Vehicle steering control method, device, vehicle, and storage medium

Abstract

This invention provides a vehicle steering control method, apparatus, vehicle, and storage medium. When the automatic turning mode is activated, the vehicle controller acquires vehicle support parameters based on a pre-preparation signal input by the user, generates a target direction, rotation angle, feedforward torque, and target wheel speed, and then transmits a steering command to the motor controller. The motor controller responds with feedforward torque, obtains a response signal, and transmits it to the vehicle controller. Based on the response signal, the vehicle controller acquires and calculates oscillation angle sensor information and lateral and longitudinal acceleration information to obtain the wheel rotation angle and transmits it to the motor controller. The motor controller performs self-closed loop control based on the target direction, target wheel speed, wheel rotation angle, rotation angle, and support parameters to control the vehicle and complete the steering. Automatic turning of the vehicle achieves steering with a zero turning radius, making vehicle steering more flexible, accurate, and efficient, reducing rotational errors, and achieving millisecond-level drive control.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and is not limited thereto. In particular, it relates to a method and apparatus for controlling vehicle steering, a vehicle, and a storage medium.

Background Art

[0002] The steering performance of a motor vehicle is one of the main performances of a motor vehicle. The performance of the steering system directly affects the stability of the vehicle's steering, ensures the safe driving of the vehicle, reduces traffic accidents, protects the personal safety of the driver, and plays an important role in improving the driver's working environment. How to reasonably design the steering system to give the motor vehicle good steering performance has always been an important issue at present.

[0003] In the steering of a motor vehicle, the most common operation is for the driver to turn the steering wheel to achieve the steering of the motor vehicle. However, the most common steering system has a large turning radius in the process of controlling vehicle steering. In order to adapt to narrow roads, a predetermined angle is set for the wheels to steer, and further, the turning radius is reduced. However, such a method cannot make flexible changes in a complex road scene, and because of frequent operations, the vehicle speed control becomes unstable and the user experience is poor.

Summary of the Invention

Problems to be Solved by the Invention

[0004] The following is a summary of the subject matter described in detail in this specification. This summary is not intended to limit the scope of protection of the claims.

Means for Solving the Problems

[0005] This application provides a method and apparatus for controlling vehicle steering, a vehicle, and a storage medium.

[0006] In a first aspect, this application provides a method for controlling vehicle steering for use in a motor controller, and the control method includes A step of receiving a steering command transmitted by a vehicle controller, wherein the steering command includes a target direction, rotation angle, feedforward torque, target wheel speed, and support parameters, the support parameters being used to assist the motor controller in responding to the steering command; A step of obtaining a response signal in response to the feedforward torque based on the target direction, the target wheel speed, and the support parameters, The steps include: transmitting the response signal to the vehicle controller, A step of receiving the wheel rotation angle transmitted by the all-vehicle controller, wherein the wheel rotation angle is obtained by the all-vehicle controller based on the response signal, The steps include: performing self-closed loop control based on the target direction, target wheel speed, wheel rotation angle, rotation angle, and support parameters to control the vehicle and complete steering; Includes.

[0007] According to the first embodiment, in some embodiments, the step of controlling the vehicle to complete steering by performing self-closed loop control based on the target direction, the target wheel speed, the wheel rotation angle, the rotation angle, and the support parameters is: The steps include calculating and obtaining the motor rotation speed and target rotation angle based on the target wheel speed, the wheel rotation angle, and the rotation angle, The steps include: calculating and obtaining a target torque based on the target direction, the motor rotation speed, the target rotation angle, and the support parameters; The step of controlling the vehicle and completing the steering based on the target torque, the motor speed, and the target rotation angle.

[0008] According to the first aspect, in some embodiments, the method is A step of acquiring self-fault information and transmitting it to the vehicle controller, wherein the self-fault information includes overheating or overload, A step of receiving a termination command transmitted by the vehicle controller, wherein the termination command is used to instruct the motor controller to terminate control of the steering operation of the vehicle, The further step includes controlling the vehicle and ending steering based on the termination command.

