Vehicular steering control method, device, storage medium, processor and electronic device

Abstract

To provide vehicular steering control method, device, storage medium, processor and electronic device that can improve vehicle steering sensitivity.SOLUTION: This method includes: a step at which vehicle steering input information is acquired, and in which a plurality of steering parameters corresponding to an object vehicle are included in the vehicle steering input information; a step at which a vehicle gravity center sideslip angle function is determined on the basis of vehicle 2 degrees of freedom model and a rear wheel deflection angle function is obtained on the basis of the vehicle gravity center sideslip angle function, and in which the vehicle gravity center sideslip angle function is used for representing a relationship between a vehicle gravity center sideslip angle and the plurality of steering parameters, and the rear wheel deflection angle function is used for representing a relationship between a rear wheel deflection angle and the plurality of steering parameters; a step at which a yaw moment target value is obtained by using the vehicle steering input information and the rear wheel deflection angle function; and a step at which an inside rear wheel brake force target value is determined on the basis of the yaw moment target value, and the object vehicle is controlled for vehicle steering by using the inside rear wheel brake force target value.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to the field of vehicle technology, and more particularly to a vehicle steering control method, device, storage medium, processor and electronic device. [Background technology]

[0002] Currently, vehicles with long wheelbases have poor maneuverability. For example, in passenger cars with wheelbases exceeding 2900 mm, the overall vehicle mass of a vehicle with a long wheelbase is large, and the moment of inertia is also large, resulting in inherent disadvantages in maneuverability, and the vehicle can easily become heavy and inflexible, which is particularly reflected in delayed steering response and insufficient yaw gain (i.e., steering sensitivity) of the vehicle.

[0003] To date, no effective solutions have been proposed to the above problems. Summary of the Invention [Problem to be solved by the invention]

[0004] SUMMARY OF THE DISCLOSURE The embodiments of the present invention provide a vehicle steering control method, apparatus, storage medium, processor and electronic device to at least solve the technical problem of low vehicle steering sensitivity in the related art. [Means for solving the problem]

[0005] A vehicle steering control method according to one embodiment of the present invention includes the steps of: acquiring vehicle steering input information, where the vehicle steering input information includes a plurality of steering parameters corresponding to a target vehicle; determining a vehicle center of gravity sideslip angle function based on a vehicle two-degree-of-freedom model and obtaining a rear wheel deflection angle function based on the vehicle center of gravity sideslip angle function, where the vehicle center of gravity sideslip angle function is used to represent the relationship between the vehicle center of gravity sideslip angle and the plurality of steering parameters, and the rear wheel deflection angle function is used to represent the relationship between the rear wheel deflection angle and the plurality of steering parameters; obtaining a yaw moment target value using the vehicle steering input information and the rear wheel deflection angle function; determining an inner rear wheel braking force target value based on the yaw moment target value, and controlling the target vehicle for vehicle steering using the inner rear wheel braking force target value.

[0006] Optionally, the vehicle steering input information includes vehicle center of gravity sideslip angle, front axle equivalent sideslip stiffness, rear axle equivalent sideslip stiffness, distance from center of gravity to rear axle, distance from center of gravity to front axle, vehicle yaw angle, vehicle longitudinal speed, total vehicle mass, front wheel deflection angle, and rear wheel deflection angle.

[0007] Optionally, the step of obtaining a yaw moment target value using the vehicle steering input information and the rear wheel deflection angle function includes the steps of obtaining a target steering response speed and a first gain coefficient, and obtaining a yaw moment target value using the vehicle steering input information, the rear wheel deflection angle function, the target steering response speed and the first gain coefficient.

[0008] Optionally, determining the inner rear wheel braking force target value based on the yaw moment target value includes obtaining a longitudinal distance and a lateral distance from the center of gravity to the inner rear wheel core, and determining the inner rear wheel braking force target value based on the longitudinal distance, the lateral distance and the yaw moment target value.

[0009] Optionally, the step of controlling the target vehicle for vehicle steering using the inboard rear wheel braking force target value includes the steps of determining a target gradient based on the inboard rear wheel braking force target value, a second gain coefficient, the rear wheel deflection angle and a target steering response speed, and controlling the inboard rear wheel braking force target value to be reduced during steering of the target vehicle in response to the target gradient.

[0010] Optionally, the vehicle steering control method further includes the step of controlling the inner rear wheel braking force target value to be reduced to zero in response to the target vehicle completing vehicle steering.

