Vehicle and control method, control device and storage medium

Abstract

This disclosure provides a vehicle and a control method, a control device and a storage medium, the method comprising the steps of: obtaining the wheel speed difference at the current vehicle speed when it is determined that the vehicle's steer-by-wire system has failed; obtaining a positive scrub radius value; determining a target steering angle for the wheels using the wheel speed difference and the positive scrub radius value; and controlling the wheels using the target steering angle. The method of this disclosure enables steering control of the vehicle using the wheel speed difference and positive scrub radius when the steer-by-wire system fails, and does not require the addition of other components, thereby providing an external backup system after steer-by-wire failure, improving vehicle safety and reducing costs.

Description

Technical Field

[0001] This disclosure claims the priority of a Chinese patent application with the application number 202310247828.6 and the title "Vehicle and Control Method, Control Device and Storage Medium", which was filed on March 10, 2023, and all of its contents are incorporated herein by reference.

[0002] This disclosure relates to the technical field of vehicles, and particularly to a vehicle control method, a vehicle control device, a computer-readable storage medium and a vehicle.

Background Art

[0003] To meet the development needs of intelligent driving, the vehicle steering system adopts the full-by-wire technology instead of the conventional steering system. By eliminating the mechanical connection between steering systems, the limitation of the space layout between the machines of the steering system is reduced, providing a good foundation for the design of the intelligent driving cab, and at the same time enhancing the possibility of cooperation between the steering system and other chassis systems. While the steer-by-wire technology brings many advantages, after the electronic and electrical system fails, there is a risk that the driver cannot control the steering of the vehicle due to the absence of a mechanical steering connection, which greatly restricts the development of the steer-by-wire technology. This is also an issue in terms of regulatory issuance.

[0004] In related technologies, a general solution is to add an electronic clutch device to a vehicle equipped with the steer-by-wire technology to provide mechanical steering ability during software failures and satisfy the realization of vehicle steering. However, by adding a component such as an electronic clutch, its essence is still a modification of the conventional steering system, and there is no advantage compared to the conventional steering system in terms of structural complexity, space layout and cost management.

Summary of the Invention

Problems to be Solved by the Invention

[0005] This disclosure aims to solve at least one of the technical challenges in related technologies. Therefore, the primary objective of this disclosure is to provide a vehicle control method that enables steering control of the vehicle using wheel speed difference and positive scrub radius when the steer-by-wire system fails, without requiring the addition of other components. This provides an external backup system after steer-by-wire failure, improving vehicle safety and reducing costs.

[0006] The second purpose of this disclosure is to provide a vehicle control system.

[0007] The third purpose of this disclosure is to provide computer-readable storage media.

[0008] The fourth purpose of this disclosure is to submit the vehicle. [Means for solving the problem]

[0009] To achieve the above objectives, an embodiment of the first aspect of this disclosure provides a vehicle control method that, when it is determined that the vehicle's steer-by-wire system has failed, includes the steps of: obtaining a wheel speed difference at the current vehicle speed; obtaining a positive scrub radius value; determining a target steering angle for the wheels based on the wheel speed difference and the positive scrub radius value; and controlling the wheels based on the target steering angle.

[0010] According to the vehicle control method of the embodiment of this disclosure, when it is determined that the vehicle's steer-by-wire system has failed, the wheel speed difference at the current vehicle speed is obtained, a positive scrub radius value is obtained, and the target steering angle of the wheels is determined by the wheel speed difference and the positive scrub radius value, and the wheels are controlled by the target steering angle. As a result, this method enables steering control of the vehicle by means of the wheel speed difference and positive scrub radius when the steer-by-wire system fails, and does not require the addition of other parts, thereby providing an external backup system after steer-by-wire failure, improving vehicle safety, and reducing costs.

[0011] Furthermore, the vehicle control method of the above embodiment of this disclosure has the following additional technical features.