[0009] In the second embodiment, the present application is, Steps include: acquiring a pre-preparation signal input by the user when the automatic turning mode is started, wherein the pre-preparation signal includes a rotation direction signal, a rotation angle signal, a brake pedal signal, an accelerator pedal signal, and a gear position signal; A step of acquiring vehicle support parameters based on the aforementioned pre-preparation signal, wherein the support parameters are used to assist the motor controller in responding to steering commands; A step of obtaining a target direction, rotation angle, feedforward torque, and target wheel speed based on the rotation direction signal, brake pedal signal, accelerator pedal signal, and gear position signal, wherein the feedforward torque is used to instruct the motor controller to begin controlling the steering operation of the vehicle. A step of transmitting the steering command to the motor controller, wherein the steering command includes the target direction, the rotation angle, the feedforward torque, the target wheel speed, and the support parameters. This invention provides a vehicle steering control method for use in all vehicle controllers, including the aforementioned method.

[0010] According to a second aspect, in some embodiments, the method is The steps include receiving a response signal transmitted by the motor controller, The steps include acquiring oscillation angle sensor information and lateral and vertical acceleration information based on the response signal, The steps include: calculating and obtaining the wheel rotation angle based on the oscillation angle sensor information and the lateral and vertical acceleration information; The further step includes transmitting the wheel rotation angle to the motor controller.

[0011] According to a second aspect, in some embodiments, the method is A step of receiving self-fault information transmitted by the motor controller, wherein the self-fault information includes overheating or overload; The method further includes the step of generating a termination command based on the self-fault information and transmitting it to the motor controller, wherein the termination command is used to instruct the motor controller to terminate control of the steering operation of the vehicle.

[0012] According to a second aspect, in some embodiments, the method, prior to the step of receiving a pre-preparation signal transmitted by the user, The steps include receiving an automatic turn-start signal input by the user, The further step includes starting the automatic turning mode based on the automatic turning start signal.

[0013] In a third embodiment, the present application is: A first receiving module that receives steering commands transmitted by a vehicle controller, wherein the steering commands include a target direction, rotation angle, feedforward torque, target wheel speed, and support parameters, the support parameters being used to assist the motor controller in responding to the steering commands, and the first receiving module, A response module that responds to the feedforward torque and obtains a response signal based on the target direction, the target wheel speed, and the support parameters, A transmission module that transmits the response signal to the vehicle controller, A second receiving module that receives the wheel rotation angle transmitted by the all-vehicle controller, wherein the wheel rotation angle is calculated by the all-vehicle controller based on the response signal, A first control module that performs self-closed loop control based on the target direction, the target wheel speed, the wheel rotation angle, the rotation angle, and the support parameter, and controls the vehicle to complete steering. Provided is a control device for vehicle steering, including

[0014] According to a third aspect, in some embodiments, the first control module A first calculation unit that calculates based on the target wheel speed, the wheel rotation angle, and the rotation angle to obtain the motor rotation speed and the target rotation angle. A second calculation unit that calculates based on the target direction, the motor rotation speed, the target rotation angle, and the support parameter to obtain the target torque. A control unit that controls the vehicle based on the target torque, the motor rotation speed, and the target rotation angle to complete steering.

[0015] According to a third aspect, in some embodiments, the device An acquisition module that acquires self-fault information and transmits it to the vehicle controller, where the self-fault information includes overheating or overload. A third receiving module that receives an end command transmitted by the vehicle controller, where the end command is used to instruct the motor controller to end the control of the steering operation of the vehicle. A second control module that controls the vehicle based on the end command to end steering.