[0011] A vehicle steering control device according to one embodiment of the present invention includes: an acquisition module used to acquire vehicle steering input information, where the vehicle steering input information includes a plurality of steering parameters corresponding to a target vehicle; a first determination module used to determine a vehicle center of gravity sideslip angle function based on a vehicle two-degree-of-freedom model and to obtain a rear wheel deflection angle function based on the vehicle center of gravity sideslip angle function, where the vehicle center of gravity sideslip angle function is used to represent the relationship between the vehicle center of gravity sideslip angle and the plurality of steering parameters, and the rear wheel deflection angle function is used to represent the relationship between the rear wheel deflection angle and the plurality of steering parameters; a processing module used to obtain a yaw moment target value using the vehicle steering input information and the rear wheel deflection angle function; and a second determination module used to determine an inner rear wheel braking force target value based on the yaw moment target value and to control the target vehicle for vehicle steering using the inner rear wheel braking force target value.

[0012] Optionally, the processing module further obtains a target steering response speed and a first gain coefficient, and is used to obtain a yaw moment target value using the vehicle steering input information, the rear wheel deflection angle function, the target steering response speed and the first gain coefficient.

[0013] Optionally, the second determination module further obtains a longitudinal distance and a lateral distance from the center of gravity to the inner rear wheel core, and is used to determine an inner rear wheel braking force target value based on the longitudinal distance, the lateral distance and the yaw moment target value.

[0014] Optionally, the second determination module is further used to determine a target gradient based on the inner rear wheel braking force target value, a second gain coefficient, the rear wheel deflection angle and a target steering response speed, and to control the inner rear wheel braking force target value to be reduced during steering of the target vehicle according to the target gradient.

[0015] Optionally, the second determination module is further used for controlling the inboard rear wheel braking force target value to be reduced to zero in response to the subject vehicle completing vehicle steering.

[0016] A non-volatile storage medium according to an embodiment of the present invention stores a computer program, and is configured to execute any one of the vehicle steering control methods described above when the computer program is executed.

[0017] A processor according to an embodiment of the present invention is used to run a program, and is configured to perform the vehicle steering control method according to any one of the above claims when the program is executed.

[0018] An electronic device according to one embodiment of the present invention includes a memory and a processor, the memory having a computer program stored therein, and the processor is configured to operate the computer program to execute a vehicle steering control method described in any one of the above items. Effect of the Invention

[0019] In the embodiment of the present invention, vehicle steering input information is obtained, a vehicle center of gravity sideslip angle function is determined based on a vehicle two-degree-of-freedom model, a rear wheel deflection angle function is obtained based on the vehicle center of gravity sideslip angle function, a yaw moment target value is then obtained using the vehicle steering input information and the rear wheel deflection angle function, and finally an inner rear wheel braking force target value is determined based on the yaw moment target value, and the inner rear wheel braking force target value is used to control the target vehicle for vehicle steering, thereby achieving the purpose of controlling rapid steering of the vehicle, thereby achieving the technical effect of improving the steering sensitivity of the vehicle, and further solving the technical problem of low steering sensitivity of the related art. [Brief description of the drawings]

[0020] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application, and the exemplary embodiments of the present invention and the description thereof are for the purpose of interpreting the present invention, and are not intended to unduly limit the present invention. The accompanying drawings are as follows: [Figure 1] 4 is a flowchart of a vehicle steering control method according to an embodiment of the present invention. [Diagram 2] 1 is a structural block diagram of a vehicle steering control device according to an embodiment of the present invention; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0021] In order to make those skilled in the art better understand the solutions of the present invention, the following clearly and completely describes the technical solutions in the embodiments of the present invention in combination with the drawings of the embodiments of the present invention, and obviously, the described embodiments are only some of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, other embodiments obtained by those skilled in the art without creative efforts shall all belong to the protection scope of the present invention.

[0022] It should be understood that the terms "first," "second," etc. in the present specification and claims and above drawings are intended to distinguish between similar objects and are not necessarily used to describe a particular order or chronology.

[0023] It should be understood that data used in this manner may be interchanged where appropriate such that the embodiments of the invention described herein may be performed in orders other than those illustrated or described herein. Also, the terms "comprises" and "having" and any variations thereof are intended to cover non-exclusive inclusions, e.g., a process, method, system, product, or apparatus that includes a series of steps or units need not be limited to those steps or units expressly depicted, but may include other steps or units not expressly depicted or inherent to those processes, methods, products, or apparatus.

[0024] According to an embodiment of the present invention, an embodiment of a method for steering control for a vehicle is provided, in which the steps illustrated in the flowcharts of the drawings may be performed, for example, by a computer system capable of executing a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some circumstances the steps shown may be performed in an order different from that described herein.

[0025] An embodiment of the method may be performed in an electronic device including a memory and a processor within a vehicle, or a similar computing device.

