Steering control method, device, controller, system, medium, product and vehicle

Abstract

The application relates to a steering control method, device, controller, system, medium, product and vehicle. The application determines the current running state of the outer rear wheel of a target vehicle in response to the target vehicle needing to be controlled by auxiliary steering; determines auxiliary steering control information of the target vehicle according to the current running state; and controls the target vehicle by auxiliary steering based on the auxiliary steering control information. Based on this, the running state of the outer rear wheel of the vehicle is determined, the auxiliary steering control information of the vehicle is determined according to the running state of the outer rear wheel, and the vehicle is controlled by auxiliary steering based on the auxiliary steering control information, so that the above steering control method is adapted to most vehicles, the complexity of auxiliary steering control of the vehicle is reduced, and the experience of users is improved.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to a steering control method, device, controller, system, medium, product and vehicle. Background Technology

[0002] With the development of vehicle electrification and intelligence, assisted steering control can be implemented to reduce the turning radius of vehicles. Existing steering control methods mainly include equipping vehicles with rear-wheel steering systems and adding a reversing motor in front of the vehicle's rear axle output shaft.

[0003] However, the aforementioned steering control methods have various problems, such as high complexity and difficulty in applying them to real-world situations, resulting in a poor user experience. Summary of the Invention

[0004] This application provides a steering control method, device, controller, auxiliary steering control system, storage medium, computer program product, and vehicle. By determining the operating state of the outer rear wheel of the vehicle and determining auxiliary steering control information for the vehicle based on the operating state of the outer rear wheel, the vehicle is subjected to auxiliary steering control based on the auxiliary steering control information. This makes the steering control method adaptable to most vehicles, while reducing the complexity of auxiliary steering control and improving the user experience.

[0005] This application provides a steering control method, including:

[0006] In response to the target vehicle requiring assisted steering control, the current operating state of the outer rear wheel of the target vehicle is determined;

[0007] Based on the current operating status, determine the auxiliary steering control information of the target vehicle;

[0008] Based on the assisted steering control information, assisted steering control is performed on the target vehicle.

[0009] Accordingly, embodiments of this application provide a steering control device, including:

[0010] A state determination unit is used to determine the current operating state of the outer rear wheel of the target vehicle in response to the need for assisted steering control of the target vehicle.

[0011] An information determination unit is used to determine the auxiliary steering control information of the target vehicle based on the current operating state;

[0012] The control unit is used to perform auxiliary steering control on the target vehicle based on the auxiliary steering control information.

[0013] Furthermore, embodiments of this application also provide a controller, including one or more processors and a memory, wherein the memory stores a computer program, and the processor is used to run the computer program in the memory to implement the steering control method provided in embodiments of this application.

[0014] Furthermore, this application embodiment also provides an auxiliary steering control system, which is applied to a vehicle. The auxiliary steering control system includes a drive system, a braking system, and the aforementioned controller. The drive system and the braking system are used to implement auxiliary steering control of the vehicle based on received auxiliary steering control information.

[0015] Furthermore, this application embodiment also provides a storage medium storing a computer program. When the computer program is run on a controller, the computer program is used to cause the controller to execute any of the steering control methods provided in this application embodiment.

[0016] Furthermore, embodiments of this application also provide a computer program product, including a computer program or instructions, which, when executed by a processor, implement any of the steering control methods provided in embodiments of this application.

[0017] In addition, this application also provides a vehicle including the above-described controller or the above-described auxiliary steering control system.

[0018] In this embodiment, in response to the need for assisted steering control of the target vehicle, the current operating state of the outer rear wheel of the target vehicle is determined; based on the current operating state, assisted steering control information for the target vehicle is determined; and based on the assisted steering control information, assisted steering control is performed on the target vehicle. Therefore, by determining the operating state of the outer rear wheel of the vehicle and determining the assisted steering control information based on the operating state of the outer rear wheel, and performing assisted steering control on the vehicle based on the assisted steering control information, the above steering control method is adaptable to most vehicles, while reducing the complexity of assisted steering control and improving the user experience. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of an implementation environment scenario for the steering control method provided in this application embodiment;

[0021] Figure 2 This is a schematic diagram of the structure of an auxiliary steering control system provided in one embodiment of this application;

[0022] Figure 3 This is another schematic diagram of the auxiliary steering control system provided in one embodiment of this application;

[0023] Figure 4 This is a schematic flowchart of a steering control method provided in one embodiment of this application;

[0024] Figure 5 This is a schematic diagram of the control principle of the target vehicle in a steering control method provided in one embodiment of this application;

[0025] Figure 6 This is a schematic diagram illustrating the force analysis of a target vehicle in a steering control method provided in one embodiment of this application;

[0026] Figure 7 This is a schematic diagram illustrating the force analysis of the outer rear wheel of a target vehicle in a steering control method provided in one embodiment of this application.

[0027] Figure 8 This is a schematic flowchart of a steering control method provided in one embodiment of this application;

[0028] Figure 9 This is a schematic diagram of the structure of a steering control device provided in one embodiment of this application;

[0029] Figure 10 This is a schematic diagram of the controller provided in one embodiment of this application;

[0030] Figure 11 This is another schematic diagram of the auxiliary steering control system provided in one embodiment of this application. Detailed Implementation

[0031] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0032] Furthermore, in the embodiments of this application, "multiple" refers to two or more. The terms "first" and "second," etc., in the embodiments of this application are used for distinguishing descriptions and should not be construed as implying relative importance.

[0033] Research has revealed that existing steering control methods mainly include equipping vehicles with rear-wheel steering systems, braking the inner rear wheel when the vehicle is turning, and adding a reversing motor in front of the vehicle's rear axle output shaft.

[0034] One steering control method, which equips vehicles with rear-wheel steering systems, involves controlling the rear wheels to rotate in the opposite direction to the front wheels when the vehicle is turning. Based on the Ackermann angle relationship, this allows the vehicle's steering center to be closer to the body, reducing the turning radius. However, this solution can only be implemented on vehicles with rear-wheel steering capabilities, which are currently only available on a small number of luxury cars and are difficult to apply to ordinary models due to their high development costs.

[0035] Steering control methods that involve braking the inner rear wheel during cornering aim to increase the vehicle's yaw rate and reduce the turning radius. This can be achieved by controlling the vehicle speed using cruise control and controlling the slip ratio to brake the inner rear wheel, thus increasing the yaw rate and reducing the turning radius. However, this method, which only brakes the inner rear wheel, results in a relatively small increase in yaw rate, leading to a limited improvement in the turning radius. Frequent maneuvers are still required on narrow roads.

[0036] The steering control method of adding a reversing motor in front of the rear axle output shaft refers to controlling the inner rear wheel to reverse and the outer rear wheel to increase torque during low-speed turns, thereby increasing vehicle yaw and reducing the turning radius. However, this solution requires modifying the current vehicle structure by adding a reversing motor to the original differential structure, which greatly limits its practical application.

[0037] Therefore, embodiments of this application provide a steering control method, device, controller, auxiliary steering control system, storage medium, computer program product, and vehicle.

[0038] The steering control device can be integrated into a controller, which can be a server or a terminal or other similar device.

[0039] The server can be a standalone physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, network acceleration services (Content Delivery Network, CDN), as well as big data and artificial intelligence platforms.

[0040] The terminal can be a smartphone, tablet, laptop, desktop computer, smart speaker, smartwatch, etc., but is not limited to these. The terminal and the server can be connected directly or indirectly through wired or wireless communication, which is not limited herein.

[0041] Please see Figure 1 Taking the integration of steering control devices into the controller as an example, Figure 1 This is a schematic diagram illustrating an implementation scenario of the steering control method provided in this application. The controller can be a terminal device that, in response to a target vehicle requiring assisted steering control, determines the current operating state of the outer rear wheel of the target vehicle; determines assisted steering control information for the target vehicle based on the current operating state; and performs assisted steering control on the target vehicle based on the assisted steering control information. Therefore, by determining the operating state of the vehicle's outer rear wheel and determining the assisted steering control information based on the operating state of the outer rear wheel, and performing assisted steering control on the vehicle based on the assisted steering control information, the steering control method can be adapted to most vehicles, while reducing the complexity of assisted steering control and improving the user experience.

