Steering control method, related device and vehicle
By dynamically adjusting the safety risk assessment threshold, the problem of unexpected lateral movement of the vehicle caused by the failure of the rear wheel steering actuator was solved, thus improving the safety control and robustness of the rear wheel steering.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- SAIC MOTOR
- Filing Date
- 2024-10-21
- Publication Date
- 2026-04-21
AI Technical Summary
The risk of unintended lateral movement of a vehicle due to hardware or software failure of the rear wheel steering actuator is addressed by existing technologies that use fixed threshold parameters in risk assessment, resulting in limited rear wheel steering function.
By judging the deviation between the actual rotation direction of the rear wheels and the target rotation direction, the safety risk judgment threshold, including parameters such as motor speed, is dynamically adjusted to avoid the actuator forward impulse exceeding the monitoring threshold caused by rapid steering, thus achieving safe control of rear wheel steering.
While ensuring steering safety, it prevents the rear wheel steering controller from entering an unexpected safe state, thus improving the robustness of rear wheel steering and user experience.
Smart Images
Figure CN121894037A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of vehicle control technology, and in particular to a steering control method, related device and vehicle. Background Technology
[0002] With the widespread application of rear-wheel steering in vehicles, while considering the performance improvements it brings, the risks to the entire vehicle introduced by rear-wheel steering failure are also receiving increasing attention. When the rear-wheel steering actuator hardware or software fails, causing the rear-wheel steering function to become uncontrollable, it can lead to the risk of unexpected lateral movement of the vehicle. Therefore, how to meet users' steering needs while ensuring safe vehicle operation has become an urgent problem to be solved. Summary of the Invention
[0003] In view of the above problems, this application provides a steering control method and related device to ensure steering safety and meet the user's steering needs. The specific solution is as follows:
[0004] The first aspect of this application provides a steering control method, comprising:
[0005] Determine whether the actual rotation direction of the rear wheels is consistent with the target rotation direction, wherein the target rotation direction is the rotation direction represented by the currently received target steering command;
[0006] If not, if the direction of the rear wheel steering actuator's control of the rear wheel's rotation is consistent with the target rotation direction, then based on the deviation between the actual rotation angle of the rear wheel and the target rotation angle represented by the target steering command, and a first deviation threshold, it is determined whether there is a safety risk. The first deviation threshold is a threshold obtained by adjusting the second deviation threshold based on the current value of the threshold adjustment parameter of the rear wheel steering actuator. The second deviation threshold is a preset threshold that triggers the existence of a safety risk. The first deviation threshold is greater than the second deviation threshold.
[0007] If the actual rotation direction is inconsistent with the target rotation direction, and the controlled rotation direction is inconsistent with the target rotation direction, then a safety risk is determined based on the deviation value and the second deviation threshold.
[0008] In one possible implementation, before determining whether the actual rotation direction of the rear wheels is consistent with the target rotation direction, the following is also included:
[0009] The target steering command is subjected to a safety verification according to preset verification rules;
[0010] If the safety check fails, the rear wheel steering actuator is controlled to return the rear wheels to the zero position.
[0011] In one possible implementation, the process of determining whether the controlled rotation direction is consistent with the target rotation direction includes:
[0012] Determine whether the torque direction and acceleration direction of the rear wheel steering actuator on the rear wheel are both consistent with the target rotation direction.
[0013] In one possible implementation, determining whether the actual rotation direction of the rear wheel is consistent with the target rotation direction includes:
[0014] Determine whether the directions of the rotation parameters in the rear wheel steering actuator that characterize the actual rotation direction are all consistent with the target rotation direction. The rotation parameters include at least: torque, acceleration, and velocity.
[0015] In one possible implementation, determining whether the actual rotation direction of the rear wheel is consistent with the target rotation direction further includes:
[0016] Determine whether the rate of change between the actual turning angle and the target turning angle is not lower than a preset change value.
[0017] In one possible implementation, the process of determining the first deviation threshold includes:
[0018] The adjustment value of the second deviation threshold is determined from a preset calibration table based on the current value of the motor speed of the rear wheel steering actuator;
[0019] The first deviation threshold is obtained based on the adjustment value and the second deviation threshold.
[0020] In one possible implementation, the steering control method further includes:
[0021] If a safety risk is detected, the operation of the rear wheel steering drive is stopped, and the rack of the rear wheel steering actuator is locked in the current position.