[0026] Taking an electronic device operating on a vehicle as an example, the vehicle's electronic device may include one or more processors (processors include, but are not limited to, processing devices such as a central processing unit (CPU), a graphics processing unit (GPU), a digital signal processing (DSP) chip, a micro controller unit (MCU), a field programmable gate array (FPGA), a neural-network processor unit (NPU), a tensor processing unit (TPU), an artificial intelligence (AI) type processor, etc.) and a memory for storing data.

[0027] Optionally, the vehicle electronic device may further include a transmission device, an input / output device and a display device for communication functions. Those skilled in the art can understand that the above structure description is merely an example and does not limit the structure of the vehicle electronic device. For example, the vehicle electronics may include more or fewer components than those described above, or may have a different configuration than those described above.

[0028] The memory may be used to store computer programs, such as software programs and modules of application software, such as a computer program corresponding to the vehicle steering control method in the embodiment of the present invention, and the processor executes various functional applications and data processing by operating the computer programs stored in the memory, i.e., realizes the above-mentioned vehicle steering control method. The memory may include a high-speed random access memory, and may further include a non-volatile memory, such as one or more magnetic disk storage devices, flash devices, or other non-volatile solid-state memory devices. In some embodiments, the memory may further include memories provided remotely to the processor, and these remote memories may be connected to the mobile terminal via a network.

[0029] Examples of such networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0030] A transmission device is used to receive or send data over a network. A specific embodiment of the above-mentioned network may include a wireless network provided by a communication provider of the mobile terminal. In one embodiment, the transmission device includes a network adapter (abbreviated as NIC) that can connect to other network devices via a base station to communicate with the Internet. In one embodiment, the transmission device may be a radio frequency (RF) for wirelessly communicating with the Internet.

[0031] The display device may be, for example, a touch screen Liquid Crystal Display (LCD) and a touch display (also called a "touch screen" or "touch display screen").

[0032] The LCD display allows the user to interact with the mobile terminal's user interface. In some embodiments, the mobile terminal has a Graphical User Interface (GUI) and a user can perform human-computer interaction with the GUI through finger contacts and / or gestures on a touch-sensitive surface, where the human-computer interaction functions include web page creation, drawing, word processing, electronic document creation, gaming, video conferencing, instant messaging, sending and receiving email, calling interface, digital video playback, digital music playback, and / or web browsing, and executable instructions for performing the human-computer interaction functions are configured / stored in a computer program product or readable storage medium executable by one or more processors.

[0033] 1 is a flow chart of a vehicle steering control method according to an embodiment of the present invention. As shown in FIG. 1, the method includes the following steps: In step S12, vehicle steering input information is acquired, and the vehicle steering input information includes a plurality of steering parameters corresponding to the target vehicle.

[0034] In step S12, vehicle steering input information can be obtained.

[0035] Specifically, the vehicle steering input information includes a plurality of steering parameters corresponding to the target vehicle.

[0036] Optionally, the vehicle steering input information may include vehicle center of gravity sideslip angle β, front axle equivalent sideslip stiffness Csf, rear axle equivalent sideslip stiffness Csr, distance from the center of gravity to the rear axle lr, distance from the center of gravity to the front axle lf, vehicle yaw angle ψ, vehicle longitudinal velocity v, total vehicle mass m, front wheel deflection angle δf, and rear wheel deflection angle δr.

[0037] Specifically, the vehicle center of gravity sideslip angle refers to the deflection angle of the vehicle's center of gravity with respect to the vehicle's longitudinal axis. During the vehicle's running process, the vehicle's center of gravity is usually located at the center of the vehicle's longitudinal axis. However, when the vehicle turns or accelerates laterally, the vehicle's center of gravity will deflect laterally due to inertia. Generally, the larger the vehicle center of gravity sideslip angle, the larger the vehicle's tilt angle during turning, and the roll angle of the vehicle will affect the stability and maneuverability of the vehicle.

[0038] The front axle equivalent sideslip stiffness refers to the anti-rolling ability of a vehicle during lateral movement, and may be used as an index to describe the stiffness characteristics of the front axle when the vehicle turns or accelerates laterally. A high front axle equivalent sideslip stiffness can improve the vehicle's handling and stability, and make steering more accurate and sensitive.

[0039] The rear axle equivalent sideslip stiffness refers to the anti-rolling ability of a vehicle during lateral movement. During the vehicle's travel, when the vehicle turns or accelerates laterally, a lateral force is generated, which causes a roll angle on the vehicle. The rear axle equivalent sideslip stiffness is used to express the response ability of the rear axle to a lateral force, i.e., the proportional relationship between the roll angle generated by the rear axle under the action of a lateral force and the lateral force.