[0016] In a fourth aspect, the present application A first acquisition module that acquires a pre-preparation signal input by a user when the automatic turning mode is started, where the pre-preparation signal includes a rotation direction signal, a rotation angle signal, a brake pedal signal, an accelerator pedal signal, and a gear position signal. A second acquisition module that acquires vehicle assistance parameters based on the pre-preparation signal, wherein the assistance parameters are used to assist the motor controller in responding to a steering command, the second acquisition module; A generation module that obtains a target direction, a rotation angle, a feedforward torque, and a target wheel speed based on the rotation direction signal, the brake pedal signal, the accelerator pedal signal, and the gear position signal, wherein the feedforward torque is used to instruct the motor controller to start controlling the steering operation of the vehicle, the generation module; A first transmission module that transmits the steering command to the motor controller, wherein the steering command includes the target direction, the rotation angle, the feedforward torque, the target wheel speed, and the assistance parameters, the first transmission module; Provided is a control device for vehicle steering including:

[0017] According to a fourth aspect, in some embodiments, the device A first reception module that receives a response signal transmitted by the motor controller; A third acquisition module that acquires swing angle sensor information and lateral / vertical acceleration information based on the response signal; A calculation module that calculates based on the swing angle sensor information and the lateral / vertical acceleration information to obtain a wheel rotation angle; And a second transmission module that transmits the wheel rotation angle to the motor controller.

[0018] According to a fourth aspect, in some embodiments, the device A second reception module that receives an automatic turning start signal input by the user; And a mode start module that starts an automatic turning mode based on the automatic turning start signal.

[0019] In a fifth embodiment, the present invention relates to a vehicle, comprising a vehicle body, a storage unit provided within the vehicle body, an electronic control unit, and a display screen. The memory unit is configured to store computer-executable instructions. The vehicle is provided in which the electronic control unit is configured to execute computer-executable instructions stored in the memory unit to realize the method described in any of the above embodiments.

[0020] In a sixth embodiment, the present application provides a computer-readable storage medium in which computer-executable instructions are stored, and when the computer-executable instructions are executed by a processor, the vehicle steering control method described in any one of the above paragraphs is realized.

[0021] In a seventh embodiment, the present application provides a computer program product comprising a computer program, wherein the method described in any of the above embodiments is implemented when the computer program is executed by a processor. [Effects of the Invention]

[0022] The vehicle steering control method, apparatus, vehicle, and storage medium provided in this application, when the automatic turning mode is started, the all-vehicle controller acquires a pre-preparation signal input by the user, acquires vehicle support parameters based on the pre-preparation signal, and further obtains the target direction, rotation angle, feedforward torque, and target wheel speed based on the rotation direction signal, brake pedal signal, accelerator pedal signal, and gear position signal, and transmits a steering command to the motor controller. The motor controller responds to the feedforward torque based on the target direction, target wheel speed, and support parameters, obtains a response signal, and transmits the response signal to the all-vehicle controller. Based on the response signal, the all-vehicle controller acquires oscillation angle sensor information and lateral and longitudinal acceleration information, then calculates and obtains the wheel rotation angle, and transmits it to the motor controller. The motor controller performs self-closed loop control based on the target direction, target wheel speed, wheel rotation angle, rotation angle, and support parameters, and controls the vehicle to complete the steering. The method described above enables zero-turn radius steering during automatic vehicle turning, resulting in more flexible, precise, and efficient steering, as well as reduced rotational errors and millisecond-level drive control.

[0023] If you read and understand the drawings and detailed descriptions, you will also be able to understand the other aspects. [Brief explanation of the drawing]

[0024] The drawings provided herein are incorporated as part of this specification and illustrate embodiments conforming to this application, and are used together with the specification to interpret the principles of this application.

[0025] [Figure 1] This is an application scenario for the vehicle steering control method provided in the embodiment of the present invention. [Figure 2] This is a flowchart of the first embodiment of the vehicle steering control method provided in the embodiment of the present application. [Figure 3] This is a schematic diagram of the configuration of the vehicle steering control method provided in the embodiment of the present invention. [Figure 4]This is a flowchart illustrating the principle of the vehicle steering control method provided in the embodiment of the present invention. [Figure 5] This is a flowchart of a second embodiment of the vehicle steering control method provided in the embodiment of the present application. [Figure 6] This is a flowchart of a third embodiment of the vehicle steering control method provided in the embodiment of the present application. [Figure 7] This is a flowchart of a fourth embodiment of the vehicle steering control method provided in the embodiment of the present application. [Figure 8] This is a schematic diagram of the configuration of a first embodiment of a vehicle steering control device provided in the present invention. [Figure 9] This is a schematic diagram of the configuration of a second embodiment of the vehicle steering control device provided in the present invention. [Figure 10] This is a schematic diagram of the configuration of a third embodiment of the vehicle steering control device provided in the present invention. [Figure 11] This is a schematic diagram of the configuration of a fourth embodiment of the vehicle steering control device provided in the present invention. [Figure 12] This is a schematic diagram of the configuration of a fifth embodiment of the vehicle steering control device provided in the present invention. [Figure 13] This is a schematic diagram of the vehicle configuration provided in the embodiment of the present application.