[0042] It should be noted that, Figure 1 The schematic diagram illustrating the implementation environment of the steering control method is merely an example. The implementation environment of the steering control method described in this application is intended to more clearly illustrate the technical solutions of the embodiments of this application and does not constitute a limitation on the technical solutions provided in the embodiments of this application. Those skilled in the art will recognize that, with the evolution of data processing and the emergence of new business scenarios, the technical solutions provided in this application are equally applicable to similar technical problems.

[0043] This steering control device can be integrated into an auxiliary steering control system. This auxiliary steering control system includes a drive system, a braking system, and a controller, which can be considered as the steering system.

[0044] Take the integration of the steering control device into the auxiliary steering control system as an example.

[0045] Please see Figure 2 , Figure 2 This is a schematic diagram of a steering assist control system provided in an embodiment of this application. A steering assist control system, such as... Figure 2 As shown, it includes an auxiliary steering request input device, an auxiliary steering control unit, a motor controller 1, a motor controller 2, a motor 1, a motor 2, a reducer 1, a reducer 2, a steering mechanism, an electro-hydraulic brake control unit, and an electro-hydraulic brake system, etc.

[0046] The auxiliary steering request input device can be a physical button, located in a position accessible to the driver, such as the dashboard, center console, or steering wheel, or it can be a virtual button. The driver can select the auxiliary steering function by touching the center console screen or by voice.

[0047] The auxiliary steering control unit is the core of the vehicle's auxiliary steering system. It is responsible for receiving the request entry signal from the auxiliary steering request input device, determining whether the entry conditions are met (i.e., whether the auxiliary steering control judgment conditions are met), and calculating and outputting drive signals to the motor controller (i.e., the drive system) and braking signals to the brake controller (i.e., the braking system). If the function exit conditions are met (i.e., the auxiliary steering control judgment conditions are not met), it controls the unloading of drive force and braking force, thus exiting the function.

[0048] The motor controller (i.e., the drive system) receives the torque signal from the auxiliary steering control unit, controls the motor to output the corresponding torque, and drives the wheels to rotate forward or backward after being amplified by the reducer.

[0049] The brake control unit (i.e., the braking system) receives braking requests from the auxiliary steering control unit and controls the braking of all four wheels.

[0050] It should be noted that most dual-motor four-wheel drive vehicles include the above-mentioned structure. The auxiliary steering control system of this application embodiment can achieve the purpose of greatly reducing the turning radius simply by controlling the driving force and braking force of the above-mentioned structure.

[0051] Please see Figure 3 , Figure 3 This is another structural schematic diagram of the auxiliary steering control system provided in an embodiment of this application. An auxiliary steering control system, such as... Figure 3 As shown, in Figure 2 Based on the vehicle's auxiliary steering system shown, an electronic parking brake control system is added. The rest of the structure remains the same and will not be described again here. By adding the electronic parking brake control system, the control of wheel braking is divided into two parts. The electronic parking brake system controls the rear wheel braking, while the electro-hydraulic braking system controls the front wheel braking. This reduces the burden on the electro-hydraulic braking system, lowers the control difficulty, and makes it easier to implement.

[0052] The parking drive control unit indicates the braking system, which is composed of the electronic parking control system and the electro-hydraulic braking system.

[0053] It should be noted that an electro-hydraulic braking system refers to a technology that achieves parking braking based on hydraulic control. An electronic parking control system refers to a technology that achieves parking braking through electronic control, and its specific configuration can be tailored to the specific circumstances. For example, a vehicle auxiliary steering system may include an electro-hydraulic braking system. An electro-hydraulic braking system may include a reservoir, a master cylinder motor, a master cylinder, a brake force control unit, pressure boosting valves and pressure relief valves for all four wheels, brake calipers, and brakes. After receiving a braking request, the brake force control unit of the electro-hydraulic braking system calculates the target pressure of the master cylinder and the control commands for each valve. The master cylinder motor receives the target pressure signal from the master cylinder and, combined with the current master cylinder pressure, pushes the master cylinder to pressurize, depressurize, or maintain pressure in the braking system until the system pressure reaches the target value. Then, by controlling the opening and closing of the pressure boosting and pressure relief valves of each wheel, the braking pressure of each wheel is controlled.

[0054] For example, a vehicle auxiliary steering system includes an electro-hydraulic braking system and an electronic parking control system. By combining the electro-hydraulic braking system and the electronic parking control system, braking control of the wheels is achieved. The auxiliary steering control unit sends braking requests to the controllers of the electronic parking control system and the electro-hydraulic braking system, respectively, as needed. The controller of the electronic parking control system responds to the request and brakes the target rear wheels with a target pressure, while the controller of the electro-hydraulic braking system controls the braking of the target front wheels by controlling the master cylinder pressure.

[0055] It should be noted that the components of this application are all derived from common drive systems, steering systems, and braking systems found in existing ordinary vehicles, requiring no new components. This invention uses an electro-hydraulic braking system / electronic parking control system to brake the outer rear wheel speed and the inner front wheel speed, while simultaneously controlling the rear axle motor to output negative torque, causing the inner rear wheel to reverse. At the same time, due to the decoupling of the front and rear drive systems, the front axle motor can be controlled to output positive torque, driving the vehicle forward. While suppressing the longitudinal movement of the entire vehicle, it utilizes the lateral force of the front axle and the longitudinal force of the inner rear wheel to generate a yaw moment, thereby reducing the vehicle's turning radius.

[0056] Therefore, the inner rear wheel and both front wheels of the vehicle using this application need to overcome the ground adhesion and slip. On low-adhesion surfaces (such as ice, snow, water, and other slippery surfaces), the driving force of a typical vehicle is designed to be greater than the tire adhesion, which can meet the above two requirements without additional modifications to the vehicle. On high-adhesion surfaces (such as dry asphalt surfaces), the driving force of a typical vehicle may be less than the adhesion, which cannot achieve the purpose of slipping. It is necessary to increase the design value of the maximum driving force, which can be achieved by increasing the peak torque of the motor or increasing the speed ratio of the reducer. Compared with the existing technical solutions, the system modification of this application is relatively small and easier to implement.

[0057] Furthermore, by fully utilizing the decoupling characteristics of the front and rear drive systems of dual-motor vehicles, the front axle rotates forward while the inner rear wheel of the rear axle rotates in reverse, suppressing the longitudinal movement of the vehicle and greatly increasing the yaw moment of the vehicle. This significantly reduces the turning radius of the vehicle, allowing the driver to pass quickly even in relatively narrow road conditions, thus greatly improving the vehicle's passability.

[0058] In addition, different control methods are used for different vehicle characteristics to reduce the pressure on the vehicle's mechanical structure, avoid excessive load on the vehicle which would affect its service life, and at the same time maintain the vehicle's turning radius at a cross axle, which can control the vehicle's turning radius to maintain the length of the vehicle's wheels at a cross axle.

[0059] The solutions provided in this application are specifically illustrated through the following embodiments. It should be noted that the order of description of the following embodiments is not intended to limit the preferred order of the embodiments.

[0060] This embodiment will be described from the perspective of a steering control device, which can be integrated into a controller, which can be a terminal and / or a server, and this application does not impose any limitations on it.

[0061] Please see Figure 4 , Figure 4 This is a flowchart illustrating a steering control method provided in an embodiment of this application. The steering control method may include the following steps S101 to S103:

[0062] S101. In response to the need for assisted steering control of the target vehicle, determine the current operating state of the outer rear wheel of the target vehicle.

[0063] The target vehicle indicates the vehicle that requires assisted steering control. Assisted steering control refers to automotive technologies that help drivers more easily control the vehicle's direction, reduce the turning radius, improve driving safety and comfort, and reduce driver fatigue.

[0064] The outer rear wheel refers to the rear wheel of the target vehicle located on the side opposite to the direction of steering when turning.

[0065] By obtaining the steering direction of the target vehicle, the position indication information of each wheel of the target vehicle can be determined based on the steering direction. This position indication information indicates whether the wheel belongs to the outer rear wheel, the inner rear wheel, the inner front wheel, or the outer front wheel.