[0040] Vehicle yaw angle refers to the roll angle of the vehicle body when the vehicle turns or moves laterally. When the vehicle moves laterally, inertia causes the vehicle body to tilt or swing, resulting in an angle called the yaw angle. The magnitude of the yaw angle is determined by many factors, including the vehicle design, suspension system, body structure, steering system, etc. A large yaw angle means that the vehicle body tilts more when the vehicle turns or moves laterally. The yaw angle has a certain effect on the handling and stability of the vehicle, and a large yaw angle may affect the stability of the vehicle, reduce the handling performance, and increase the risk of skidding and loss of control.

[0041] In step S14, a vehicle center of gravity sideslip angle function is determined based on the vehicle two-degree-of-freedom model, and a rear wheel deflection angle function is obtained based on the vehicle center of gravity sideslip angle function, where the vehicle center of gravity sideslip angle function is used to represent the relationship between the vehicle center of gravity sideslip angle and the multiple steering parameters, and the rear wheel deflection angle function is used to represent the relationship between the rear wheel deflection angle and the multiple steering parameters.

[0042] In the above step S14, after obtaining the vehicle steering input information, the vehicle center of gravity sideslip angle function is determined based on the vehicle two-degree-of-freedom model, and the rear wheel deflection angle function is obtained based on the vehicle center of gravity sideslip angle function.

[0043] Specifically, the vehicle center of gravity sideslip angle function is used to represent the relationship between the vehicle center of gravity sideslip angle and multiple steering parameters, and the rear wheel deflection angle function is used to represent the relationship between the rear wheel deflection angle and multiple steering parameters.

[0044] The vehicle center of gravity side slip angle function may be expressed as Equation (1): TIFF2025009740000002.tif11170, where TIFF2025009740000003.tif7170 represents the derivative of β, TIFF2025009740000004.tif6170 represents the derivative of Ψ.

[0045] If we set β and its derivative in equation (1) to 0, the rear wheel deflection angle function is obtained as equation (2): TIFF2025009740000005.tif11170

[0046] In step S16, a yaw moment target value is obtained using the vehicle steering input information and the rear wheel deflection angle function.

[0047] In step S16, the yaw moment target value can be obtained using the vehicle steering input information and the rear wheel deflection angle function.

[0048] Due to the influence of tire slack characteristics, the force generated by δf and δr Due to the delay in TIFF2025009740000006.tif6170, the longitudinal force of the tire is established much faster than the lateral force. One could consider using the yaw moment directly to establish the TIFF2025009740000007.tif6170.

[0049] In step S18, an inner rear wheel braking force target value is determined based on the yaw moment target value, and the inner rear wheel braking force target value is used to control the target vehicle for vehicle steering.

[0050] In the above step S18, after the yaw moment target value is obtained, the inner rear wheel braking force target value is determined based on the yaw moment target value, and the inner rear wheel braking force target value can be used to control the target vehicle for vehicle steering.

[0051] Specifically, a yaw moment target value can be assigned to the inside rear wheel for steering, such that when turning left the inside rear wheel becomes the left rear wheel and vice versa, and the inside rear wheel braking force target value can be used to control the subject vehicle for vehicle steering.

[0052] Based on the above steps S12 to S18, vehicle steering input information is obtained, a vehicle center of gravity sideslip angle function is determined based on a vehicle two-degree-of-freedom model, a rear wheel deflection angle function is obtained based on the vehicle center of gravity sideslip angle function, a yaw moment target value is then obtained using the vehicle steering input information and the rear wheel deflection angle function, and finally an inner rear wheel braking force target value is determined based on the yaw moment target value, and the inner rear wheel braking force target value is used to control the target vehicle for vehicle steering, thereby achieving the purpose of controlling rapid steering of the vehicle, and thereby achieving the technical effect of improving the steering sensitivity of the vehicle, and further solving the technical problem of low steering sensitivity of the vehicle in the related art.

[0053] Optionally, in step S16, obtaining a yaw moment target value using the vehicle steering input information and the rear wheel deflection angle function includes the steps of: In step S161, a target steering response speed and a first gain coefficient are obtained.

[0054] In the above step S16, when the yaw moment target value is obtained using the vehicle steering input information and the rear wheel deflection angle function, first, You can get TIFF2025009740000008.tif7170 and the first gain coefficient k.

[0055] In step S162, a yaw moment target value is obtained using the vehicle steering input information, the rear wheel deflection angle function, the target steering response speed, and the first gain coefficient.

[0056] After the target steering response speed and the first gain coefficient are obtained in the above step S162, the yaw moment target value can be obtained using the vehicle steering input information, the rear wheel deflection angle function, the target steering response speed and the first gain coefficient.