[0012] According to one embodiment of the present disclosure, the step of obtaining the wheel speed difference at the current vehicle speed includes the steps of obtaining the current vehicle speed, the steering angle and the steering direction of the steering wheel, determining the required steering angle of the wheels based on the steering angle and the steering ratio of the steering system, and determining the wheel speed difference based on the current vehicle speed, the required steering angle and the direction of rotation.

[0013] According to one embodiment of the present disclosure, the step of determining a target steering angle of a wheel by the wheel speed difference and a positive scrub radius value includes the steps of determining the steering angle of a wheel by the wheel speed difference, determining a compensatory steering angle of a wheel by the wheel speed difference and a positive scrub radius value, and determining a target steering angle by the steering angle of a wheel and the compensatory steering angle.

[0014] According to one embodiment of the present disclosure, the step of determining the compensating steering angle of a wheel based on the wheel speed difference and a positive scrub radius value includes the steps of querying the correspondence between the wheel speed difference, the positive scrub radius value and the compensating steering angle, and determining the compensating steering angle of the wheel based on the correspondence.

[0015] According to one embodiment of the present disclosure, the vehicle control method described above further includes the steps of: determining that the vehicle's steer-by-wire system is functioning correctly; obtaining the steering wheel rotation angle; and determining a target steering angle of the wheels based on the steering wheel rotation angle.

[0016] According to one embodiment of the present disclosure, the above-described vehicle control method further includes the steps of: obtaining the actual steering angle of the wheels; determining a corrected steering angle of the wheels based on the actual steering angle and the target steering angle; and performing corrective control on the wheels based on the corrected steering angle.

[0017] According to one embodiment of the present disclosure, the steer-by-wire system includes a steering feel simulation unit and a steering execution unit, and the step of determining that the vehicle's steer-by-wire system has failed includes determining that the vehicle's steer-by-wire system has failed when the steering execution unit detects that it has not received a rotation angle output signal from the steering feel simulation unit.

[0018] To achieve the above objectives, embodiments of the second aspect of the present disclosure provide a vehicle control device that includes: a first acquisition module used to acquire the wheel speed difference at the current vehicle speed when it is determined that the vehicle's steer-by-wire system has failed; a second acquisition module used to acquire a positive scrub radius value; a determination module used to determine a target steering angle of the wheels based on the wheel speed difference and the positive scrub radius value; and a control module used to control the wheels based on the target steering angle.

[0019] According to the vehicle control device of the embodiment of this disclosure, when the first acquisition module determines that the vehicle's steer-by-wire system has failed, it acquires the wheel speed difference at the current vehicle speed; the second acquisition module acquires a positive scrub radius value; the determination module determines the target steering angle of the wheels based on the wheel speed difference and the positive scrub radius value; and the control module controls the wheels based on the target steering angle. As a result, the device can achieve steering control of the vehicle based on the wheel speed difference and positive scrub radius when the steer-by-wire system fails, and does not require the addition of other parts, thereby providing an external backup system after steer-by-wire failure, improving vehicle safety, and reducing costs.

[0020] To achieve the above objectives, a third embodiment of the present disclosure provides a computer-readable storage medium on which a vehicle control program is stored, and which, when executed by a processor, realizes the above-described vehicle control method.

[0021] According to the computer-readable storage medium of this disclosure, by performing the above-described vehicle control method, when the steer-by-wire system fails, steering control of the vehicle can be achieved by the wheel speed difference and positive scrub radius, and without requiring the addition of other parts, an external backup system after steer-by-wire failure is achieved, improving vehicle safety and reducing costs.

[0022] To achieve the above objectives, a fourth embodiment of the present disclosure provides a vehicle, including memory, a processor, and a vehicle control program stored in memory and executable on the processor, which implements the above vehicle control method when the processor executes the vehicle control program.