[0066] There are various ways to obtain the steering direction of a target vehicle, and the specific embodiments of this application are not limited thereto. For example, the steering wheel angle can be obtained, and the steering direction of the target vehicle can be determined based on the steering wheel angle. Another example is to obtain the vehicle's roll angle and steering wheel angle, and determine the steering direction of the target vehicle based on the roll angle and steering wheel angle.

[0067] The current operating status indicates the operating status of the outer rear wheel at the current moment.

[0068] The operating states can be categorized according to actual conditions, and this application embodiment does not impose any limitations. For example, the operating states of the outer rear wheel include three types: the outer rear wheel is in a sliding state, the outer rear wheel is in a rolling state, and the outer rear wheel is in a non-slipping state. As another example, the operating states of the outer rear wheel include: the outer rear wheel is locked and sliding forward; the outer rear wheel is rotating backward and sliding forward; the outer rear wheel is rolling forward; the outer rear wheel is rolling backward; the outer rear wheel is neither rotating nor sliding; and the outer rear wheel is rotating backward and not sliding.

[0069] S102. Determine the auxiliary steering control information of the target vehicle based on the current operating status.

[0070] Among them, the assisted steering control information indicates the information associated with assisted steering control of the target vehicle.

[0071] S103. Based on the auxiliary steering control information, perform auxiliary steering control on the target vehicle.

[0072] Therefore, the steering control method provided in this application, in response to the need for assisted steering control of the target vehicle, determines the current operating state of the outer rear wheel of the target vehicle; determines the assisted steering control information of the target vehicle based on the current operating state; and performs assisted steering control on the target vehicle based on the assisted steering control information. Based on this, by determining the operating state of the outer rear wheel of the vehicle and determining the assisted steering control information based on the operating state of the outer rear wheel, and performing assisted steering control on the vehicle based on the assisted steering control information, the steering control method is adaptable to most vehicles, while reducing the complexity of assisted steering control and improving the user experience.

[0073] In some embodiments, the process of determining the auxiliary steering control information of the target vehicle based on the current operating state may include: determining the target auxiliary steering control mode based on the correspondence between the operating state of the vehicle's outer rear wheel and the auxiliary steering control mode, and the current operating state; and determining the auxiliary steering control information of the target vehicle based on the target auxiliary steering control mode.

[0074] Among them, the target-assisted steering control method refers to the scheme adopted to assist steering control of the target vehicle.

[0075] Specifically, based on the current operating state, the auxiliary steering control method that matches the current operating state is selected as the target auxiliary steering control method from the correspondence between the operating state of the vehicle's outer rear wheel and the auxiliary steering control method.

[0076] It should be noted that multiple auxiliary steering control modes are pre-configured. These modes can be set according to actual conditions. For example, these modes include braking the inner front wheel, braking all wheels, braking the outer rear wheel, and applying torque to the vehicle's motor.

[0077] The correspondence between the operating state of the vehicle's outer rear wheel and the auxiliary steering control mode is also pre-configured. This correspondence can be set according to actual conditions, and this embodiment does not impose any limitations.

[0078] For example, the above correspondence includes a first correspondence, a second correspondence, and a third correspondence, wherein: the first correspondence indicates that the operating state of the outer rear wheel of the vehicle includes being in a slipping state, and the auxiliary steering control method is to brake the inner front wheel of the vehicle; the second correspondence indicates that the operating state of the outer rear wheel of the vehicle includes being in a rolling state, and the auxiliary steering control method is to brake the outer rear wheel of the vehicle; the third correspondence indicates that the operating state of the outer rear wheel of the vehicle includes being in a non-slipping state, and the auxiliary steering control method is to apply torque to the vehicle's motor, wherein the torque is used to control the steering of the target vehicle.

[0079] Among them, by using the auxiliary steering control method indicated in the first correspondence, that is, by braking the inner front wheel of the vehicle, the drag ability of the front axle can be suppressed, thereby suppressing the longitudinal displacement of the vehicle and controlling the slip speed of the outer rear wheel to be less than the slip speed threshold.

[0080] The auxiliary steering control method indicated in the second correspondence is to brake the outer rear wheel of the vehicle to suppress longitudinal displacement of the vehicle and control the wheel speed of the outer rear wheel to be less than the wheel speed threshold.

[0081] The auxiliary steering control method indicated in the third correspondence applies torque to the vehicle's motor. Specifically, by controlling the rear axle motor to output negative torque, the inner rear wheel reverses direction. At the same time, due to the decoupling of the front and rear drive systems, the front axle motor can be controlled to output positive torque to drive the vehicle forward. While suppressing the longitudinal movement of the entire vehicle, the vehicle's yaw moment is generated by utilizing the lateral force of the front axle and the longitudinal force of the inner rear wheel, thereby achieving the purpose of reducing the vehicle's turning radius.

[0082] The specific content of the sliding state in the first correspondence, the specific content of the rolling state in the second correspondence, and the specific content of the non-sliding state in the third correspondence can be set according to the actual situation, and this application embodiment does not impose any restrictions.

[0083] For example, the slipping state in the first correspondence mentioned above includes at least one of the following: the outer rear wheel is locked and sliding forward, and the outer rear wheel is rotating backward and sliding forward. The rolling state in the second correspondence mentioned above includes at least one of the following: the outer rear wheel is rolling forward, and the outer rear wheel is rolling backward. The non-slipping state in the third correspondence includes at least one of the following: the outer rear wheel is neither rotating nor slipping, and the outer rear wheel is rotating backward and not slipping.

[0084] The torques mentioned above include front axle torque and rear axle torque, wherein the front axle torque indicates the torque applied to the front axle motor of the vehicle, and the rear axle torque indicates the torque applied to the rear axle motor of the vehicle.

[0085] Specifically, the steering of the target vehicle is controlled by sending front axle torque to the controller of the front axle motor in the target vehicle's drive system, thereby controlling the output of front axle torque to drive the vehicle; and by sending rear axle torque to the controller of the rear axle motor in the target vehicle's drive system, thereby controlling the output of rear axle torque to drive the vehicle. These steps control the steering of the target vehicle.

[0086] In some embodiments, the aforementioned auxiliary steering control information may be determined based on the auxiliary steering control method corresponding to the second correspondence.

[0087] Based on this, the process of performing auxiliary steering control on the target vehicle based on the auxiliary steering control information may include: braking the outer rear wheel of the target vehicle based on the auxiliary steering control information until the outer rear wheel locks up; if the outer rear wheel locks up and is still in a locked-up sliding state, determining new auxiliary steering control information based on the auxiliary steering control method corresponding to the first correspondence; and braking the inner front wheel of the target vehicle based on the new auxiliary steering control information.

[0088] Specifically, after assisting the steering of the vehicle by braking the outer rear wheel, the vehicle continues to be assisted until the outer rear wheel locks up. If the outer rear wheel is still in a locked and slipping state after locking up, then the vehicle continues to be assisted by braking the inner front wheel until the slip speed of the outer rear wheel is less than the slip speed threshold.

[0089] Combination such as Figure 5The control principle illustrated here requires explanation. To minimize the turning radius, the rear axle motor is reversed to suppress longitudinal movement of the vehicle. This is achieved by turning the steering wheel to its maximum angle, which controls the front axle motor to rotate forward, driving the front wheels to slip and slide laterally. Due to differences in vehicle parameters, some vehicles may still be able to slide forward while dragging the rear axle under these conditions. To further suppress longitudinal movement, braking force must be applied. If the outer rear wheel is rolling forward, brake the outer rear wheel until the vehicle has virtually no longitudinal movement or the outer rear wheel is about to lock up. If the vehicle still has significant longitudinal movement even as the outer rear wheel is about to lock up, then brake the inner front wheel to continue suppressing longitudinal movement. In this way, the turning radius can be controlled to maintain the length of a cross axle.

[0090] In some embodiments, the process of determining the auxiliary steering control information of the target vehicle based on the target auxiliary steering control method may include: acquiring motion correlation information of each wheel of the target vehicle; and determining the auxiliary steering control information of the target vehicle according to the target auxiliary steering control method and the motion correlation information.