[0057] Specifically, the target steering response speed may be the response speed of the rear wheel steering actuator with respect to the target steering, and the yaw moment target value can be obtained according to equation (3). TIFF2025009740000009.tif7170Here, Mz is the yaw moment target value, TIFF2025009740000010.tif6170 is the response speed of the rear wheel steering actuator to the target steering, and k is the gain coefficient.

[0058] Based on the above steps S161 to S162, the target steering response speed and the first gain coefficient are obtained, and the yaw moment target value can be obtained using the vehicle steering input information, the rear wheel deflection angle function, the target steering response speed and the first gain coefficient, thereby determining the inner rear wheel braking force target value based on the yaw moment target value.

[0059] Optionally, in the above step S18, determining the inner rear wheel braking force target value based on the yaw moment target value includes the following steps:

[0060] In step S181, the vertical distance and the lateral distance from the center of gravity to the inner rear wheel core are obtained.

[0061] In the above step S181, when the inner rear wheel braking force target value is determined based on the yaw moment target value, first, the vertical distance x and the lateral distance y from the center of gravity to the inner rear wheel core can be obtained.

[0062] In step S182, an inner rear wheel braking force target value is determined based on the longitudinal distance, the lateral distance and the yaw moment target value.

[0063] In the above step S182, after the longitudinal and lateral distances from the center of gravity to the inner rear wheel core are obtained, the inner rear wheel braking force target value Fb can be determined based on the longitudinal and lateral distances and the yaw moment target value.

[0064] Specifically, the inner rear wheel braking force target value can be determined according to equation (4): TIFF2025009740000011.tif9170Here, Fb is the inner rear wheel braking force target value, Mz is the yaw moment target value, x is the vertical distance from the center of gravity to the inner rear wheel core, and y is the lateral distance from the center of gravity to the inner rear wheel core.

[0065] Based on the above steps S181 to S182, the longitudinal distance and the lateral distance from the center of gravity to the inner rear wheel core can be obtained, and the inner rear wheel braking force target value can be determined based on the longitudinal distance, the lateral distance and the yaw moment target value, so that the target vehicle can be controlled for vehicle steering using the inner rear wheel braking force target value, thereby improving the steering sensitivity of the vehicle.

[0066] Optionally, in step S18 above, controlling the target vehicle for vehicle steering using the inner rear wheel braking force target value includes the following steps:

[0067] In step S183, a target gradient is determined based on the inner rear wheel braking force target value, the second gain coefficient, the rear wheel deflection angle and the target steering response speed.

[0068] In the above step S183, when the target vehicle is controlled for vehicle steering using the inner rear wheel braking force target value, the target gradient can be first determined based on the inner rear wheel braking force target value, the second gain coefficient, the rear wheel deflection angle and the target steering response speed.

[0069] Specifically, the second gain coefficient may be p, the target gradient may be q, and the target gradient may be used to control the inner rear wheel braking force target value to be reduced during steering of the target vehicle.

[0070] The target gradient q can be determined according to equation (5): TIFF2025009740000012.tif8170 where q is the target gradient, p is the second gain coefficient, Fb is the rear wheel inner braking force target value, and δr is the rear wheel deflection angle; TIFF2025009740000013.tif7170 is the response speed of the rear wheel steering actuator to the target steering.

[0071] In step S184, the inside rear wheel braking force target value is controlled to be reduced while the subject vehicle is being steered in accordance with the target gradient.

[0072] In the above step S184, after the target gradient is determined based on the inner rear wheel braking force target value, the second gain coefficient, the rear wheel deflection angle and the target steering response speed, the inner rear wheel braking force target value can be controlled to be reduced while the target vehicle is being steered in accordance with the target gradient.

[0073] Specifically, in the process of setting δr, the inner rear wheel braking force target value Fb can be gradually removed at a gradient q.

[0074] Based on the above steps S183 to S184, a target gradient is determined based on the inner rear wheel braking force target value, the second gain coefficient, the rear wheel deflection angle and the target steering response speed, and the inner rear wheel braking force target value is controlled to be reduced while the target vehicle is being steered according to the target gradient, so that the braking force of this rim can be gradually removed in the process of setting the rear wheel deflection angle, and the rear wheel steering system provides a rear wheel steering angle of the entire vehicle instead of a rim brake, thereby maintaining the current yaw state of the entire vehicle, and thereby improving the steering sensitivity of the vehicle.

[0075] Optionally, the method for controlling steering for a vehicle further includes the steps of: In step S19, in response to the target vehicle completing vehicle steering, the inside rear wheel braking force target value is controlled to be reduced to zero.

