wheel steering system stops sending application messages, if the vehicle controller continues to send specific NM messages to wake up the rear wheel steering controller due to a vehicle malfunction or other reasons, the rear wheel steering system will stop the power-down process and continue to send valid application messages. If the vehicle mode management is reactivated without fault, after one message cycle, the state of the rear wheel steering system will immediately switch from initialization to pending handshake, waiting for a handshake request from the host computer.

[0113] It should be understood that the sequence number of each step in the above does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of this application.

[0114] Corresponding to the method described above, Figure 7A schematic diagram of the state control device for a rear wheel steering system provided in this application is shown. For ease of explanation, only the parts relevant to this application are shown.

[0115] Reference Figure 7 The rear wheel steering system status control device 7 includes: The data acquisition module 71 is used to acquire the current state of the rear wheel steering system, the current number of messages received by the rear wheel steering system, and the vehicle's operating information; wherein, the current number of messages received represents the number of specific messages sent by the vehicle controller received by the rear wheel steering system. The jump state determination module 72 is used to determine the jump state of the rear wheel steering system based on at least one of the following: the current state of the rear wheel steering system, the current number of received messages, and the operation information. The jump control module 73 is used to control the rear wheel steering gear to jump state according to the jump state.

[0116] In one possible implementation, the jump state determination module 72 is further used to determine whether the rear wheel steering system and the vehicle controller are in a disconnected state based on the current number of received messages; when the vehicle mode management is in an active state, if the rear wheel steering system initialization is completed, or the rear wheel steering system and the vehicle controller are not in a disconnected state, the jump state of the rear wheel steering system is determined based on the current state of the rear wheel steering system, the current rack position information, the current fault information, and the operating information.

[0117] In one possible implementation, the jump state determination module 72 is further configured to determine a first jump state of the rear wheel steering system based on the current fault information and the current state of the rear wheel steering system; when the current state of the rear wheel steering system is the initialization state, determine a second jump state of the rear wheel steering system based on the current rack position information and operating information; determine the jump state of the rear wheel steering system based on the first jump state and the second jump state; and when the current state of the rear wheel steering system is not the initialization state, determine the jump state of the rear wheel steering system based on the first jump state.

[0118] In one possible implementation, the jump state determination module 72 is further configured to determine that the jump state of the rear wheel steering gear is a serious fault when the first jump state is a serious fault or the second jump state is a serious fault; to determine that the jump state of the rear wheel steering gear is a minor fault when the first jump state is a minor fault and the second jump state is pending handshake; and to determine that the jump state of the rear wheel steering gear is pending handshake when the first jump state is pending handshake and the second jump state is pending handshake.

[0119] In one possible implementation, the jump state determination module 72 is further configured to, when the current fault information is a minor fault and the current state of the rear wheel steering system is the initialization state, control the rear wheel steering system to perform rack centering initialization, and after the rear wheel steering system completes rack centering initialization, determine the first jump state of the rear wheel steering system as centering, and after one message cycle, determine the first jump state of the rear wheel steering system as a minor fault; when the current fault information is a minor fault and the current state of the rear wheel steering system is not the initialization state, determine the first jump state of the rear wheel steering system as centering, and When the rack is in the middle position, the first jump state of the rear wheel steering system is determined to be a minor fault; when the current fault information is a severe fault, the first jump state of the rear wheel steering system is determined to be a serious fault; when the current fault information is no fault, if the current state of the rear wheel steering system is the initialization state, the rear wheel steering system is controlled to perform rack return-to-center initialization, and after the rear wheel steering system completes rack return-to-center initialization, the first jump state of the rear wheel steering system is determined to be waiting for handshake; when the current fault information is no fault, if the current state of the rear wheel steering system is waiting for handshake, the first jump state of the rear wheel steering system is determined to be normal operation.

[0120] In one possible implementation, the jump state determination module 72 is further used to determine whether the rack is within the safe range based on the current rack position information; when the rack is within the safe range, the rear wheel steering system is controlled to perform rack centering initialization, and after the rear wheel steering system completes rack centering initialization, the second jump state of the rear wheel steering system is determined to be waiting for handshake; when the rack is not within the safe range, the second jump state of the rear wheel steering system is determined based on the operating information.