[0026] The drawings above clearly illustrate embodiments of the present application, but a more detailed description will be provided later. These drawings and textual descriptions are not intended to limit the scope of the concept of the present application in any way, but rather to explain the concept of the present application to those skilled in the art by referring to specific embodiments. [Modes for carrying out the invention]

[0027] Herein, exemplary embodiments are described in detail, and examples are shown in the drawings. Where the following description relates to the drawings, unless otherwise specified, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the present application detailed in the claims below.

[0028] Automotive steering performance is one of the main performance characteristics of a vehicle. The performance of the steering system directly affects the stability of the vehicle's handling, plays a crucial role in ensuring safe driving, reducing traffic accidents, protecting the safety of the driver, and improving the driver's working environment. How to rationally design a steering system and give the vehicle good handling performance is a constantly important challenge today. In automotive steering, the most common operation is for the driver to turn the steering wheel, but the most common steering systems have a large turning radius in the process of controlling vehicle steering. To adapt to narrow roads, a predetermined angle is set for the wheels to steer, and the turning radius is further reduced. However, this method does not allow for flexible changes in complex road situations, and because it is operated frequently, vehicle speed control becomes unstable, resulting in a poor user experience.

[0029] This invention provides a vehicle steering control method, apparatus, vehicle, and storage medium, enabling more flexible, accurate, and efficient vehicle steering with zero turning radius. Specifically, in vehicle steering, it is common for the driver to control the rotation of the wheels by operating the steering wheel. Furthermore, in the process of controlling vehicle steering, the most common steering systems have a large turning radius. To adapt to narrow roads, a predetermined angle is set for the wheels and steering is performed to further reduce the turning radius. However, such methods cannot make flexible changes in complex road scenes, and because they are operated frequently, vehicle speed control becomes unstable, resulting in a poor user experience. The inventors considered these problems and developed a method for controlling the vehicle. All vehicles are controllersWe investigated whether it is possible to intelligently remotely operate the vehicle, collect vehicle data in real time, transmit the data to a motor controller, implement self-closed loop control in the motor controller according to the user's needs, and furthermore, achieve steering of the vehicle with a zero turning radius, thereby providing the technical solution of this invention.

[0030] Figure 1 shows an application scene of the vehicle steering control method provided in an embodiment of the present invention. As shown in Figure 1, this scene includes at least one vehicle waiting to be steered, and all vehicle controllers and motor controllers are installed inside the vehicle. All vehicles are controllers The system enables real-time collection and processing of vehicle data, the motor controller enables control of the vehicle motor, and furthermore, it enables steering of the vehicle with a zero turning radius. The entire system controller and motor controller can communicate data via the CAN bus.

[0031] This application does not specifically limit the type and form of the vehicle, or the type and form of the all-vehicle controller and motor controller installed.

[0032] The following will describe in detail, through specific embodiments, the technical solutions of the present application and whether they solve the above-mentioned technical problems. Several of the following specific embodiments can be combined with each other, and in some embodiments, specific explanations of the same or similar concepts or processes may be omitted. The embodiments of the present application will be described below with reference to the drawings.

[0033] Figure 2 is a flowchart of the first embodiment of the vehicle steering control method provided in the embodiment of the present application, Figure 3 is a schematic diagram of the configuration of the vehicle steering control method provided in the embodiment of the present application, and Figure 4 is a flowchart of the principle of the vehicle steering control method provided in the embodiment of the present application. Referring to Figures 2, 3 and 4, the steering control method provided in the embodiment of the present application will be analyzed, and the method specifically includes steps S101 to S110. In S101, when the automatic turning mode is activated, the system acquires a pre-preparation signal input by the user.