[0091] The motion-related information indicates information associated with wheel movement. The specific motion-related information can be adjusted according to actual conditions, and this application embodiment does not impose limitations. For example, motion-related information includes the actual wheel speed, the target wheel speed, and the wheel's operating cycle. The actual wheel speed can be obtained through sensors. The target wheel speed can be a pre-configured parameter. The target wheel speed can also be controlled based on throttle depth.

[0092] Specifically, the process of obtaining the target wheel speed from the motion association information of each wheel of the target vehicle may include: obtaining the current throttle depth of the target vehicle; determining the target vehicle speed corresponding to the current throttle depth based on the correspondence between throttle depth and vehicle speed; and determining the target wheel speed of the target vehicle based on the target vehicle speed.

[0093] The current throttle depth indicates the throttle depth determined by the driver at the current moment through the accelerator pedal.

[0094] It should be noted that different throttle depths correspond to different vehicle speeds. The relationship between throttle depth and vehicle speed is pre-configured. Based on the current throttle depth, the target vehicle speed is determined from the relationship between throttle depth and vehicle speed. Then, the target vehicle speed is decomposed to determine the target wheel speed of the target vehicle.

[0095] The method described above for controlling the target wheel speed is simple, reliable, and easy for drivers to master. It also allows drivers to control the turning radius and speed, enhancing the driving experience. After requesting to activate the assisted steering function, the driver turns the steering wheel to a certain angle and releases the brake. The vehicle will then begin assisted steering at a specific speed. The driver can linearly control the vehicle's torque output using the accelerator pedal, allowing the vehicle to assisted steering at different speeds. To deactivate the assisted steering function, simply lightly press the brake pedal to stop the vehicle from steering. The operation method perfectly aligns with the driver's daily driving habits, requiring no retraining, and is simple, reliable, and easy to master.

[0096] In some embodiments, the motion-related information mentioned above includes the actual wheel speed and the target wheel speed at the current moment.

[0097] Based on this, the process of determining the auxiliary steering control information of the target vehicle according to the target auxiliary steering control mode and motion correlation information may include: determining the auxiliary steering control information of the target vehicle according to the target auxiliary steering control mode, the actual wheel speed, and the target wheel speed.

[0098] Specifically, the auxiliary steering control information of the target vehicle can be determined based on the vehicle's braking system, the target auxiliary steering control method, the actual wheel speed, and the target wheel speed.

[0099] If the vehicle's braking system is an electro-hydraulic braking system, the electro-hydraulic braking system controls the braking of both the front and rear wheels simultaneously.

[0100] If the vehicle's braking system is an electro-hydraulic braking system and an electronic parking control system, the rear wheel brakes are controlled by the parking brake system, and the front wheel brakes are controlled by the electro-hydraulic braking system.

[0101] The auxiliary steering control information of the target vehicle can be determined using the proportional-integral-derivative control method (PID), as shown in the following formula:

[0102]

[0103] Among them, wheel speed Target The target wheel speed is indicated, and the actual wheel speed is indicated by k. p k i k d ,d,d t All of these are parameters of the proportional-integral-derivative control method, P z This information is used to assist steering control, also known as the target braking force (or the target master cylinder pressure of the electro-hydraulic braking system).

[0104] In some embodiments, the process of determining the current operating state of the outer rear wheel of the target vehicle may include: acquiring the thrust and driving torque currently applied to the outer rear wheel of the target vehicle; and determining the current operating state of the outer rear wheel of the target vehicle based on the thrust and driving torque.

[0105] The drive torque indicates the torque transmitted from the rear axle motor to the outer rear wheel. Thrust refers to the thrust generated by the drive wheels on the outer rear wheel.

[0106] Specifically, based on thrust and driving torque, the current operating state of the outer rear wheel of the target vehicle can be determined from multiple operating states of the outer rear wheel.

[0107] In some embodiments, the process of determining the current operating state of the outer rear wheel of the target vehicle based on thrust and driving torque may include: acquiring the wheel adhesion of the outer rear wheel of the target vehicle; and determining the current operating state of the outer rear wheel of the target vehicle based on thrust, driving torque and wheel adhesion.

[0108] Wheel adhesion refers to the maximum frictional force between the wheel and the ground. Wheel adhesion is related to the road surface, tires, and wheel load. When the driving force exceeds the adhesion, the tires will slip.

[0109] Specifically, based on thrust, driving torque, and wheel adhesion, the current operating state of the outer rear wheel of the target vehicle can be determined from multiple operating states of the outer rear wheel.

[0110] The specific process of determining the current operating state of the outer rear wheel of the target vehicle based on thrust, driving torque, and wheel adhesion includes: determining the target force on the outer rear wheel based on the driving torque and the size information of the outer rear wheel; if the thrust is greater than the wheel adhesion and the target force is equal to the wheel adhesion, the current operating state indicates that the outer rear wheel is locked and sliding forward; if the thrust is greater than the wheel adhesion and the target force is greater than the wheel adhesion, the current operating state indicates that the outer rear wheel is rotating backward and sliding forward.

[0111] The size information indicates the radius or diameter of the outer rear wheel. The target force indicates the driving torque at the radius determined by the outer rear wheel.

[0112] In some embodiments, the process of determining the current operating state of the outer rear wheel of the target vehicle based on thrust, driving torque and wheel adhesion may further include: obtaining the wheel rolling resistance of the outer rear wheel of the target vehicle; and determining the current operating state of the outer rear wheel of the target vehicle from multiple operating states of the outer rear wheel based on thrust, driving torque, wheel adhesion and wheel rolling resistance.

[0113] Among them, wheel rolling resistance refers to the resistance that a wheel needs to overcome to roll, which is related to the road surface, tires, and wheel load.

[0114] Specifically, the current operating state of the outer rear wheel of the target vehicle is determined based on thrust, driving torque, wheel adhesion, and wheel rolling resistance.

[0115] The process of determining the current operating state of the outer rear wheel of the target vehicle based on thrust, driving torque, wheel adhesion, and wheel rolling resistance may include: determining the target force on the outer rear wheel based on the driving torque and the size information of the outer rear wheel; if the difference between the thrust and the target force is greater than the wheel rolling resistance and the target force is less than the wheel adhesion, the current operating state indicates that the outer rear wheel is in a forward rolling state; if the difference between the target force and the thrust is greater than the wheel rolling resistance and the target force is greater than the wheel adhesion, the current operating state indicates that the outer rear wheel is in a backward rolling state; if the difference between the thrust and the target force is less than the wheel rolling resistance and the target force is less than the wheel adhesion, the current operating state indicates that the outer rear wheel is in a state of neither rotating nor slipping; if the difference between the target force and the thrust is less than the wheel rolling resistance and the target force is greater than the wheel adhesion, the current operating state indicates that the outer rear wheel is in a state of rotating backward and not slipping.

[0116] Specifically, in combination Figure 6 and Figure 7 The force analysis diagram is used for explanation. For example... Figure 6 As shown, Figure 6 This is a force diagram of the target vehicle. Because the front axle motor rotates forward, the inner front wheel and the outer front wheel are respectively subjected to a ground driving force F. X1 F X2 , direction as Figure 6 As shown, F X1 F X2 The force required to cause the front wheels to slip is greater than their respective adhesion forces; due to the rear axle reversing, the inner front wheel and the outer front wheel will each be subjected to a lateral force F from the ground. Y1 F Y2 , direction as Figure 6 As shown; due to the rear axle motor reversing, the inner rear wheel is subjected to a ground driving force F. X3 , direction as Figure 6 As shown.

[0117] The force situation on the outer rear wheel is more complex. A detailed force analysis of the outer rear wheel is as follows: Figure 7 As shown. To prevent the vehicle from rolling backward, the following condition must be met: (F X1 +F X2 )cosα+(F Y1 +F Y2 sinα≥(F X3 +F X4), where α indicates the front wheel steering angle. Simultaneously, since both front wheels and the inner rear wheel need to slip, the wheel-end torque of all three wheels must be greater than the adhesion torque (tire adhesion * tire radius). The lateral force of the rear wheels and the lateral component of the front wheels provide the centripetal force for the vehicle's circular motion. During normal straight-line driving with front-wheel drive, both rear wheels, as driven wheels, experience a thrust F from the driving wheels. P The forces are equal in magnitude and in the same direction. When the vehicle turns, according to the Ackermann steering principle, the inner wheel rotates at a lower speed than the outer wheel. From a force analysis perspective, the outer rear wheel experiences a thrust F at this time. P4 The thrust force on the outer rear wheel is greater than that on the inner rear wheel, therefore the rotational speed of the outer rear wheel is greater than that of the inner rear wheel. For a vehicle's auxiliary steering system, the outer rear wheel experiences a thrust force F... P4 In addition, it is also affected by the driving torque T transmitted from the rear axle motor to the wheel end, where R is the radius of the outer rear wheel. Under the combined effect of these two factors, the outer rear wheel of the vehicle is subject to the following conditions.