[0022] A steering control device provided in the second aspect of this application includes:
[0023] The steering processing module is used to determine whether the actual rotation direction of the rear wheels is consistent with the target rotation direction, wherein the target rotation direction is the rotation direction represented by the currently received target steering command;
[0024] A first steering control module is configured to, when the steering processing module determines that the actual rotation direction and the target rotation direction are inconsistent, if the control rotation direction of the rear wheel by the rear wheel steering actuator is consistent with the target rotation direction, determine whether there is a safety risk based on the deviation between the actual rotation angle of the rear wheel and the target rotation angle represented by the target steering command, and a first deviation threshold. The first deviation threshold is a threshold obtained by adjusting a second deviation threshold based on the current value of the threshold adjustment parameter of the rear wheel steering actuator. The second deviation threshold is a pre-set threshold that triggers the existence of a safety risk. The first deviation threshold is greater than the second deviation threshold.
[0025] The second steering control module is used to determine whether there is a safety risk based on the deviation value and the second deviation threshold when the steering processing module determines that the actual rotation direction is inconsistent with the target rotation direction and the controlled rotation direction is inconsistent with the target rotation direction.
[0026] A third aspect of this application provides a computer program product including computer-readable instructions that, when executed on an electronic device, cause the electronic device to implement the steering control method of the first aspect or any implementation thereof.
[0027] A fourth aspect of this application provides an electronic device, including at least one processor and a memory connected to the processor, wherein:
[0028] The memory is used to store computer programs;
[0029] The processor is used to execute the computer program to enable the electronic device to implement the steering control method of the first aspect or any implementation thereof.
[0030] The fifth aspect of this application provides a computer storage medium carrying one or more computer programs, which, when executed by an electronic device, enable the electronic device to implement the steering control method of the first aspect or any implementation thereof.
[0031] A vehicle is provided in the sixth aspect of this application, comprising: a vehicle body and electronic devices disposed in the vehicle body as described in the fourth aspect above.
[0032] By employing the above technical solution, the steering control method provided in this application, when determining that the actual rotation direction is inconsistent with the target rotation direction, and the control rotation direction of the rear wheel steering actuator on the rear wheel is inconsistent with the target rotation direction, determines whether there is a safety risk based on the deviation value and a pre-set second deviation threshold. When determining that the actual rotation direction is inconsistent with the target rotation direction, but the control rotation direction is consistent with the target rotation direction, i.e., when overcoming the inertia control of the actuator to move towards the target position, it determines whether there is a safety risk based on the deviation value between the actual rotation angle of the rear wheel and the target rotation angle represented by the target steering command, as well as a first deviation threshold. The first deviation threshold is obtained by adjusting the second deviation threshold based on the current value of the threshold adjustment parameter of the rear wheel steering actuator, and the first deviation threshold is greater than the second deviation threshold. This achieves an appropriate extension of the judgment threshold of the rear wheel steering controller, avoiding the actuator's forward momentum exceeding the preset monitoring threshold due to rapid reversing operations, which could cause the rear wheel steering controller to unexpectedly enter a safe state, affecting the normal steering of the rear wheels. This ensures normal rear wheel steering while predicting rear wheel steering risks. Attached Figure Description
[0033] The above and other features, advantages, and aspects of the embodiments of this disclosure will become more apparent from the accompanying drawings and the following detailed description. Throughout the drawings, the same or similar reference numerals denote the same or similar elements. It should be understood that the drawings are schematic, and the originals and elements are not necessarily drawn to scale.
[0034] Figure 1 A structural diagram of a remote steering control system provided in this application;
[0035] Figure 2 A structural diagram of a terminal provided in this application;
[0036] Figure 3 A structural diagram of a server provided in this application;
[0037] Figure 4 A flowchart of a steering control method provided in this application;
[0038] Figure 5 A flowchart of another steering control method provided in this application;
[0039] Figure 6 A structural diagram of a steering control device provided in this application;
[0040] Figure 7 This is a structural diagram of an electronic device provided in this application. Detailed Implementation
[0041] The embodiments of this application are described below with reference to the accompanying drawings. The terminology used in the implementation section of this application is for explaining specific embodiments only and is not intended to limit the scope of this application.
[0042] The embodiments of this application will now be described with reference to the accompanying drawings. Those skilled in the art will recognize that, with technological advancements and the emergence of new scenarios, the technical solutions provided in the embodiments of this application are equally applicable to similar technical problems.