[0023] According to the vehicle of the embodiment of the present disclosure, by executing the above vehicle control method, when the steer-by-wire system fails, the steering control of the vehicle can be realized by the wheel speed difference and the positive scrub radius, and without the need to add other components, thus realizing the backup outside the system after the steer-by-wire fails, improving the safety of the vehicle, and reducing the cost.

[0024] Additional aspects and advantages of the present disclosure are shown in part in the following description, become apparent in part from the following description, or are understood by the implementation of the present disclosure.

Brief Description of the Drawings

[0025] [Figure 1] It is a flowchart of a vehicle control method according to an embodiment of the present disclosure. [Figure 2] It is a schematic block diagram of a vehicle control device according to an embodiment of the present disclosure. [Figure 3] It is a schematic block diagram of a vehicle in an embodiment of the present disclosure.

Modes for Carrying Out the Invention

[0026] The following details the embodiments of the present disclosure. The examples of the above embodiments are shown in the drawings, where throughout the same or similar representations indicate the same or similar elements, or elements having the same or similar functions. The embodiments described with reference to the following drawings are exemplary and are used for the purpose of explaining the present disclosure and should not be construed as limiting the present disclosure.

[0027] Hereinafter, a vehicle control method, a vehicle control device, a computer-readable storage medium, and a vehicle proposed in an embodiment of the present disclosure will be described with reference to the drawings.

[0028] FIG. 1 is a flowchart of a vehicle control method according to an embodiment of the present disclosure.

[0029] As shown in FIG. 1, the vehicle control method of the embodiment of the present disclosure may include the following steps.

[0030] S1, when it is determined that the vehicle's steer-by-wire system has failed, the wheel speed difference at the current vehicle speed is obtained. According to one embodiment of the present disclosure, the steer-by-wire system includes a steering feel simulation unit and a steering execution unit, and the step of determining that the vehicle's steer-by-wire system has failed includes determining that the vehicle's steer-by-wire system has failed when the steering execution unit detects that it has not received a rotation angle output signal from the steering feel simulation unit.

[0031] Specifically, when the steer-by-wire system is functioning correctly, the steering feel simulation unit measures the steering wheel's rotation angle and torque, converting the driver's steering intention into a rotation angle output signal, which is then transmitted to the steering execution unit. After receiving the rotation angle output signal, the steering execution unit controls the steering motor to control the rotation of the steering wheel and realize steering. The chassis domain controller detects the steering feel simulation unit and the steering execution unit in real time. When the steering execution unit detects that it has not received the rotation angle output signal from the steering feel simulation unit, it determines that the vehicle's steer-by-wire system has malfunctioned.

[0032] According to one embodiment of the present disclosure, the step of obtaining the wheel speed difference at the current vehicle speed includes the steps of obtaining the current vehicle speed, the steering angle and the steering direction of the steering wheel, determining the required steering angle of the wheels based on the steering angle and the steering ratio of the steering system, and determining the wheel speed difference based on the current vehicle speed, the required steering angle and the direction of rotation.

[0033] Specifically, when it is determined that a vehicle's steer-by-wire system has failed, the vehicle's current speed can be obtained from the vehicle's speed sensor, and the steering wheel angle and direction of rotation can be obtained from the angle sensor installed in the steer-by-wire system. Then, the steering wheel angle is divided by the steering ratio of the steering system, and the resulting value is the required steering angle for the wheels. Since vehicle speed, steering angle, direction of rotation, and wheel speed difference have a one-to-one correspondence, once the current vehicle speed, required steering angle, and direction of rotation are determined, the wheel speed difference can be determined by methods such as table lookup. For example, when the vehicle is steering to the left, the wheel speed difference between the right front wheel and the left front wheel can be determined from the current vehicle speed and required steering angle.