[0076] In step S19, after the target vehicle has completed vehicle steering, the inside rear wheel braking force target value is controlled to be reduced to zero.

[0077] Specifically, once the vehicle has completed steering, all of the inside rear wheel braking force can be removed.

[0078] Based on the above step S19, by controlling the inner rear wheel braking force target value to be reduced to zero in response to the target vehicle completing vehicle steering, all of the inner rear wheel braking force can be removed in the process of the vehicle completing steering, and the rear wheel steering system, instead of the rim brake, provides a rear wheel steering angle of the entire vehicle, thereby maintaining the current yaw state of the entire vehicle, thereby improving the steering sensitivity of the vehicle.

[0079] In the above vehicle steering method, after the driver applies a steering input, the rim brake system of the inside wheel for steering applies a single-wheel braking force to generate a yaw moment, utilizing the characteristic that the longitudinal force of the tire is established much faster than the lateral force, improving the yaw angular acceleration, thereby improving the yaw response speed of the entire vehicle. At the same time, in conjunction with the rear wheel steering system, this rim braking force is gradually removed during the establishment of the yaw angular velocity of the entire vehicle, and the rear wheel steering system maintains the current yaw state of the entire vehicle by applying the rear wheel steering angle of the entire vehicle instead of the rim brake, thereby improving the steering sensitivity of the vehicle.

[0080] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be realized by combining software with a necessary common hardware platform, and of course, can be realized in hardware, and in many cases, the former is a better embodiment. Based on this understanding, the technical solution of the present invention, in its substantial or prior art contribution, may be expressed in the form of a software product, and the computer software product is stored in a storage medium (such as a ROM / RAM, a magnetic disk, an optical disk, etc.) that contains some instructions for making a terminal device (which may be a mobile phone, a personal computer, a server, or a network device, etc.) execute the methods according to the embodiments of the present invention.

[0081] In this embodiment, a vehicle steering device is also provided, which is used to realize the above embodiment and preferred embodiment, and the description thereof will be omitted. As used hereinafter, the term "module" can realize a combination of software and / or hardware having a certain function. The device described in the following embodiment is preferably realized in software, but it is also possible and conceivable to realize hardware or a combination of software and hardware.

[0082] Fig. 2 is a structural block diagram of a vehicle steering control device according to an embodiment of the present invention. As shown in Fig. 2, the device includes: an acquisition module 201 used to acquire vehicle steering input information, where the vehicle steering input information includes a plurality of steering parameters corresponding to a target vehicle; a first determination module 202 used to determine a vehicle center of gravity side slip angle function based on a vehicle two-degree-of-freedom model, and to obtain a rear wheel deflection angle function based on the vehicle center of gravity side slip angle function, where the vehicle center of gravity side slip angle function is used to represent the relationship between the vehicle center of gravity side slip angle and the plurality of steering parameters, and the rear wheel deflection angle function is used to represent the relationship between the rear wheel deflection angle and the plurality of steering parameters; a processing module 203 used to obtain a yaw moment target value using the vehicle steering input information and the rear wheel deflection angle function; and a second determination module 204 used to determine an inner rear wheel braking force target value based on the yaw moment target value, and to control the target vehicle for vehicle steering using the inner rear wheel braking force target value.

[0083] Optionally, the processing module 203 further obtains a target steering response speed and a first gain coefficient, which are used to obtain a yaw moment target value using the vehicle steering input information, the rear wheel deflection angle function, the target steering response speed and the first gain coefficient.

[0084] Optionally, the second determination module 204 further obtains the longitudinal distance and the lateral distance from the center of gravity to the inner rear wheel core, and is used to determine the inner rear wheel braking force target value based on the longitudinal distance, the lateral distance and the yaw moment target value.

[0085] Optionally, the second determination module 204 is further used to determine a target gradient based on the inner rear wheel braking force target value, a second gain coefficient, the rear wheel deflection angle and a target steering response speed, and to control the inner rear wheel braking force target value to be reduced during steering of the target vehicle according to the target gradient.

[0086] Optionally, the second determination module 204 is further used to control the inside rear wheel braking force target value to be reduced to zero in response to the subject vehicle completing vehicle steering.

[0087] In addition, each of the above modules may be realized in software or hardware, and in the latter case, may be realized in the following manner, but is not limited to: all of the above modules are located on the same processor, or each of the above modules is located on different processors in any combination.

[0088] According to an embodiment of the invention there is also provided a storage medium having a computer program stored thereon, the computer program being configured to perform the steps of the method embodiments according to any one of the above when executed.

[0089] Optionally, in this embodiment, the storage medium may be provided to store a computer program for performing the following steps: In step S1, vehicle steering input information is acquired, and the vehicle steering input information includes a plurality of steering parameters corresponding to a target vehicle.