[0043] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such terms are interchangeable where appropriate; this is merely a way of distinguishing objects with the same attributes in the embodiments of this application. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion, so that a process, method, system, product, or apparatus that comprises a series of elements is not necessarily limited to those elements, but may include other elements not explicitly listed or inherent to those processes, methods, products, or apparatuses.
[0044] See Figure 1 , Figure 1 A schematic diagram of the architecture of a remote steering control system is shown. The system may include a terminal 100 and a server 200. The server 200 may include one or more servers (…). Figure 1 (The example includes a server), and the server 200 can provide the method provided in the embodiments of this application to one or more terminals.
[0045] The terminal 100 may be equipped with an application for receiving and sending instructions, which sends the required parameters to the server 200. The server 200 can obtain the processing result based on the received parameters and return the processing result to the terminal 100.
[0046] It should be understood that in some optional implementations, the terminal 100 can also complete the action of obtaining the processing result based on the received parameters on its own, without the need for the server to cooperate. This application embodiment is not limited to this.
[0047] The following description Figure 1 The product form of the mid-terminal 100;
[0048] In this application embodiment, the terminal 100 can be a vehicle-mounted device, etc., and this application embodiment does not impose any restrictions on it.
[0049] Figure 2 A schematic diagram of an optional hardware structure for terminal 100 is shown.
[0050] refer to Figure 2 As shown, the terminal 100 may include a radio frequency unit 110, a memory 120, an input unit 130, a display unit 140, a camera 150 (optional), an audio circuit 160 (optional), a speaker 161 (optional), a microphone 162 (optional), a headphone jack 163 (optional), a processor 170, an external interface 180, a power supply 190, and other components. Those skilled in the art will understand that... Figure 2 These are merely examples of terminals or multi-functional devices and do not constitute a limitation on terminals or multi-functional devices. They may include more or fewer components than shown in the illustration, or combine certain components, or use different components.
[0051] The input unit 130 can be used to receive input numeric or character information, and to generate key signal inputs related to user settings and function control of the portable multifunction device. Specifically, the input unit 130 may include a touch screen 131 (optional) and / or other input devices 132.
[0052] Among them, the input device 132 can receive input data, etc.
[0053] The memory 120 can be used to store instructions and data. The memory 120 may primarily include an instruction storage area and a data storage area. The data storage area can store various types of data, such as multimedia files and text. The instruction storage area can store software units such as operating systems, applications, and instructions required for at least one function, or subsets or extended sets thereof. It may also include non-volatile random access memory. It provides the processor 170 with hardware, software, and data resources for managing the computing device, supporting control software and applications. It is also used for storing multimedia files, as well as storing running programs and applications.
[0054] The processor 170 is the control center of the terminal 100. It connects various parts of the terminal 100 via various interfaces and lines. By running or executing instructions stored in the memory 120 and calling data stored in the memory 120, it performs various functions of the terminal 100 and processes data, thereby controlling the terminal device as a whole. Optionally, the processor 170 may include one or more processing units; preferably, the processor 170 may integrate an application processor and a modem processor, wherein the application processor mainly handles the operating system, user interface, and applications, and the modem processor mainly handles wireless communication. It is understood that the modem processor may not be integrated into the processor 170. In some embodiments, the processor and memory can be implemented on a single chip; in some embodiments, they can also be implemented separately on independent chips. The processor 170 can also be used to generate corresponding operation control signals, send them to the corresponding components of the computing processing device, read and process data in the software, especially read and process data and programs in the memory 120, so that the various functional modules therein perform corresponding functions, thereby controlling the corresponding components to act according to the instructions.
[0055] In this embodiment of the application, the radio frequency unit 110 can send data from the rear wheel steering controller to the server 200 and receive steering processing results sent by the server 200.
[0056] It should be understood that the radio frequency unit 110 is optional and can be replaced with other communication interfaces, such as a network port.
[0057] The terminal 100 also includes a power supply 190 (such as a battery) that supplies power to various components. Preferably, the power supply can be logically connected to the processor 170 through a power management system, thereby enabling functions such as charging, discharging, and power consumption management through the power management system.
[0058] Terminal 100 also includes an external interface 180, which can be a standard Micro USB interface or a multi-pin connector, which can be used to connect terminal 100 to other devices for communication or to connect a charger to charge terminal 100.
[0059] Although not shown, terminal 100 may also include a flash, a wireless fidelity (WiFi) module, a Bluetooth module, sensors with various functions, etc., which will not be described in detail here. Some or all of the methods described below can be applied to, for example... Figure 2 In the terminal 100 shown.