[0034] S2, obtain the positive scrub radius value. Here, the scrub radius is the distance between the point where the kingpin (i.e., the steering axis) intersects the ground and the center of the tire contact patch. The vehicle's scrub radius is usually determined during the vehicle development phase, meaning the vehicle's scrub radius value is fixed. In the embodiments of this disclosure, a positive scrub radius value is adopted, and this positive scrub radius value can be stored in the chassis domain controller. When it is necessary to retrieve the positive scrub radius value, it can be retrieved from the chassis domain controller.

[0035] S3 determines the target steering angle of the wheels based on the wheel speed difference and the positive scrub radius value, and controls the wheels according to the target steering angle. Specifically, after obtaining the wheel speed difference and positive scrub radius value through steps S1 and S2 described above, the vehicle's drive system or braking system can distribute the driving or braking force to the left front wheel and the right front wheel according to the wheel speed difference. The presence of a wheel speed difference causes the vehicle's center of gravity to steer towards the side with the lower wheel speed, and at this time, the wheel has a constant steering angle. Since the vehicle adopts a positive scrub radius setting, the braking or driving force of the front wheels can overcome the lateral force causing the front wheel to deviate, resulting in a deviation. The direction of the deviation coincides exactly with the direction of the vehicle's center of gravity deviation, so the positive scrub radius compensates for the wheel's steering angle in the same direction, resulting in a compensatory steering angle. The wheel's steering angle and the compensatory steering angle are added together, and the sum of the two becomes the target steering angle of the wheel. After determining the target steering angle of the wheel, the steering execution unit controls the rotation of the wheel, and the angle of rotation is equal to the target steering angle, thereby achieving wheel steering.

[0036] Currently, the scrub radius of the wheels is usually negative. Because the scrub radius is negative, the point of application of the braking force is located inside the kingpin, and the difference in braking force between the left and right wheels causes the front wheels to deviate to the right around the kingpin, thereby canceling out skidding during braking and improving braking stability. However, because the scrub radius is set to negative, the resultant moment of the lateral force and the braking or driving force of the front wheels causes the wheels to exhibit a tendency to move in the opposite direction to the vehicle's center of gravity, suppressing the vehicle's expected steering tendency, that is, the steering tendency due to the difference in wheel speed is suppressed to a certain extent. In the embodiment of this disclosure, by adopting a positive scrub radius for the vehicle, the difference in wheel speed is distributed, resulting in a greater degree of lateral vehicle motion, and after the steer-by-wire system completely fails, the vehicle can pull over to the shoulder and stop safely, and even limp home.

[0037] According to one embodiment of the present disclosure, the step of determining a target steering angle of a wheel by the wheel speed difference and a positive scrub radius value includes the steps of determining the steering angle of a wheel by the wheel speed difference, determining a compensatory steering angle of a wheel by the wheel speed difference and a positive scrub radius value, and determining a target steering angle by the steering angle of a wheel and the compensatory steering angle.

[0038] Specifically, after obtaining the wheel speed difference and positive scrub radius value, the vehicle's drive system or braking system distributes the driving or braking force to the left front wheel and the right front wheel according to the wheel speed difference, causing the vehicle's center of gravity to have a steering tendency. At this time, the wheels have a constant steering angle, and thus the steering angle of the wheels can be determined. Then, by querying a table with the wheel speed difference and positive scrub radius value, the compensatory steering angle of the wheels corresponding to the current wheel speed difference and positive scrub radius value can be determined. The steering angle of the wheels and the compensatory steering angle are added together, and the sum of the two values ​​becomes the target steering angle of the wheels.

[0039] Furthermore, according to one embodiment of the present disclosure, the step of determining the compensating steering angle of a wheel based on the wheel speed difference and a positive scrub radius value includes the steps of querying the correspondence between the wheel speed difference, the positive scrub radius value and the compensating steering angle, and determining the compensating steering angle of the wheel based on the correspondence.