[0118] (1) When F P4 When T / R > wheel rolling resistance and T / R < wheel adhesion, the outer rear wheel is in a forward rolling state.

[0119] (2) When F P4 >When the wheel adhesion is equal to the wheel adhesion, the outer rear wheel is locked and sliding forward.

[0120] (3) When F P4 When the wheel adhesion is greater than the wheel adhesion, the outer rear wheel is in a state of rotating backward and sliding forward.

[0121] (4) When F P4 When T / R < wheel rolling resistance and T / R < wheel adhesion, the outer rear wheel is in a state of neither rotating nor slipping.

[0122] (5) When T / RF P4 When the rolling resistance of the wheel is less than the wheel adhesion force and the T / R ratio is greater than the wheel adhesion force, the outer rear wheel is in a state of rearward rotation and no slippage.

[0123] (6) When T / RF P4 When the rolling resistance of the wheel is greater than the wheel adhesion, the outer rear wheel is in a backward rolling state.

[0124] To reduce longitudinal movement of the vehicle, it is best to have the outer rear wheel in the states described in (4) and (5). Different vehicle load distributions and front-rear power distributions will affect the state of the outer rear wheel. When the vehicle is not in the states described in (4) and (5), braking force needs to be applied to the outer rear wheel to suppress longitudinal movement of the vehicle as much as possible and minimize the turning radius of the vehicle.

[0125] Specifically, the current operating state of the outer rear wheel of the vehicle is determined. When the current operating state of the outer rear wheel of the vehicle is state (4) or (5), the target auxiliary steering control method is to apply torque to the motor of the vehicle, that is, to control the front and rear motors to output the current target torque.

[0126] When the current operating state of the outer rear wheel of the vehicle is state (1) or (6), the target auxiliary steering control method is to brake the outer rear wheel of the vehicle. By braking the outer rear wheel, the longitudinal displacement of the vehicle is suppressed, and its wheel speed is controlled to be less than the wheel speed threshold.

[0127] When the current operating state of the outer rear wheel of the vehicle is state (2) or (3), the target assisted steering control method is to brake the inner front wheel of the vehicle. By braking the inner front wheel, the dragging ability of the front axle is suppressed, thereby inhibiting the longitudinal displacement of the vehicle and controlling the slip speed of the outer rear wheel to be less than the slip speed threshold.

[0128] In some embodiments, before determining the current operating state of the outer rear wheel of the target vehicle in response to the need for assisted steering control of the target vehicle, the steering control method further includes: in response to an assisted steering control event, acquiring operating information of the target vehicle; based on the operating information, determining whether the target vehicle meets the assisted steering control determination conditions; if the assisted steering control determination conditions are met, determining that the target vehicle needs to perform assisted steering control.

[0129] Among them, the assisted steering control event refers to the event triggered by the assisted steering request input device. The assisted steering request input device can be a physical button, located in a position accessible to the driver such as the instrument panel, center console, or steering wheel, or it can be a virtual button. The driver can select the assisted steering function by touching the center console screen or by directly selecting the assisted steering function via voice.

[0130] The operation information indicates the operating information of the target vehicle. This operation information includes one or more operating parameters and their specific values. The operation information and parameters can be set according to actual conditions. For example, operating parameters include, but are not limited to, target gear, vehicle speed, steering wheel angle, braking depth, and roll angle.

[0131] Among them, the auxiliary steering control determination condition indicates the conditions for determining whether the vehicle needs to perform auxiliary steering control.

[0132] If the conditions for determining assisted steering control are met, it is determined that the target vehicle requires assisted steering control. If the conditions for determining assisted steering control are not met, it is determined that the target vehicle does not require assisted steering control.

[0133] The specific criteria for determining whether the target vehicle meets the assisted steering control criteria can be adjusted according to the actual situation, and this application embodiment does not impose any restrictions.

[0134] In some embodiments, the operating information includes multiple operating parameters, and the assisted steering control determination conditions include determination conditions corresponding to each operating parameter. Based on the operating information, the process of determining whether the target vehicle meets the assisted steering control determination conditions may include: if each operating parameter meets the corresponding determination conditions, determining that the target vehicle meets the assisted steering control determination conditions.

[0135] In some embodiments, the process of determining whether a target vehicle meets the assisted steering control judgment conditions based on operating information may also be that the number of operating parameters that meet the corresponding judgment conditions is greater than a preset number, thus determining that the target vehicle meets the assisted steering control judgment conditions.

[0136] In some embodiments, during the process of performing assisted steering control on the target vehicle, the steering control method further includes: continuing to acquire the operating information of the target vehicle; if, based on the operating information, it is determined that the target vehicle still meets the assisted steering control determination conditions, continuing to perform assisted steering control on the target vehicle; otherwise, ending the assisted steering control on the target vehicle.

[0137] Combination Figure 8 The following explanation uses a specific embodiment. For details, please refer to [link / reference]. Figure 8 , Figure 8 This is a schematic flowchart of the steering control method provided in the embodiments of this application, combined with... Figure 8 As can be seen, the steering control method provided in this application embodiment may include the following steps: Whether there is a request to enter steering assist. For example, if the driver activates the steering assist function, it is determined that there is a request to enter steering assist. If so, it is determined whether the entry conditions are met. If the entry conditions are not met, the steering assist control is exited and a prompt is generated to the central control screen. If the entry conditions are met, the driver controls the throttle depth to control the vehicle speed, judges the status of the outer rear wheel, determines the steering assist control mode according to different statuses, and calculates the front axle target torque, rear axle target torque, braking pressure, and commands according to different steering assist control modes. It is then determined whether the exit conditions are met. If so, the exit is completed, and the torque and pressure are unloaded to 0. If not, the front axle target torque, rear axle target torque, master cylinder pressure, and valve body control commands are output to the actuator for execution.

[0138] The entry conditions may include one or more of the following: the assisted steering request flag is 1 (the driver makes a request); the OK light is on; the target gear is D; the vehicle speed is less than threshold 2; |steering wheel angle| is greater than or equal to threshold 1; braking depth is less than threshold 3; roll angle is less than threshold 4; lateral acceleration is less than threshold 5; and gradient is less than threshold 6.

[0139] Among them, thresholds 1 to 6 indicate the operating thresholds for the corresponding operating parameters. These thresholds are pre-configured.

[0140] If any of the above conditions are not met, the vehicle will perform torque and hydraulic unloading, and the auxiliary steering function will be disengaged after unloading is completed.

[0141] It should be noted that the target torque for the front axle, the target torque for the rear axle, and the braking pressure can all be determined using PID control. For the specific calculation process, please refer to existing technologies.

[0142] Through the above embodiments, the operating state of the outer rear wheel of the vehicle can be determined, and the auxiliary steering control information of the vehicle can be determined based on the operating state of the outer rear wheel. The auxiliary steering control information is then used to perform auxiliary steering control on the vehicle, so that the steering control method can be adapted to most vehicles, while reducing the complexity of the vehicle's auxiliary steering control and improving the user experience.

[0143] To facilitate better implementation of the steering control method provided in the embodiments of this application, the embodiments of this application also provide an apparatus based on the above-described steering control method. The meanings of the terms used are the same as in the steering control method described above, and specific implementation details can be found in the descriptions within the method embodiments.

[0144] For example, such as Figure 9 As shown, the steering control device may include a state determination unit 201, an information determination unit 202, and a control unit 203, as detailed below:

[0145] The state determination unit 201 is used to determine the current operating state of the outer rear wheel of the target vehicle in response to the need for auxiliary steering control of the target vehicle;

[0146] The information determination unit 202 is used to determine the auxiliary steering control information of the target vehicle based on the current operating status;

[0147] Control unit 203 is used to perform auxiliary steering control on the target vehicle based on auxiliary steering control information.