[0060] The following description Figure 1 The product form of the mid-range server 200;
[0061] Figure 3 A structural diagram of a server 200 is provided, as follows: Figure 3 As shown, server 200 includes bus 201, processor 202, communication interface 203, and memory 204. Processor 202, memory 204, and communication interface 203 communicate with each other via bus 201.
[0062] Bus 201 can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of representation, Figure 3 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.
[0063] The processor 202 can be any one or more of the following processors: central processing unit (CPU), graphics processing unit (GPU), microprocessor (MP), or digital signal processor (DSP).
[0064] Memory 204 may include volatile memory, such as random access memory (RAM). Memory 204 may also include non-volatile memory, such as read-only memory (ROM), flash memory, hard disk drive (HDD), or solid state drive (SSD).
[0065] The memory 204 can be used to store software code related to the steering control method, and the processor 202 can execute the steps of the chip's steering control method, and can also schedule other units to achieve the corresponding functions.
[0066] It should be understood that the aforementioned terminal 100 and server 200 can be centralized or distributed devices. The processors (e.g., processor 170 and processor 202) in the aforementioned terminal 100 and server 200 can be hardware circuits (such as application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), general-purpose processors, digital signal processors (DSPs), microprocessors or microcontrollers, etc.) or combinations of these hardware circuits. For example, the processor can be a hardware system with instruction execution capabilities, such as a CPU or DSP, or a hardware system without instruction execution capabilities, such as an ASIC or FPGA, or a combination of the aforementioned hardware systems without instruction execution capabilities and hardware systems with instruction execution capabilities.
[0067] When rear-wheel steering actuator hardware or software malfunctions, resulting in uncontrolled rear-wheel steering, it can lead to unexpected lateral movements of the vehicle. Current industry practice typically determines whether the actuator is functioning correctly by comparing its actual steering performance with the target steering command. However, fault diagnosis mechanisms often use fixed threshold parameters for risk assessment, frequently triggering risk assessments and limiting the normal use of rear-wheel steering. Therefore, within the bounds of ensuring driving safety, effectively and reasonably detecting faults in the rear-wheel steering actuator system is crucial for balancing product robustness and safety.
[0068] To address the aforementioned problems, this application provides a steering control method. The steering control method of this application embodiment will be described in detail below with reference to the accompanying drawings.
[0069] Reference Figure 4 , Figure 4 This is a flowchart illustrating a steering control method provided in an embodiment of this application, as shown below. Figure 4 As shown in the embodiment of this application, a steering control method may include steps 401 to 403, which are described in detail below.
[0070] 401. Determine whether the actual rotation direction of the rear wheels is consistent with the target rotation direction. The target rotation direction is the rotation direction represented by the target steering command currently received.
[0071] Specifically, when receiving a target steering command from the vehicle's host computer, the rear wheel steering control direction indicated by the target steering command is either consistent with or opposite to the current actual rotation direction of the rear wheels. When the rear wheel steering suddenly changes, the rear wheel steering actuator needs to respond quickly to the target steering command and control the rear wheels in the opposite direction. This process requires the rear wheel steering controller to stop operating in the current steering direction and then switch to the target rotation direction. When the rear wheel steering is opposite to the current rotation direction, especially when the change speed is very fast (i.e., when the user turns quickly), the braking distance of the rear wheel steering controller's motor is prone to exceed the monitoring threshold, causing the rear wheel steering actuator to enter an unexpected safety state, resulting in the rear wheel steering becoming unusable.
[0072] When determining whether the actual rotation direction of the rear wheels is consistent with the target rotation direction represented by the target steering command, it can be determined whether the current rotation direction of the rear wheels is consistent with the target rotation direction by judging whether the actual rotation direction of the motor of the rear wheel steering controller is consistent with the motor rotation direction represented by the target steering command.
[0073] When it is determined that the actual rotation direction of the rear wheels is inconsistent with the target rotation direction, the motor of the rear wheel steering controller will switch to the opposite operating state. That is, the control rotation direction provided by the rear wheel steering controller should be consistent with the target rotation direction. This allows the system to overcome inertia, stop the current rotation direction, and then move in the same direction as the target rotation direction. The control rotation direction here can be characterized by the rotation direction of the rear wheel steering actuator motor, the direction of the output torque, the direction of the generated acceleration, and the direction of the velocity, which will not be elaborated further here.