[0040] Specifically, if the wheel speed difference and the positive scrub radius value are constant, the compensatory steering angle is also constant. During the vehicle development and design phase, the correspondence between the wheel speed difference, the positive scrub radius value, and the compensatory steering angle can be measured, and a corresponding table can be created based on this correspondence and stored in the vehicle's chassis domain controller. After obtaining the wheel speed difference and the positive scrub radius value, the compensatory steering angle of the wheels can be determined by querying the table using the wheel speed difference and the positive scrub radius value.

[0041] According to one embodiment of the present disclosure, the vehicle control method described above further includes the steps of: determining that the vehicle's steer-by-wire system is functioning correctly; obtaining the steering wheel rotation angle; and determining a target steering angle of the wheels based on the steering wheel rotation angle.

[0042] Specifically, the chassis domain controller determines that the vehicle's steer-by-wire system is functioning correctly when it detects that the steering execution unit can receive the rotation angle output signal from the steering feel simulation unit. When the vehicle is performing brake steering, the steering wheel angle sensor can acquire the steering wheel rotation angle, and by dividing the steering wheel rotation angle by the steering ratio between the steering wheel angle and the steering system, the target steering angle of the wheels can be obtained. When the vehicle is driving in a straight line, the steering wheel rotation angle is zero, and the target steering angle of the wheels is also zero.

[0043] According to one embodiment of the present disclosure, the above-described vehicle control method further includes the steps of: obtaining the actual steering angle of the wheels; determining a corrected steering angle of the wheels based on the actual steering angle and the target steering angle; and performing corrective control on the wheels based on the corrected steering angle.

[0044] Specifically, when a vehicle is traveling in a straight line on a road surface with significantly different coefficients of friction on both sides—that is, when the road surface on one side of the vehicle has a high coefficient of friction (e.g., dry asphalt) and the road surface on the other side has a low coefficient of friction (e.g., water or ice)—when the vehicle brakes, the difference in the coefficient of friction of the road surface causes a difference in braking force between the left and right wheels of the vehicle. This difference in wheel speed causes the vehicle's center of gravity to shift towards the side with the lower wheel speed, resulting in steering. If the vehicle adopts a positive scrub radius setting, the front wheels will deviate due to the braking force, and the direction of the deviation coincides precisely with the direction of the vehicle's center of gravity deviation, thus promoting vehicle skidding. Because there is closed-loop control of the angle of the steering execution unit of the steer-by-wire system, vehicle skidding due to a positive scrub radius can be compensated for through the steering angle requirement of the stability control.

[0045] Specifically, when a vehicle is driving straight and braking on a road surface with significantly different friction coefficients on both sides, the front wheels will experience deflection due to the braking force. The chassis domain controller can obtain the actual steering angle of the wheels. Since a positive scrub radius promotes wheel slippage, the actual steering angle of the wheels will be greater than the target steering angle (which is zero). The difference between the actual steering angle and the target steering angle is calculated, and this difference is the corrected steering angle of the wheels. The chassis domain controller performs corrective control on the wheels using the corrected steering angle to prevent vehicle slippage. This allows for steering angle compensation through closed-loop control of the steer-by-wire angle, completely eliminating vehicle slippage and ultimately guaranteeing vehicle stability.

[0046] Furthermore, in vehicles equipped with a steer-by-wire system, the steering execution unit of the steer-by-wire system automatically adjusts the rotation of the wheels by superimposing the rotation angle request from a higher-level unit (chassis domain controller) to avoid skidding. At this time, the driver does not feel the rotation of the steering wheel, so the steer-by-wire system can adjust the required wheel rotation angle more quickly and accurately than the driver, and completely eliminate vehicle skidding.

[0047] Based on the above, according to the vehicle control method of the embodiment of this disclosure, when it is determined that the vehicle's steer-by-wire system has failed, the wheel speed difference at the current vehicle speed is obtained, a positive scrub radius value is obtained, and the target steering angle of the wheels is determined by the wheel speed difference and the positive scrub radius value, and the wheels are controlled by the target steering angle. As a result, when the steer-by-wire system fails, this method can achieve steering control of the vehicle using the wheel speed difference and positive scrub radius, and does not require the addition of other parts, thereby providing an external backup system after steer-by-wire failure, improving vehicle safety, and reducing costs.