[0148] In one embodiment of this application, the information determination unit 202 includes:

[0149] The control mode determination module is used to determine the target auxiliary steering control mode based on the correspondence between the operating status of the vehicle's outer rear wheel and the auxiliary steering control mode, as well as the current operating status.

[0150] The information determination module is used to determine the auxiliary steering control information of the target vehicle based on the target auxiliary steering control method.

[0151] In one embodiment of this application, the above-mentioned correspondence includes a first correspondence, a second correspondence, and a third correspondence, wherein;

[0152] The aforementioned first correspondence indicates that the operating state of the outer rear wheel of the vehicle includes being in a slipping state, and the auxiliary steering control method is to brake the inner front wheel of the vehicle.

[0153] The aforementioned second correspondence indicates that the operating state of the outer rear wheel of the vehicle includes being in a rolling state, and the auxiliary steering control method is to brake the outer rear wheel of the vehicle.

[0154] The aforementioned third correspondence indicates that the operating state of the outer rear wheel of the vehicle includes being in a non-slipping state, and the auxiliary steering control method is to apply torque to the vehicle's motor, wherein the torque is used to control the steering of the target vehicle.

[0155] In one embodiment of this application, the sliding state in the first correspondence mentioned above includes at least one of the following: the outer rear wheel is locked and sliding forward, and the outer rear wheel is rotating backward and sliding forward.

[0156] The rolling state in the second correspondence mentioned above includes at least one of the following: the outer rear wheel is in a forward rolling state, and the outer rear wheel is in a backward rolling state;

[0157] The non-slip state in the third correspondence mentioned above includes at least one of the following: the outer rear wheel is in a state of neither rotating nor slipping, and the outer rear wheel is in a state of rotating backward and not slipping.

[0158] In one embodiment of this application, the torque includes front axle torque and rear axle torque, wherein the front axle torque indicates the torque applied to the front axle motor of the vehicle, and the rear axle torque indicates the torque applied to the rear axle motor of the vehicle.

[0159] In one embodiment of this application, the above-mentioned auxiliary steering control information is determined based on the auxiliary steering control method corresponding to the second correspondence.

[0160] Based on this, the control unit 203 includes:

[0161] The braking module is used to brake the outer rear wheel of the target vehicle based on the auxiliary steering control information until the outer rear wheel locks up.

[0162] The new information determination module is used to determine new auxiliary steering control information based on the auxiliary steering control mode corresponding to the first correspondence if the outer rear wheel locks up and is still in a locked-up skidding state.

[0163] The new control module is used to brake the inner front wheel of the target vehicle based on new auxiliary steering control information.

[0164] In one embodiment of this application, the information determination module includes:

[0165] The motion association information acquisition submodule is used to acquire the motion association information of each wheel of the target vehicle;

[0166] The information determination submodule is used to determine the auxiliary steering control information of the target vehicle based on the target auxiliary steering control mode and motion correlation information.

[0167] In one embodiment of this application, the aforementioned motion-related information includes the actual wheel speed and the target wheel speed at the current moment.

[0168] Based on this, the above information determines the sub-modules, specifically including:

[0169] Based on the target assisted steering control method, the actual wheel speed, and the target wheel speed, determine the assisted steering control information for the target vehicle.

[0170] In one embodiment of this application, the motion association information acquisition submodule acquires the target wheel speed from the motion association information of each wheel of the target vehicle, specifically including:

[0171] Obtain the current throttle depth of the target vehicle;

[0172] Based on the relationship between throttle depth and vehicle speed, determine the target vehicle speed corresponding to the current throttle depth;

[0173] Determine the target wheel speed of the target vehicle based on the target vehicle speed.

[0174] In one embodiment of this application, the state determination unit 201 determines the current operating state of the outer rear wheel of the target vehicle, including:

[0175] The information acquisition module is used to acquire the thrust and driving torque currently experienced by the outer rear wheel of the target vehicle;

[0176] The status determination module is used to determine the current operating status of the outer rear wheel of the target vehicle based on the thrust and drive torque.

[0177] In one embodiment of this application, the aforementioned state determination module includes:

[0178] The wheel adhesion acquisition submodule is used to acquire the wheel adhesion of the outer rear wheel of the target vehicle.

[0179] The state determination submodule is used to determine the current operating state of the outer rear wheel of the target vehicle based on thrust, driving torque and wheel adhesion.

[0180] In one embodiment of this application, the aforementioned state determination submodule specifically includes:

[0181] Based on the driving torque and the size information of the outer rear wheel, determine the target force on the outer rear wheel;

[0182] If the thrust is greater than the wheel adhesion and the target force is equal to the wheel adhesion, the current operating state indicates that the outer rear wheel is locked and sliding forward.

[0183] If the thrust is greater than the wheel adhesion and the target force is greater than the wheel adhesion, the current operating status indicates that the outer rear wheel is in a state of rotating backward and sliding forward.

[0184] In one embodiment of this application, the aforementioned state determination submodule specifically includes:

[0185] Obtain the rolling resistance of the outer rear wheel of the target vehicle;

[0186] The current operating state of the outer rear wheel of the target vehicle is determined based on thrust, driving torque, wheel adhesion, and wheel rolling resistance.

[0187] In one embodiment of this application, determining the current operating state of the outer rear wheel of the target vehicle based on thrust, driving torque, wheel adhesion, and wheel rolling resistance specifically includes:

[0188] Based on the driving torque and the size information of the outer rear wheel, determine the target force on the outer rear wheel;

[0189] If the difference between the thrust and the target force is greater than the rolling resistance of the wheel, and the target force is less than the adhesion of the wheel, the current operating status indicates that the outer rear wheel is in a forward rolling state.

[0190] If the difference between the target force and the thrust is greater than the rolling resistance of the wheel, and the target force is greater than the adhesion of the wheel, the current operating status indicates that the outer rear wheel is in a backward rolling state.

[0191] The difference between the thrust and the target force is less than the rolling resistance of the wheel, and the target force is less than the adhesion of the wheel. This indicates that the outer rear wheel is in a state where it neither rotates nor slips.

[0192] If the difference between the target force and the thrust is less than the wheel rolling resistance, and the target force is greater than the wheel adhesion, the current operating status indicates that the outer rear wheel is in a state of rearward rotation and no slippage.

[0193] In one embodiment of this application, before the aforementioned state determination unit 201, the steering control device further includes:

[0194] The first operational information acquisition unit is used to acquire the operational information of the target vehicle in response to the assisted steering control event;

[0195] The first determination unit is used to determine, based on operational information, whether the target vehicle meets the assisted steering control determination conditions.

[0196] The auxiliary steering control unit is used to determine whether the target vehicle needs to perform auxiliary steering control if the auxiliary steering control judgment conditions are met.

[0197] In one embodiment of this application, the above-mentioned operating information includes multiple operating parameters, and the above-mentioned auxiliary steering control determination conditions include determination conditions corresponding to each operating parameter.

[0198] Based on this, the aforementioned first determination unit includes:

[0199] The determination module is used to determine if the target vehicle meets the auxiliary steering control determination conditions if each operating parameter meets the corresponding determination conditions.

[0200] In one embodiment of this application, during the process of assisted steering control of the target vehicle, the steering control device further includes:

[0201] The second operational information acquisition unit is used to continue acquiring operational information of the target vehicle;

[0202] The second determination unit is used to continue to perform auxiliary steering control on the target vehicle if, based on the operating information, it is determined that the target vehicle still meets the auxiliary steering control determination conditions; otherwise, it terminates the auxiliary steering control on the target vehicle.

[0203] Therefore, the steering control device provided in this application embodiment, through the state determination unit 201 responding to the need for assisted steering control of the target vehicle, determines the current operating state of the outer rear wheel of the target vehicle; the information determination unit 202 determines the assisted steering control information of the target vehicle based on the current operating state; and the control unit 203 performs assisted steering control on the target vehicle based on the assisted steering control information. Based on this, by determining the operating state of the vehicle's outer rear wheel and determining the assisted steering control information based on the operating state of the outer rear wheel, and performing assisted steering control on the vehicle based on the assisted steering control information, the steering control method is adaptable to most vehicles, while reducing the complexity of assisted steering control and improving the user experience.