[0074] 402. If no, if the direction of the rear wheel steering actuator's control of the rear wheel rotation is consistent with the target rotation direction, then based on the deviation between the actual rotation angle of the rear wheel and the target rotation angle represented by the target steering command, as well as the first deviation threshold, it is determined whether there is a safety risk. The first deviation threshold is the threshold obtained by adjusting the second deviation threshold based on the current value of the threshold adjustment parameter of the rear wheel steering actuator. The second deviation threshold is a pre-set threshold that triggers the existence of a safety risk. The first deviation threshold is greater than the second deviation threshold.
[0075] Specifically, when the rear wheel steering controller's control direction for the rear wheels aligns with the target rotation direction, a rapid change in steering can easily cause the motor-controlled rack to exceed the pre-set forward impulse distance in stopping the rear wheels in their current rotation direction. Therefore, the second deviation threshold can be adjusted based on parameters such as motor speed, ensuring safe operation of rear wheel steering while appropriately extending the forward impulse threshold. This prevents the rear wheel steering controller from entering a safe state, thus rendering rear wheel steering unusable. The second deviation threshold can be a threshold value related to the motor's braking distance, such as motor speed or output torque.
[0076] 403. If the actual rotation direction is inconsistent with the target rotation direction, and the controlled rotation direction is inconsistent with the target rotation direction, then determine whether there is a safety risk based on the deviation value and the second deviation threshold.
[0077] Specifically, when the actual rotation direction is inconsistent with the target rotation direction, in order to avoid uncontrollable situations, the second deviation threshold can be used directly to determine whether there is a safety risk.
[0078] As can be seen from the above, when the active control direction of the rear wheel steering actuator is consistent with the target rotation direction, this steering control method, considering the inherent braking characteristics of the rear wheel steering controller, can adjust the second deviation threshold used for safety risk judgment based on parameters such as the current motor speed of the rear wheel steering controller. This ensures that during the control rotation process, the motor forward impulse will not exceed the corresponding monitoring threshold, causing the rear wheel steering actuator to enter a safe state and rendering the rear wheel steering unusable. While ensuring steering safety, this method avoids rapid steering that could render the rear wheel steering unusable, thus improving the user experience.
[0079] In one possible implementation, to further ensure the accuracy of steering risk assessment and detect the existence of risks early, step 401, determining whether the actual rotation direction of the rear wheels is consistent with the target rotation direction, further includes:
[0080] Step 11: Perform a safety verification on the target steering command according to the preset verification rules;
[0081] Step 12: If the safety check fails, control the rear wheel steering actuator to return the rear wheels to the zero position.
[0082] Specifically, all data in the vehicle is transmitted through the CAN network. During the transmission process, the data may be tampered with. Therefore, data verification can be used to determine whether the target steering command received by the rear wheel steering actuator has been tampered with. If it is determined that the command data has been tampered with, the target steering command of the rear wheel steering actuator can be returned to the zero position, that is, the actual steering angle of the rear wheels is controlled to return to the middle position and be consistent with the rear wheel state of a vehicle without rear wheel steering function.
[0083] During the verification process, E2E (End to End) verification can be used to verify the target turning command. Of course, those skilled in the art can also use other verification methods to verify whether there is tampering, and there are no restrictions here.
[0084] In one possible implementation, to facilitate the determination of the control rotation direction and the target rotation direction, the determination of whether the control rotation direction of the rear wheel steering actuator is consistent with the target rotation direction can specifically include:
[0085] Determine whether the direction of torque and acceleration of the rear wheel steering actuator on the rear wheel are consistent with the target rotation direction.
[0086] Specifically, due to the existence of motion inertia, when the operating state of the rear wheel steering actuator changes to be consistent with the target rotation direction, the change in rotation direction will not be immediate. At this time, the control rotation direction can be determined by the change in the motor state in the rear wheel steering actuator, because the motor rotation direction, output torque, acceleration, etc. are all directional parameters. By observing the changes in the direction of these parameters, it can be determined whether the motor-controlled rotation direction is consistent with the target rotation direction.
[0087] Similarly, when responding to a target steering command and determining whether the actual rotation direction of the rear wheels matches the target rotation direction represented by the target steering command, this can specifically include:
[0088] Determine whether the directions of the rotation parameters representing the actual rotation direction in the rear wheel steering actuator are all consistent with the target rotation direction. The rotation parameters include at least: torque, acceleration, and velocity.