[0090] In step S2, a vehicle center of gravity sideslip angle function is determined based on a vehicle two-degree-of-freedom model, and a rear wheel deflection angle function is obtained based on the vehicle center of gravity sideslip angle function, where the vehicle center of gravity sideslip angle function is used to represent the relationship between the vehicle center of gravity sideslip angle and the multiple steering parameters, and the rear wheel deflection angle function is used to represent the relationship between the rear wheel deflection angle and the multiple steering parameters.

[0091] In step S3, a yaw moment target value is obtained using vehicle steering input information and a rear wheel deflection angle function.

[0092] In step S4, an inner rear wheel braking force target value is determined based on the yaw moment target value, and the inner rear wheel braking force target value is used to control the target vehicle for vehicle steering.

[0093] Optionally, in this embodiment, the above storage medium can include, but is not limited to, various media capable of storing computer programs, such as a USB flash drive, a read-only memory (abbreviated as ROM), a random access memory (abbreviated as RAM), a mobile hard disk, a magnetic disk, or an optical disk.

[0094] According to an embodiment of the present invention, there is also provided a processor for executing a program configured to perform a method for controlling steering of a vehicle according to any one of the above claims.

[0095] Optionally, in this embodiment, the processor may be arranged to execute the following steps by a computer program: In step S1, vehicle steering input information is acquired, and the vehicle steering input information includes a plurality of steering parameters corresponding to a target vehicle.

[0096] In step S2, a vehicle center of gravity sideslip angle function is determined based on a vehicle two-degree-of-freedom model, and a rear wheel deflection angle function is obtained based on the vehicle center of gravity sideslip angle function, where the vehicle center of gravity sideslip angle function is used to represent the relationship between the vehicle center of gravity sideslip angle and the multiple steering parameters, and the rear wheel deflection angle function is used to represent the relationship between the rear wheel deflection angle and the multiple steering parameters.

[0097] In step S3, a yaw moment target value is obtained using vehicle steering input information and a rear wheel deflection angle function. In step S4, an inner rear wheel braking force target value is determined based on the yaw moment target value, and the inner rear wheel braking force target value is used to control the target vehicle for vehicle steering.

[0098] An embodiment of the present invention further provides an electronic device comprising a memory and a processor, wherein a computer program is stored in the processor and wherein the processor is arranged to run the computer program to perform the steps of the method embodiments of any one of the above.

[0099] Optionally, the electronic device may further include a transmission device and an input / output device, the transmission device being connected to the processor and the input / output device being connected to the processor.

[0100] Optionally, in this embodiment, the processor may be arranged to execute the following steps by a computer program: In step S1, vehicle steering input information is acquired, and the vehicle steering input information includes a plurality of steering parameters corresponding to a target vehicle.

[0101] In step S2, a vehicle center of gravity sideslip angle function is determined based on a vehicle two-degree-of-freedom model, and a rear wheel deflection angle function is obtained based on the vehicle center of gravity sideslip angle function, where the vehicle center of gravity sideslip angle function is used to represent the relationship between the vehicle center of gravity sideslip angle and the multiple steering parameters, and the rear wheel deflection angle function is used to represent the relationship between the rear wheel deflection angle and the multiple steering parameters.

[0102] In step S3, a yaw moment target value is obtained using vehicle steering input information and a rear wheel deflection angle function.

[0103] In step S4, an inner rear wheel braking force target value is determined based on the yaw moment target value, and the inner rear wheel braking force target value is used to control the target vehicle for vehicle steering.

[0104] Optionally, for specific examples in this embodiment, reference may be made to the examples described in the above embodiments and optional embodiments, and description thereof will be omitted in this embodiment.

[0105] The numbers of the above embodiments of the present invention are for illustrative purposes only and do not represent the superiority or inferiority of the embodiments.

[0106] Since the embodiments of the present invention have different emphasis in the description of each embodiment, for the parts not described in detail in one embodiment, reference can be made to the relevant descriptions of other embodiments.

[0107] In some embodiments provided in the present application, it can be understood that the disclosed technical contents may be realized in other ways, where the above device embodiments are only illustrative, for example, the division of the units may be a logical functional division, and there may be other division ways in actual implementation, for example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not implemented.

[0108] Additionally, the shown or discussed mutual couplings or direct couplings or communication connections may be indirect couplings or communication connections through some interfaces, units or modules, and may be electrical or in other forms.

[0109] The units described as separate elements may or may not be physically separate, and the elements shown as units may or may not be physical units, i.e., they may be located in one place or distributed among multiple units, among which some or all of the units may be selected according to actual needs to achieve the purpose of the scheme of the present embodiment.