[0048] In accordance with the above embodiments, this disclosure further provides a vehicle control device.

[0049] Figure 2 is a schematic block diagram of a vehicle control device according to an embodiment of the present disclosure.

[0050] As shown in Figure 2, the vehicle control device 100 of the embodiment of the present disclosure includes a first acquisition module 110, a second acquisition module 120, a determination module 130, and a control module 140.

[0051] Here, the first acquisition module 110 is used to acquire the wheel speed difference at the current vehicle speed when it is determined that the vehicle's steer-by-wire system has failed. The second acquisition module 120 is used to acquire a positive scrub radius value. The determination module 130 is used to determine the target steering angle of the wheels based on the wheel speed difference and the positive scrub radius value. The control module 140 is used to control the wheels based on the target steering angle.

[0052] According to one embodiment of the present disclosure, the first acquisition module 110 is used to acquire the wheel speed difference at the current vehicle speed, specifically to acquire the current vehicle speed, steering wheel angle and steering wheel rotation direction, to determine the required steering angle of the wheels based on the steering wheel angle and steering ratio of the steering system, and to determine the wheel speed difference based on the current vehicle speed, required steering angle and rotation direction.

[0053] According to one embodiment of the present disclosure, the determination module 130 is used to determine the target steering angle of a wheel by the wheel speed difference and a positive scrub radius value, specifically to determine the steering angle of a wheel by the wheel speed difference, to determine the compensating steering angle of a wheel by the wheel speed difference and a positive scrub radius value, and to determine the target steering angle by the steering angle of a wheel and the compensating steering angle.

[0054] According to one embodiment of the present disclosure, the determination module 130 is used to determine the compensatory steering angle of a wheel based on the wheel speed difference and a positive scrub radius value, specifically to query the correspondence between the wheel speed difference, the positive scrub radius value and the compensatory steering angle, and to determine the compensatory steering angle of a wheel based on the correspondence.

[0055] According to one embodiment of the present disclosure, the vehicle control device 100 is further used to obtain the steering wheel rotation angle and to determine the target steering angle of the wheels based on the steering wheel rotation angle, when it has determined that the vehicle's steer-by-wire system is functioning correctly.

[0056] According to one embodiment of the present disclosure, the vehicle control device 100 is further used to acquire the actual steering angle of the wheels, to determine a corrected steering angle of the wheels based on the actual steering angle and the target steering angle, and to perform corrective control on the wheels based on the corrected steering angle.

[0057] According to one embodiment of the present disclosure, the steer-by-wire system includes a steering feel simulation unit and a steering execution unit, and the first acquisition module 110 is used to determine that the vehicle's steer-by-wire system has failed, specifically when the steering execution unit detects that it has not received a rotation angle output signal from the steering feel simulation unit.

[0058] Details not disclosed in the vehicle control device of the embodiments of this disclosure are not described here, and should be referred to in the details disclosed in the vehicle control method of the embodiments of this disclosure.

[0059] According to the vehicle control device of the embodiment of this disclosure, a first acquisition module acquires the wheel speed difference at the current vehicle speed when it determines that the vehicle's steer-by-wire system has failed, a second acquisition module acquires a positive scrub radius value, a determination module determines the target steering angle of the wheels based on the wheel speed difference and the positive scrub radius value, and a control module controls the wheels based on the target steering angle. As a result, the device can achieve steering control of the vehicle based on the wheel speed difference and positive scrub radius when the steer-by-wire system fails, and does not require the addition of other parts, thereby providing an external backup system after steer-by-wire failure, improving vehicle safety, and reducing costs.

[0060] In accordance with the embodiments described above, this disclosure further provides a computer-readable storage medium.