[0089] In one possible implementation, to more accurately determine whether a rapid steering event has occurred, in addition to determining whether the directions of the rotation parameters representing the actual rotation direction in the rear wheel steering actuator are all consistent with the target rotation direction, the following is also included:
[0090] Determine whether the rate of change between the actual turning angle and the target turning angle is not lower than the preset change value.
[0091] Specifically, the rate of change here can be characterized by the slope, that is, the rotation reverses within a very short time.
[0092] In one possible implementation, to make the determination of the first deviation threshold faster and more accurate, the determination process of the first deviation threshold may specifically include:
[0093] Step 21: Determine the adjustment value of the second deviation threshold from the preset calibration table based on the current value of the motor speed of the rear wheel steering actuator.
[0094] Step 22: Obtain the first deviation threshold based on the adjustment value and the second deviation threshold.
[0095] Specifically, the header of this calibration table contains parameters such as motor speed, and the row headers contain deviation threshold parameters corresponding to the motor speed. These deviation threshold parameters can be one of the actuator's torque, acceleration, or speed. Taking the torque of the rear-wheel steering actuator as an example, to ensure the braking distance does not exceed the monitoring threshold, the adjustment value required to increase the torque is determined from the calibration table based on the motor speed. This adjustment value is then added to a preset torque deviation threshold to obtain the final torque deviation threshold. This ensures that the motor braking distance will not exceed the monitoring threshold if the torque deviation threshold is not exceeded, guaranteeing normal steering. Conversely, exceeding the preset risk braking distance will also be considered a steering safety risk.
[0096] When a safety risk is detected, the operation of the rear wheel steering drive can be stopped to ensure the vehicle's driving safety, and the rack of the rear wheel steering actuator can be locked in the current position to lock the rear wheels in the current position.
[0097] It is understandable that when determining the first deviation threshold, the first deviation threshold can be determined directly from the calibration table, without having to perform the process of adding the second deviation threshold. This will not be elaborated here.
[0098] As a specific application of the above embodiments, refer to Figure 5 The steering control method shown may specifically include the following processing steps:
[0099] After receiving the target turning instruction from the host computer, perform E2E verification;
[0100] If the verification fails, perform a zero-return operation on the rear wheels;
[0101] After the verification is passed, the target steering command requested by the host computer is executed. It is then determined whether the target steering command to be executed has a rapid reversal (i.e. the rotation direction is opposite to the actual rotation direction and the rate of change is very fast).
[0102] If so, when it is determined that the controlled rotation direction is consistent with the target rotation direction, a dynamic threshold is used for monitoring (i.e., the first deviation threshold determined by the motor speed is used for monitoring).
[0103] If so, determine whether the deviation between the actual turning angle and the target turning angle exceeds the threshold;
[0104] If so, a safe state is triggered, and the corresponding rear wheel steering lock action is executed;
[0105] If the target steering command to be executed does not have a rapid reversal, or if the control rotation direction is inconsistent with the target rotation direction, then static threshold monitoring is used (i.e., monitoring is performed using the second deviation threshold).
[0106] The above describes a steering control method provided by an embodiment of this application. The following describes an apparatus for performing the above-described steering control method.
[0107] Please see Figure 6 , Figure 6 This is a schematic diagram of a steering control device provided in an embodiment of this application. Figure 6 As shown, the steering control device includes:
[0108] The steering processing module 601 is used to determine whether the actual rotation direction of the rear wheel is consistent with the target rotation direction, wherein the target rotation direction is the rotation direction represented by the currently received target steering command;
[0109] The first steering control module 602 is configured to, when the steering processing module determines that the actual rotation direction and the target rotation direction are inconsistent, if the control rotation direction of the rear wheel by the rear wheel steering actuator is consistent with the target rotation direction, determine whether there is a safety risk based on the deviation value between the actual rotation angle of the rear wheel and the target rotation angle represented by the target steering command, and a first deviation threshold. The first deviation threshold is a threshold obtained by adjusting a second deviation threshold based on the current value of the threshold adjustment parameter of the rear wheel steering actuator. The second deviation threshold is a pre-set threshold that triggers the existence of a safety risk. The first deviation threshold is greater than the second deviation threshold.
[0110] The second steering control module 603 is used to determine whether there is a safety risk based on the deviation value and the second deviation threshold when the steering processing module determines that the actual rotation direction is inconsistent with the target rotation direction and the controlled rotation direction is inconsistent with the target rotation direction.