[0121] In one possible implementation, the operational information includes the vehicle speed quality signal status and the vehicle speed; the jump state determination module 72 is further configured to, when the rack is not within the safe range, control the rear wheel steering system to perform rack centering initialization within a first preset duration, and determine the second jump state of the rear wheel steering system as pending handshake after the rear wheel steering system completes rack centering initialization; when the rack is not within the safe range and the vehicle speed quality signal status is invalid after the first preset duration, determine the second jump state of the rear wheel steering system as a serious fault; when the rack is not within the safe range, the vehicle speed quality signal status is valid after the first preset duration, and the vehicle speed is greater than a preset speed threshold, determine the second jump state of the rear wheel steering system as a serious fault; when the rack is not within the safe range, the vehicle speed quality signal status is valid after the first preset duration, and the vehicle speed is less than or equal to a preset speed threshold, control the rear wheel steering system to perform rack centering initialization, and determine the second jump state of the rear wheel steering system as pending handshake after the rear wheel steering system completes rack centering initialization.

[0122] In one possible implementation, the jump state determination module 72 is further configured to determine the jump state of the rear wheel steering system as the initial state when the vehicle mode management is in the off state, the rear wheel steering system is disconnected from the vehicle controller, the current state of the rear wheel steering system is not the initial state, and the current rack position information meets the first preset condition.

[0123] It should be noted that the information interaction and execution process between the above-mentioned devices / units are based on the same concept as the method of this application. For details on their specific functions and technical effects, please refer to the method section, and they will not be repeated here.

[0124] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the functions described above can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of each functional unit and module are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the aforementioned method, and will not be repeated here.

[0125] This application also provides a vehicle including a rear-wheel steering system and the aforementioned rear-wheel steering system state control device.

[0126] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the methods described above.

[0127] This application provides a computer program product that, when run on a vehicle, enables the vehicle to perform the steps of the methods described above.

[0128] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the above-described method can be implemented by a computer program instructing related hardware. This computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various methods described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include at least: any entity or device capable of carrying the computer program code to a photographing device / terminal device, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium. Examples include USB flash drives, portable hard drives, magnetic disks, or optical disks. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electrical carrier signals or telecommunication signals.

[0129] In the above schemes, the descriptions of each scheme have their own emphasis. For the parts that are not detailed or recorded in a certain scheme, please refer to the relevant descriptions of other schemes.

[0130] Those skilled in the art will recognize that the units and algorithm steps described in conjunction with the solutions disclosed herein can be implemented using electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0131] In the solutions provided in this application, it should be understood that the disclosed apparatus / network devices and methods can be implemented in other ways. For example, the apparatus / network devices described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0132] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this solution according to actual needs.

[0133] The above-described solutions are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing solutions, those skilled in the art should understand that they can still modify the technical solutions described in the foregoing solutions, or make equivalent substitutions for some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of this application, and should all be included within the protection scope of this application.

Claims

1. A state control method for a rear wheel steering system, applied to a vehicle, characterized in that, include: The system acquires the current state of the rear wheel steering system, the current number of messages received by the rear wheel steering system, and the vehicle's operating information; wherein, the current number of messages received represents the number of specific messages sent by the vehicle controller received by the rear wheel steering system. The jump state of the rear wheel steering system is determined based on at least one of the following: the current state of the rear wheel steering system, the current number of received messages, and the operation information. Based on the jump state, control the rear wheel steering to perform a state jump.

2. The state control method for the rear wheel steering system as described in claim 1, characterized in that, Determining the switching state of the rear wheel steering system based on at least one of the current state of the rear wheel steering system, the current number of received messages, and the operating information includes: Based on the current number of received messages, determine whether the rear wheel steering system is disconnected from the vehicle controller; When vehicle mode management is active, if the rear wheel steering is initialized or the rear wheel steering is not disconnected from the vehicle controller, the jump state of the rear wheel steering is determined based on the current state of the rear wheel steering, the current rack position information, the current fault information, and the operating information.

3. The state control method for the rear wheel steering system as described in claim 2, characterized in that, The step of determining the jump state of the rear wheel steering system based on the current state of the rear wheel steering system, the current rack position information, the current fault information, and the operating information includes: Based on the current fault information and the current state of the rear wheel steering system, the first jump state of the rear wheel steering system is determined; When the rear wheel steering system is in the initialization state, the second jump state of the rear wheel steering system is determined based on the current rack position information and the running information. The jump state of the rear wheel steering gear is determined based on the first jump state and the second jump state; When the current state of the rear wheel steering system is not the initialization state, the jump state of the rear wheel steering system is determined according to the first jump state.