[0061] The computer-readable storage medium of the embodiment of this disclosure stores a vehicle control program thereon, and when the vehicle control program is executed by the processor, it realizes the above-described vehicle control method.

[0062] According to the computer-readable storage medium of this disclosure, by performing the above-described vehicle control method, when the steer-by-wire system fails, steering control of the vehicle can be achieved by the wheel speed difference and positive scrub radius, and without requiring the addition of other parts, an external backup system after steer-by-wire failure is achieved, improving vehicle safety and reducing costs.

[0063] In accordance with the above embodiments, this disclosure further provides a vehicle.

[0064] Figure 3 is a schematic block diagram of a vehicle according to an embodiment of this disclosure.

[0065] As shown in Figure 3, the vehicle 200 of the embodiment of this disclosure includes a memory 210, a processor 220, and a vehicle control program stored in the memory 210 and executable on the processor 220, and when the processor 220 executes the vehicle control program, the above-described vehicle control method is realized.

[0066] According to the vehicle of the embodiment of this disclosure, by implementing the above vehicle control method, when the steer-by-wire system fails, steering control of the vehicle can be achieved by the wheel speed difference and positive scrub radius, and without requiring the addition of other parts, an external backup system after steer-by-wire failure is achieved, improving vehicle safety and reducing costs.

[0067] Furthermore, the logic and / or steps shown in the process chart or otherwise described herein may be considered, for example, a command-executable sequence list for realizing a logical function and may be specifically implemented in any computer-readable medium for use in a command-execution system, apparatus or device (including, for example, a computer-based system, a processor system or a system that takes and executes commands from or in combination with such command-execution systems, apparatus or devices). For the purposes of this specification, “computer-readable medium” may be a command-execution system, apparatus or device or an apparatus for combination with such command-execution systems, apparatus or devices that can contain, store, communicate, propagate or transmit any program. More specific examples of computer-readable mediums (a non-exclusive list) include electrical connections with one or more wires (electronic devices), portable computer disk enclosures (magnetic devices), random access memory (RAM), read-only memory (ROM), write-erase read-only memory (EPROM or flash memory), fiber optic devices, and portable CD-ROMs. Furthermore, the medium may be a computer-readable medium, or even paper or other suitable medium on which the program can be printed, because the program can be acquired electronically by, for example, optically scanning paper or other medium, and then editing, interpreting, or processing it in any other suitable way as needed, and then stored in computer memory.

[0068] Each part of this application can be implemented in hardware, software, firmware, or a combination thereof. In the above implementation, multiple steps or methods can be implemented in software or firmware stored in memory and executed by an appropriate command execution system. For example, when implemented in hardware, it can be implemented in any one of the following, or a combination thereof, known in the domain, as in the other implementation: discrete logic circuits having logic circuits for realizing logical functions in data signals, application-specific integrated circuits having appropriate combinational logic circuits, programmable gate arrays (PGAs), and field-programmable gate arrays (FPGAs).

[0069] In this specification, any reference to the terms “one embodiment,” “several embodiments,” “example,” “specific example,” or “several examples” means that the specific features, structures, materials, or properties described in that embodiment or example are included in at least one embodiment or example of this disclosure. The exemplary expressions of the above terms in this specification do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or properties described may be combined in an appropriate manner in any one or more embodiments or examples.

[0070] Furthermore, the terms “first” and “second” are used solely for descriptive purposes and should not be understood as indicating or suggesting relative importance or specifying the number of indicated technical features. Therefore, features designated as “first” or “second” may explicitly or implicitly include at least one such feature. In this disclosure, unless otherwise clearly and specifically limited, “multiple” means at least two, such as two, three, etc.

[0071] In this disclosure, unless otherwise explicitly stated or limited, terms such as “attached,” “connected,” “connected,” and “fixed” shall be interpreted broadly, and may include, for example, a fixed connection, a detachable connection, a joint, a mechanical connection, an electrical connection, a direct connection, an indirect connection via an intermediate medium, or an internal communication or interaction between two elements. A person skilled in the art will understand the specific meaning of these terms in this disclosure depending on the specific circumstances.