[0204] In practice, each of the above modules can be implemented as an independent entity or can be combined arbitrarily to be implemented as the same or several entities. For the specific implementation methods and corresponding beneficial effects of each of the above modules, please refer to the previous method embodiments, which will not be repeated here.

[0205] This application also provides a controller, such as... Figure 10 As shown, it illustrates a schematic diagram of the controller involved in an embodiment of this application. Specifically:

[0206] The controller may include components such as a processor 301 with one or more processing cores, a memory 302 with one or more storage media, a power supply 303, and an input unit 304. Those skilled in the art will understand that... Figure 10 The controller structure shown does not constitute a limitation on the controller and may include more or fewer components than shown, or combine certain components, or have different component arrangements. Wherein:

[0207] The processor 301 is the control center of the controller, connecting various parts of the controller via various interfaces and lines. It executes various functions and processes data by running or executing computer programs and / or modules stored in the memory 302, and by calling data stored in the memory 302. Optionally, the processor 301 may include one or more processing cores; preferably, the processor 301 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 301.

[0208] The memory 302 can be used to store computer programs and modules. The processor 301 executes various functional applications and assists in steering control by running the computer programs and modules stored in the memory 302. The memory 302 may mainly include a program storage area and a data storage area. The program storage area may store the operating system, computer programs required for at least one function (such as audio-visual prompts), etc.; the data storage area may store data created based on the use of the controller, etc. In addition, the memory 302 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device. Accordingly, the memory 302 may also include a memory controller to provide the processor 301 with access to the memory 302.

[0209] The controller also includes a power supply 303 that supplies power to the various components. Preferably, the power supply 303 can be logically connected to the processor 301 through a power management system, thereby enabling functions such as charging, discharging, and power consumption management through the power management system. The power supply 303 may also include one or more DC or AC power supplies, recharging systems, power fault detection circuits, power converters or inverters, power status indicators, and other arbitrary components.

[0210] The controller may also include an input unit 304, which can be used to receive input digital or character information, and generate keyboard, mouse, joystick, optical or trackball signal inputs related to user settings and function control.

[0211] Although not shown, the controller may also include a display unit, etc., which will not be described in detail here. Specifically, in this embodiment, the processor 301 in the controller loads the executable files corresponding to the processes of one or more computer programs into the memory 302 according to the following instructions, and the processor 301 runs the computer programs stored in the memory 302 to realize various functions, such as:

[0212] In response to the target vehicle requiring assisted steering control, the current operating state of the target vehicle's outer rear wheel is determined;

[0213] Based on the current operating status, determine the auxiliary steering control information for the target vehicle;

[0214] Based on the assisted steering control information, assisted steering control is applied to the target vehicle.

[0215] Therefore, the controller provided in this application, in response to the need for assisted steering control of the target vehicle, determines the current operating state of the outer rear wheel of the target vehicle; determines the assisted steering control information of the target vehicle based on the current operating state; and performs assisted steering control on the target vehicle based on the assisted steering control information. Based on this, by determining the operating state of the outer rear wheel of the vehicle and determining the assisted steering control information based on the operating state of the outer rear wheel, and performing assisted steering control on the vehicle based on the assisted steering control information, the steering control method is adaptable to most vehicles, while reducing the complexity of assisted steering control and improving the user experience.

[0216] For details on the specific implementation methods and corresponding beneficial effects of the above operations, please refer to the detailed description of the steering control method above, which will not be repeated here.

[0217] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be performed by a computer program, or by a computer program controlling related hardware. The computer program can be stored in a storage medium and loaded and executed by a processor.

[0218] Please see Figure 11 This application also provides an auxiliary steering control system, which is applied to a vehicle. The auxiliary steering control system includes a drive system, a braking system, and the aforementioned controller.

[0219] The drive system and the braking system are used to perform auxiliary steering control on the vehicle based on the auxiliary steering control information received from the controller.

[0220] The controller described above can execute the steps of any of the steering control methods provided in the embodiments of this application.

[0221] It should be noted that the auxiliary steering control system, drive system and braking system mentioned in the embodiments of this application can be found in the corresponding descriptions above, and will not be repeated here.

[0222] Therefore, the assisted steering control system provided in this application embodiment is simple and easy to implement. The drive system and braking system included in the assisted steering control system are derived from existing vehicle drive and braking systems, requiring no new components. This assisted steering control system allows the steering control method to be adapted to most vehicles, while reducing the complexity of assisted steering control and improving the user experience.

[0223] Therefore, embodiments of this application provide a storage medium storing a computer program that can be loaded by a processor to execute steps in any of the steering control methods provided in embodiments of this application. For example, the computer program can execute the following steps:

[0224] In response to the target vehicle requiring assisted steering control, the current operating state of the target vehicle's outer rear wheel is determined;

[0225] Based on the current operating status, determine the auxiliary steering control information for the target vehicle;

[0226] Based on the assisted steering control information, assisted steering control is applied to the target vehicle.

[0227] Therefore, the storage medium provided in this application, in response to the need for assisted steering control of the target vehicle, determines the current operating state of the outer rear wheel of the target vehicle; determines the assisted steering control information of the target vehicle based on the current operating state; and performs assisted steering control on the target vehicle based on the assisted steering control information. Based on this, by determining the operating state of the outer rear wheel of the vehicle and determining the assisted steering control information based on the operating state of the outer rear wheel, and performing assisted steering control on the vehicle based on the assisted steering control information, the steering control method is adaptable to most vehicles, while reducing the complexity of assisted steering control and improving the user experience.

[0228] For details on the specific implementation methods and corresponding beneficial effects of the above operations, please refer to the previous embodiments, which will not be repeated here.

[0229] The storage medium may include: read-only memory (ROM), random access memory (RAM), disk or optical disk, etc.

[0230] Since the computer program stored in the storage medium can execute the steps of any of the steering control methods provided in the embodiments of this application, the beneficial effects that any of the steering control methods provided in the embodiments of this application can achieve can be realized, as detailed in the preceding embodiments, and will not be repeated here.

[0231] According to one aspect of this application, a computer program product or computer program is provided, comprising computer instructions stored in a storage medium. A processor of a computer device reads the computer instructions from the storage medium and executes the computer instructions, causing the computer device to perform the aforementioned steering control method.

[0232] This application also provides a vehicle including the aforementioned steering control device, controller, computer program product, or auxiliary steering control system. The controller can execute the aforementioned steering control method. For example, in response to a target vehicle requiring auxiliary steering control, the controller determines the current operating state of the outer rear wheel of the target vehicle; determines auxiliary steering control information for the target vehicle based on the current operating state; and performs auxiliary steering control on the target vehicle based on the auxiliary steering control information. Therefore, by determining the operating state of the outer rear wheel of the vehicle and determining auxiliary steering control information based on the operating state of the outer rear wheel, and performing auxiliary steering control on the vehicle based on the auxiliary steering control information, the steering control method is adaptable to most vehicles, while reducing the complexity of auxiliary steering control and improving the user experience.

[0233] This application does not limit the specific structure of the vehicle. The specific implementation methods and corresponding beneficial effects of the above-described operations of the controller are also applicable to this vehicle. For details, please refer to the detailed description of the steering control method above, which will not be repeated here.

[0234] The foregoing has provided a detailed description of a steering control method, device, controller, auxiliary steering control system, storage medium, computer program product, and vehicle provided in the embodiments of this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A steering control method, characterized in that, The method includes: In response to the target vehicle requiring assisted steering control, the current operating state of the outer rear wheel of the target vehicle is determined; Based on the current operating status, determine the auxiliary steering control information of the target vehicle; Based on the assisted steering control information, assisted steering control is performed on the target vehicle.

2. The steering control method according to claim 1, characterized in that, Determining the assisted steering control information of the target vehicle based on the current operating state includes: The target auxiliary steering control mode is determined based on the correspondence between the operating state of the vehicle's outer rear wheel and the auxiliary steering control mode, as well as the current operating state. Based on the target assisted steering control method, the assisted steering control information of the target vehicle is determined.