[0111] In one possible implementation, it also includes: an instruction verification module, used to determine whether the actual rotation direction of the rear wheels is consistent with the target rotation direction before proceeding.
[0112] The target steering command is subjected to a safety verification according to preset verification rules;
[0113] If the safety check fails, the rear wheel steering actuator is controlled to return the rear wheels to the zero position.
[0114] In one possible implementation, the process in the first steering control module 602 that determines whether the direction of rotation controlled by the rear wheel steering actuator on the rear wheel is consistent with the target rotation direction includes:
[0115] Determine whether the torque direction and acceleration direction of the rear wheel steering actuator on the rear wheel are both consistent with the target rotation direction.
[0116] In one possible implementation, the process of determining whether the actual rotation direction and the target rotation direction are consistent in the steering processing module 601 includes:
[0117] Determine whether the directions of the rotation parameters in the rear wheel steering actuator that characterize the actual rotation direction are all consistent with the target rotation direction. The rotation parameters include at least: torque, acceleration, and velocity.
[0118] In one possible implementation, the process of determining whether the actual rotation direction and the target rotation direction are consistent in the steering processing module 601 further includes:
[0119] Determine whether the rate of change between the actual turning angle and the target turning angle is not lower than a preset change value.
[0120] In one possible implementation, the process of determining the first deviation threshold in the first steering control module 602 includes:
[0121] The adjustment value of the second deviation threshold is determined from a preset calibration table based on the current value of the motor speed of the rear wheel steering actuator;
[0122] The first deviation threshold is obtained based on the adjustment value and the second deviation threshold.
[0123] In one possible implementation, it further includes a safety state execution module, used to stop the operation of the rear wheel steering drive and lock the rack of the rear wheel steering actuator in the current position when a safety risk is detected.
[0124] This application also provides an electronic device in its embodiments. (See reference...) Figure 7 The diagram illustrates a structural schematic suitable for implementing the electronic device in the embodiments of this application. The electronic device in the embodiments of this application may include, but is not limited to, fixed terminals such as mobile phones, laptops, PDAs (personal digital assistants), PADs (tablet computers), desktop computers, etc. Figure 7The electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.
[0125] like Figure 7 As shown, the electronic device may include a processing unit (e.g., a central processing unit, a graphics processing unit, etc.) 701, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 702 or a program loaded from a storage device 708 into a random access memory (RAM) 703. When the electronic device is powered on, the RAM 703 also stores various programs and data required for the operation of the electronic device. The processing unit 701, ROM 702, and RAM 703 are interconnected via a bus 704. An input / output (I / O) interface 705 is also connected to the bus 704.
[0126] Input device 706 can be connected to I / O interface 705, and communication device 709 allows electronic devices to communicate wirelessly or wiredly with other devices to exchange data. Although Figure 7 Electronic devices with various devices are shown, but it should be understood that it is not required to implement or have all of the devices shown. More or fewer devices may be implemented or have instead.
[0127] This application also provides a computer program product including computer-readable instructions, which, when executed on an electronic device, cause the electronic device to implement any of the steering control methods provided in this application.
[0128] This application also provides a computer-readable storage medium carrying one or more computer programs. When the one or more computer programs are executed by an electronic device, the electronic device can implement any of the steering control methods provided in this application.
[0129] This application also provides a vehicle, including: a vehicle body and electronic devices disposed in the vehicle body as described in the above embodiments.
[0130] The electronic devices mentioned in this article can be ECU (Electronic Control Unit), VCU (Vehicle Control Unit), MCU (Micro Controller Unit), HCU (Hybrid Control Unit), etc.
[0131] It should also be noted that the device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and 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 modules can be selected to achieve the purpose of this embodiment according to actual needs. In addition, in the device embodiment drawings provided in this application, the connection relationship between modules indicates that they have a communication connection, which can be implemented as one or more communication buses or signal lines.
[0132] Through the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary general-purpose hardware, or it can be implemented by special-purpose hardware including application-specific integrated circuits, special-purpose CPUs, special-purpose memory, special-purpose components, etc. Generally, any function performed by a computer program can be easily implemented by corresponding hardware, and the specific hardware structure used to implement the same function can also be diverse, such as analog circuits, digital circuits, or special-purpose circuits. However, for this application, software program implementation is more often the preferred implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a readable storage medium, such as a computer floppy disk, USB flash drive, mobile hard disk, ROM, RAM, magnetic disk, or optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, training equipment, or network device, etc.) to execute the methods described in the various embodiments of this application.