4. The state control method for the rear wheel steering system as described in claim 3, characterized in that, Determining the jump state of the rear wheel steering system based on the first jump state and the second jump state includes: When the first jump state is a serious fault, or when the second jump state is a serious fault, the jump state of the rear wheel steering system is determined to be a serious fault; When the first jump state is a minor fault and the second jump state is waiting to be shaken, the jump state of the rear wheel steering system is determined to be a minor fault; When the first transition state is pending handshake and the second transition state is pending handshake, the transition state of the rear wheel steering gear is determined to be pending handshake.

5. The state control method for the rear wheel steering system as described in claim 3, characterized in that, Determining the first jump state of the rear wheel steering system based on the current fault information and the current state of the rear wheel steering system includes: When the current fault information is a minor fault and the current state of the rear wheel steering is the initialization state, the rear wheel steering is controlled to perform rack centering initialization. After the rear wheel steering completes rack centering initialization, the first jump state of the rear wheel steering is determined to be centering. After one message cycle, the first jump state of the rear wheel steering is determined to be a minor fault. When the current fault information is a minor fault and the current state of the rear wheel steering is not the initialization state, the first jump state of the rear wheel steering is determined to be returning to center, and when the rack is in the middle position, the first jump state of the rear wheel steering is determined to be a minor fault. When the current fault information is a severe fault, the first jump state of the rear wheel steering system is determined to be a serious fault; When the current fault information is no fault, if the current state of the rear wheel steering is the initialization state, control the rear wheel steering to perform rack centering initialization, and after the rear wheel steering completes the centering initialization, determine the first jump state of the rear wheel steering to be waiting for handshake. When the current fault information is no fault, if the current state of the rear wheel steering is waiting to be shaken, the first jump state of the rear wheel steering is determined to be normal operation.

6. The state control method for the rear wheel steering system as described in claim 3, characterized in that, Determining the second jump state of the rear wheel steering system based on the current rack position information and the operating information includes: Based on the current rack position information, determine whether the rack is within a safe range; When the rack is within a safe range, the rear wheel steering system is controlled to perform rack centering initialization, and after the rear wheel steering system completes rack centering initialization, the second jump state of the rear wheel steering system is determined to be ready for handshake. When the rack is not within the safe range, the second jump state of the rear wheel steering system is determined based on the operating information.

7. The state control method for the rear wheel steering system as described in claim 6, characterized in that, The operational information includes vehicle speed quality signal status and vehicle speed; When the rack is not within the safe range, determining the second jump state of the rear wheel steering system based on the operating information includes: When the rack is not within the safe range, within a first preset time period, the rear wheel steering system is controlled to perform rack centering initialization, and after the rear wheel steering system completes rack centering initialization, the second jump state of the rear wheel steering system is determined to be waiting for handshake. When the rack is not within the safe range, and the vehicle speed quality signal is invalid after the first preset time, the second jump state of the rear wheel steering gear is determined to be a serious fault. When the rack is not within the safe range, the vehicle speed quality signal status is valid after the first preset time, and when the vehicle speed is greater than the preset speed threshold, the second jump state of the rear wheel steering gear is determined to be a serious fault. When the rack is not within the safe range, the vehicle speed quality signal status is valid after the first preset time, and the vehicle speed is less than or equal to the preset speed threshold, the rear wheel steering system is controlled to perform rack centering initialization, and after the rear wheel steering system completes rack centering initialization, the second jump state of the rear wheel steering system is determined to be waiting for handshake.

8. The state control method for the rear wheel steering system as described in claim 2, characterized in that, Determining the switching state of the rear wheel steering system based on at least one of the current state of the rear wheel steering system, the current number of received messages, and the operating information further includes: When the vehicle mode management is in the off state, the rear wheel steering is disconnected from the vehicle controller, the current state of the rear wheel steering is not in the initialization state, and the current rack position information meets the first preset condition, the jump state of the rear wheel steering is determined to be in the initialization state.

9. A state control device for a rear wheel steering system, applied to a vehicle, characterized in that, The device includes: The data acquisition module is used to acquire the current state of the rear wheel steering system, the current number of messages received by the rear wheel steering system, and the vehicle's operating information; wherein, the current number of messages received represents the number of specific messages sent by the vehicle controller received by the rear wheel steering system. A jump state determination module is used to determine the jump state of the rear wheel steering system based on at least one of the current state of the rear wheel steering system, the current number of received messages, and the operation information. The transition control module is used to control the rear wheel steering gear to perform a state transition based on the transition state.

10. A vehicle, characterized in that, It includes a rear wheel steering system and a state control device for the rear wheel steering system as described in claim 9.

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