3. The steering control method according to claim 2, characterized in that, The correspondence includes a first correspondence, a second correspondence, and a third correspondence, wherein; The first correspondence indicates that the operating state of the outer rear wheel of the vehicle includes being in a slipping state, and the auxiliary steering control method is to brake the inner front wheel of the vehicle; The second correspondence indicates that the operating state of the outer rear wheel of the vehicle includes being in a rolling state, and the auxiliary steering control method is to brake the outer rear wheel of the vehicle; The third correspondence indicates that the operating state of the outer rear wheel of the vehicle includes being in a non-slip state, and the auxiliary steering control method is to apply torque to the motor of the vehicle, wherein the torque is used to control the steering of the target vehicle.

4. The steering control method according to claim 3, characterized in that, The sliding state in the first correspondence includes at least one of the following: the outer rear wheel is locked and sliding forward, and the outer rear wheel is rotating backward and sliding forward. The rolling state in the second correspondence includes at least one of the following: the outer rear wheel is in a forward rolling state, and the outer rear wheel is in a backward rolling state; The non-slip state in the third correspondence includes at least one of the following: the outer rear wheel is in a state of neither rotating nor slipping, and the outer rear wheel is in a state of rotating backward and not slipping.

5. The steering control method according to claim 3, characterized in that, The torque includes front axle torque and rear axle torque, wherein the front axle torque indicates the torque applied to the front axle motor of the vehicle, and the rear axle torque indicates the torque applied to the rear axle motor of the vehicle.

6. The steering control method according to claim 3, characterized in that, If the assisted steering control information is determined based on the assisted steering control method corresponding to the second correspondence, the step of performing assisted steering control on the target vehicle based on the assisted steering control information includes: Based on the auxiliary steering control information, the outer rear wheel of the target vehicle is braked until the outer rear wheel locks up; If the outer rear wheel locks up and is still in a locked-up skidding state, new auxiliary steering control information is determined based on the auxiliary steering control mode corresponding to the first correspondence. Based on the new assisted steering control information, the inner front wheel of the target vehicle is braked.

7. The steering control method according to claim 2, characterized in that, The step of determining the steering assist control information of the target vehicle based on the target steering assist control method includes: Obtain motion correlation information of each wheel of the target vehicle; Based on the target assisted steering control method and the motion association information, the assisted steering control information of the target vehicle is determined.

8. The steering control method according to claim 7, characterized in that, The motion-related information includes the current actual wheel speed and the target wheel speed. Determining the auxiliary steering control information of the target vehicle based on the target assisted steering control mode and the motion-related information includes: The auxiliary steering control information of the target vehicle is determined based on the target auxiliary steering control mode, the actual wheel speed, and the target wheel speed.

9. The steering control method according to claim 8, characterized in that, Obtaining the target wheel speed from the motion correlation information of each wheel of the target vehicle includes: Obtain the current throttle depth of the target vehicle; Based on the correspondence between throttle depth and vehicle speed, determine the target vehicle speed corresponding to the current throttle depth; Based on the target vehicle speed, the target wheel speed of the target vehicle is determined.

10. The steering control method according to claim 1, characterized in that, Determining the current operating state of the outer rear wheel of the target vehicle includes: Obtain the thrust and driving torque currently acting on the outer rear wheel of the target vehicle; The current operating state of the outer rear wheel of the target vehicle is determined based on the thrust and the driving torque.

11. The steering control method according to claim 10, characterized in that, Determining the current operating state of the outer rear wheel of the target vehicle based on the thrust and the driving torque includes: Obtain the wheel adhesion of the outer rear wheel of the target vehicle; The current operating state of the outer rear wheel of the target vehicle is determined based on the thrust, the driving torque, and the wheel adhesion.

12. The steering control method according to claim 11, characterized in that, Determining the current operating state of the outer rear wheel of the target vehicle based on the thrust, the driving torque, and the wheel adhesion includes: Based on the driving torque and the size information of the outer rear wheel, the target force on the outer rear wheel is determined; If the thrust is greater than the wheel adhesion force, and the target force is equal to the wheel adhesion force, the current operating state indicates that the outer rear wheel is locked and sliding forward. If the thrust is greater than the wheel adhesion force, and the target force is greater than the wheel adhesion force, the current operating state indicates that the outer rear wheel is in a state of rotating backward and sliding forward.

13. The steering control method according to claim 11, characterized in that, Determining the current operating state of the outer rear wheel of the target vehicle based on the thrust, the driving torque, and the wheel adhesion includes: Obtain the rolling resistance of the outer rear wheel of the target vehicle; The current operating state of the outer rear wheel of the target vehicle is determined based on the thrust, the driving torque, the wheel adhesion, and the wheel rolling resistance.

14. The steering control method according to claim 13, characterized in that, Determining the current operating state of the outer rear wheel of the target vehicle based on the thrust, the driving torque, the wheel adhesion, and the wheel rolling resistance includes: Based on the driving torque and the size information of the outer rear wheel, the target force on the outer rear wheel is determined; If the difference between the thrust and the target force is greater than the wheel rolling resistance, and the target force is less than the wheel adhesion, the current operating state indicates that the outer rear wheel is in a forward rolling state. If the difference between the target force and the thrust is greater than the wheel rolling resistance, and the target force is greater than the wheel adhesion, the current operating state indicates that the outer rear wheel is in a backward rolling state. The difference between the thrust and the target force is less than the wheel rolling resistance, and the target force is less than the wheel adhesion force, thus determining that the current operating state indicates that the outer rear wheel is in a state of neither rotating nor slipping. If the difference between the target force and the thrust is less than the wheel rolling resistance, and the target force is greater than the wheel adhesion, the current operating state indicates that the outer rear wheel is in a state of rearward rotation and no slippage.

15. The steering control method according to any one of claims 1-14, characterized in that, Before determining the current operating state of the outer rear wheel of the target vehicle in response to the need for assisted steering control of the target vehicle, the method further includes: In response to an assisted steering control event, the operating information of the target vehicle is acquired; Based on the operational information, it is determined whether the target vehicle meets the assisted steering control criteria. If the assisted steering control determination condition is met, it is determined that the target vehicle needs assisted steering control.

16. The steering control method according to claim 15, characterized in that, The operating information includes multiple operating parameters, and the assisted steering control determination conditions include determination conditions corresponding to each of the operating parameters. Determining whether the target vehicle meets the assisted steering control determination conditions based on the operating information includes: If each of the aforementioned operating parameters meets the corresponding determination condition, the target vehicle is determined to satisfy the assisted steering control determination condition.

17. The steering control method according to claim 15, characterized in that, The process of providing assisted steering control for the target vehicle also includes: Continue acquiring the operating information of the target vehicle; If, based on the operational information, it is determined that the target vehicle still meets the assisted steering control determination condition, assisted steering control of the target vehicle continues; otherwise, assisted steering control of the target vehicle ends.

18. A steering control device, characterized in that, The device includes: A state determination unit is used to determine the current operating state of the outer rear wheel of the target vehicle in response to the need for assisted steering control of the target vehicle. An information determination unit is used to determine the auxiliary steering control information of the target vehicle based on the current operating state; The control unit is used to perform auxiliary steering control on the target vehicle based on the auxiliary steering control information.

19. A controller, characterized in that, It includes one or more processors and a memory, the memory storing a computer program that, when executed by the processor, causes the processor to perform the steps of the steering control method of any one of claims 1 to 17.

20. An auxiliary steering control system, characterized in that, The assisted steering control system is applied to a vehicle, and the assisted steering control system includes a drive system, a braking system, and a controller as described in claim 19, wherein the drive system and the braking system are used to perform assisted steering control on the vehicle based on assisted steering control information sent by the controller.

21. A storage medium, characterized in that, Includes a computer program, which, when run on a controller, causes the controller to perform the steps of the steering control method according to any one of claims 1 to 17.

22. A computer program product, characterized in that, Includes a computer program or instructions that, when executed by a processor, implement the steps of the steering control method according to any one of claims 1 to 17.

23. A vehicle, characterized in that, The vehicle includes the controller as claimed in claim 19, or the vehicle includes the assisted steering control system as claimed in claim 20.

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