[0110] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, each unit may exist physically alone, or two or more units may be integrated into one unit. The above-mentioned integrated units may be realized in the form of hardware or in the form of software functional blocks.

[0111] When the integrated unit is realized in the form of a software functional unit and sold or used as an independent product, it may be stored in one computer-readable storage medium. Based on this understanding, the technical solution of the present invention, essentially or the part that contributes to the prior art, or all or part of the technical solution may be realized in the form of a software product, and the computer software product is stored in a storage medium containing some instructions to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the method described in various embodiments of the present invention. The storage medium includes various media that can store program codes, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk, or an optical disk.

[0112] The above is only a preferred embodiment of the present invention, and it should be pointed out that those skilled in the art can make some improvements and modifications without departing from the principle of the present invention, and these improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A vehicle steering control method, comprising: acquiring vehicle steering input information, the vehicle steering input information including a plurality of steering parameters corresponding to a target vehicle; determining a vehicle center of gravity sideslip angle function based on a vehicle two-degree-of-freedom model, and obtaining a rear wheel deflection angle function based on the vehicle center of gravity sideslip angle function, the vehicle center of gravity sideslip angle function being used to represent a relationship between the vehicle center of gravity sideslip angle and the plurality of steering parameters, and the rear wheel deflection angle function being used to represent a relationship between the rear wheel deflection angle and the plurality of steering parameters; obtaining a yaw moment target value using the vehicle steering input information and the rear wheel deflection angle function; determining an inner rear wheel braking force target value based on the yaw moment target value, and controlling the target vehicle for vehicle steering using the inner rear wheel braking force target value.

2. The vehicle steering input information includes the vehicle center of gravity side-slip angle, the front axle equivalent side-slip stiffness, the rear axle equivalent side-slip stiffness, the distance from the center of gravity to the rear axle, the distance from the center of gravity to the front axle, the vehicle yaw angle, the vehicle longitudinal speed, the total vehicle mass, the front wheel deflection angle, and the rear wheel deflection angle.

2. A vehicle steering control method according to claim 1.

3. The step of obtaining the yaw moment target value using the vehicle steering input information and the rear wheel deflection angle function includes: Obtaining a target steering response speed and a first gain coefficient; obtaining the yaw moment target value using the vehicle steering input information, the rear wheel deflection angle function, the target steering response speed, and the first gain coefficient.

2. A vehicle steering control method according to claim 1.

4. determining the inner rear wheel braking force target value based on the yaw moment target value, obtaining the longitudinal and lateral distances from the center of gravity to the inner rear wheel core; determining the inner rear wheel braking force target value based on the longitudinal distance, the lateral distance, and the yaw moment target value.

2. A vehicle steering control method according to claim 1.

5. The step of controlling the target vehicle for vehicle steering using the inner rear wheel braking force target value includes: determining a target gradient based on the inner rear wheel braking force target value, a second gain coefficient, the rear wheel deflection angle, and a target steering response speed; and controlling the inner rear wheel braking force target value to be reduced during steering of the target vehicle in accordance with the target gradient.

2. A vehicle steering control method according to claim 1.

6. and further comprising a step of controlling the inner rear wheel braking force target value to be reduced to zero in response to the target vehicle completing vehicle steering.

6. A vehicle steering control method according to claim 5.

7. A steering control device for a vehicle, an acquisition module used to acquire vehicle steering input information, the vehicle steering input information including a plurality of steering parameters corresponding to a target vehicle; a first determination module, which is used to determine a vehicle center of gravity side slip angle function based on a vehicle two-degree-of-freedom model, and obtain a rear wheel deflection angle function based on the vehicle center of gravity side slip angle function, the vehicle center of gravity side slip angle function being used to represent a relationship between the vehicle center of gravity side slip angle and the plurality of steering parameters, and the rear wheel deflection angle function being used to represent a relationship between the rear wheel deflection angle and the plurality of steering parameters; a processing module used to obtain a yaw moment target value using the vehicle steering input information and the rear wheel deflection angle function; a second determination module that is used to determine an inner rear wheel braking force target value based on the yaw moment target value and to control the target vehicle for vehicle steering using the inner rear wheel braking force target value. A vehicle steering control device.

8. storing a computer program configured, when operated, to execute the method for controlling steering of a vehicle according to any one of claims 1 to 6; Non-volatile storage media.

9. 7. A method for controlling a vehicle steering wheel according to claim 1, Processor.

10. An electronic device including a memory and a processor, the memory storing a computer program, and the processor being configured to operate the computer program to execute the vehicle steering control method according to any one of claims 1 to 6. electronic equipment.

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