[0072] Although embodiments of the present disclosure are shown and described above, these embodiments are illustrative and should not be understood as limiting the disclosure. Those skilled in the art can modify, alter, substitute, and transform these embodiments within the scope of the present disclosure. [Explanation of Symbols]

[0073] 100 Vehicle control unit, 110 First acquisition module, 120 Second acquisition module, 130 Confirmation module, 140 Control module, 200 Vehicle, 210 Memory, 220 Processor

Claims

1. A method for controlling a vehicle, When it is determined that the steer-by-wire system of the vehicle has failed, the steps include obtaining the wheel speed difference at the current vehicle speed, Steps to obtain a positive scrub radius value, A vehicle control method comprising the steps of determining a target steering angle for the wheels based on the wheel speed difference and the positive scrub radius value, and controlling the wheels according to the target steering angle.

2. The step of obtaining the wheel speed difference at the current vehicle speed is: The steps include obtaining the vehicle's current speed, steering wheel angle, and steering wheel rotation direction, The steps include determining the required steering angle of the wheels based on the angle of the handle and the steering ratio of the steering system, A vehicle control method according to claim 1, comprising the step of determining the wheel speed difference based on the current vehicle speed, the required steering angle, and the direction of rotation.

3. The step of determining the target steering angle of the wheels based on the wheel speed difference and the positive scrub radius value is as follows: The steps include determining the steering angle of the wheel based on the wheel speed difference, and determining the compensatory steering angle of the wheel based on the wheel speed difference and the positive scrub radius value, A vehicle control method according to claim 1, comprising the step of determining the target steering angle based on the steering angle of the wheel and the compensatory steering angle.

4. The step of determining the compensatory steering angle of the wheel based on the wheel speed difference and the positive scrub radius value is: The steps include querying the correspondence between the wheel speed difference, the positive scrub radius value, and the compensatory steering angle, A vehicle control method according to claim 3, comprising the step of determining the compensatory steering angle of the wheel based on the aforementioned correspondence.

5. When it is confirmed that the steer-by-wire system of the vehicle is functioning correctly, the steps include obtaining the steering wheel rotation angle, A vehicle control method according to any one of claims 1 to 4, further comprising the step of determining a target steering angle of the wheel based on the rotation angle of the handle.

6. The steps include obtaining the actual steering angle of the wheel, The steps include determining the corrected steering angle of the wheel based on the actual steering angle and the target steering angle, The vehicle control method according to claim 5, further comprising the step of performing corrective control on the wheels based on the corrected steering angle.

7. The steer-by-wire system includes a steering feel simulation unit and a steering execution unit, and the step of determining that the vehicle's steer-by-wire system has failed is: A vehicle control method according to any one of claims 1 to 6, comprising the step of determining that the vehicle's steer-by-wire system has failed when the steering execution unit detects that it has not received a rotation angle output signal from the steering feeling simulation unit.

8. A vehicle control device, When it is determined that the steer-by-wire system of the vehicle has failed, a first acquisition module is used to acquire the wheel speed difference at the current vehicle speed, A second acquisition module is used to obtain a positive scrub radius value, A determination module used to determine the target steering angle of the wheel based on the wheel speed difference and the positive scrub radius value, A vehicle control device, comprising a control module used to control the wheels by the aforementioned target steering angle.

9. A computer-readable storage medium that stores a vehicle control program thereon, and when the vehicle control program is executed by a processor, realizes the vehicle control method described in any one of claims 1 to 7.

10. A vehicle comprising memory, a processor, and a vehicle control program stored in memory and executable on the processor, wherein when the processor executes the vehicle control program, the vehicle control method described in any one of claims 1 to 7 is realized.

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