[0133] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product.
[0134] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions may be transmitted from one website, computer, training device, or data center to another website, computer, training device, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can store or a data storage device such as a training device or data center that integrates one or more available media. The available media may be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., DVDs), or semiconductor media (e.g., solid-state drives (SSDs)).
Claims
1. A steering control method, characterized in that, include: Determine whether the actual rotation direction of the rear wheels is consistent with the target rotation direction, wherein the target rotation direction is the rotation direction represented by the currently received target steering command; If not, if the direction of the rear wheel steering actuator's control of the rear wheel's rotation is consistent with the target rotation direction, then based on the deviation between the actual rotation angle of the rear wheel and the target rotation angle represented by the target steering command, and a first deviation threshold, it is determined whether there is a safety risk. The first deviation threshold is a threshold obtained by adjusting the second deviation threshold based on the current value of the threshold adjustment parameter of the rear wheel steering actuator. The second deviation threshold is a preset threshold that triggers the existence of a safety risk. The first deviation threshold is greater than the second deviation threshold. If the actual rotation direction is inconsistent with the target rotation direction, and the controlled rotation direction is inconsistent with the target rotation direction, then a safety risk is determined based on the deviation value and the second deviation threshold.
2. The steering control method according to claim 1, characterized in that, Before determining whether the actual rotation direction of the rear wheels matches the target rotation direction, the process also includes: The target steering command is subjected to a safety verification according to preset verification rules; If the safety check fails, the rear wheel steering actuator is controlled to return the rear wheels to the zero position.
3. The steering control method according to claim 1, characterized in that, The process of determining whether the controlled rotation direction is consistent with the target rotation direction includes: Determine whether the torque direction and acceleration direction of the rear wheel steering actuator on the rear wheel are both consistent with the target rotation direction.
4. The steering control method according to claim 1, characterized in that, The determination of whether the actual rotation direction of the rear wheel is consistent with the target rotation direction includes: Determine whether the directions of the rotation parameters in the rear wheel steering actuator that characterize the actual rotation direction are all consistent with the target rotation direction. The rotation parameters include at least: torque, acceleration, and velocity.
5. The steering control method according to claim 4, characterized in that, The determination of whether the actual rotation direction of the rear wheel is consistent with the target rotation direction also includes: Determine whether the rate of change between the actual turning angle and the target turning angle is not lower than a preset change value.
6. The steering control method according to claim 1, characterized in that, The process of determining the first deviation threshold includes: The adjustment value of the second deviation threshold is determined from a preset calibration table based on the current value of the motor speed of the rear wheel steering actuator; The first deviation threshold is obtained based on the adjustment value and the second deviation threshold.
7. The steering control method according to any one of claims 1 to 6, characterized in that, Also includes: When a safety risk is detected, the operation of the rear wheel steering drive is stopped, and the rack of the rear wheel steering actuator is locked in the current position.
8. A steering control device, characterized in that, include: The steering processing module is used to determine whether the actual rotation direction of the rear wheels is consistent with the target rotation direction, wherein the target rotation direction is the rotation direction represented by the currently received target steering command; A first steering control module is configured to, when the steering processing module determines that the actual rotation direction and the target rotation direction are inconsistent, if the control rotation direction of the rear wheel by the rear wheel steering actuator is consistent with the target rotation direction, determine whether there is a safety risk based on the deviation between the actual rotation angle of the rear wheel and the target rotation angle represented by the target steering command, and a first deviation threshold. The first deviation threshold is a threshold obtained by adjusting a second deviation threshold based on the current value of the threshold adjustment parameter of the rear wheel steering actuator. The second deviation threshold is a pre-set threshold that triggers the existence of a safety risk. The first deviation threshold is greater than the second deviation threshold. The second steering control module is used to determine whether there is a safety risk based on the deviation value and the second deviation threshold when the steering processing module determines that the actual rotation direction is inconsistent with the target rotation direction and the controlled rotation direction is inconsistent with the target rotation direction.
9. An electronic device, characterized in that, It includes at least one processor and a memory connected to the processor, wherein: The memory is used to store computer programs; The processor is used to execute the computer program to enable the electronic device to implement the steering control method as described in any one of claims 1 to 7.
10. A vehicle, characterized in that, include: The vehicle body and the electronic device as described in claim 9 disposed in the vehicle body.