[0034] In this step, in order to enable automatic turning steering for the vehicle, when the automatic turning mode is activated, the vehicle controller receives a pre-preparation signal from the user, which includes a rotation direction signal, a rotation angle signal, a brake pedal signal, an accelerator pedal signal, and a gear position signal.

[0035] Specifically, the vehicle controller can notify the user to input a pre-preparation signal via the vehicle's display screen, and the user can set the direction of rotation by switching a lever located in the main driver's seat, and further generate a rotation direction signal, which can be clockwise or counterclockwise. Furthermore, the user can set the steering angle via the display screen according to the needs of the actual scene and generate a rotation angle signal. The user generates a brake pedal signal by releasing the brake pedal. The user generates an accelerator pedal signal by releasing the accelerator pedal or pressing the accelerator pedal. The user generates a gear position signal by adjusting the gear position to the forward gear position or the reverse gear position, and all of the above can be operated via the display screen, and the user can perform these operations via an intelligent terminal, and this application does not limit the specific operating methods.

[0036] In S102, vehicle support parameters are acquired based on pre-preparation signals.

[0037] In this step, after receiving a preparation signal input by the user, the all-vehicle controller prepares data for the vehicle's automatic turning and acquires vehicle support parameters based on the preparation signal to allow the vehicle to adapt to different scenes and have greater flexibility during the turning process. These support parameters include IMU sensor status, hydraulic brake force, wheel end torque limit, tank turn enabled status, wheel control mode, road surface condition, and driving mode. All of the above support parameters are acquired by the all-vehicle controller from sensors or hardware equipment installed in the vehicle, and the specific parameters of the support parameters can be freely combined and set according to the user's needs and the needs of the scene.

[0038] In S103, the target direction, rotation angle, feedforward torque, and target wheel speed are obtained based on the rotation direction signal, brake pedal signal, accelerator pedal signal, and gear position signal.

[0039] In this step, after receiving the pre-preparation signal input by the user, the all-vehicle controller generates corresponding information to enable automatic vehicle turning based on the pre-preparation signal, according to the user's needs. Based on the rotation direction signal, brake pedal signal, accelerator pedal signal, and gear position signal input by the user, it generates the target direction, rotation angle, feedforward torque, and target wheel speed that enable automatic vehicle turning.

[0040] In one specific embodiment, after receiving a rotation direction signal input by the user, if the rotation direction signal indicates counterclockwise steering, the direction of the yaw force required for the entire vehicle is counterclockwise. In this case, the system calculates that the two left motors of the four motors have negative drive torque and operate in the third quadrant, while the two right motors have positive drive torque and operate in the first quadrant, and furthermore, the target direction and feedforward torque are obtained.

[0041] The accelerator pedal opening can be defined as the X-axis, and wheel speed, rotational speed, torque, yaw rate, and wheel lateral load can be defined as five control targets on the Y-axis. A two-dimensional table of the five control targets is created, initial values ​​for the five control targets are set in the simulation, and finally, the proportion of each element is determined through calibration on an actual vehicle to achieve better control and obtain the target wheel speed. Regardless of the control speed, deceleration and stopping can be performed via the brake pedal.

[0042] In S104, a steering command is sent to the motor controller.

[0043] In this step, after the all-vehicle controller generates a steering command, it sends the steering command to the motor controller, which includes the target direction, rotation angle, feedforward torque, target wheel speed, and support parameters.

[0044] In S105, a response signal is obtained in response to the feedforward torque based on the target direction, target wheel speed, and support parameters.

[0045] In this step, after receiving a steering command transmitted by the vehicle controller, the motor controller measures whether its own conditions can satisfy the target direction and target wheel speed in the steering command based on the steering command. If it does, it enters a ready state and controls the wheels to steer according to the feedforward torque based on the target direction and target wheel speed, and obtains a response signal.

[0046] In the S106, the response signal is sent to the controller for all vehicles.

[0047] In this step, the motor controller responds to the feedforward torque based on the target direction, target wheel speed, and support parameters in the steering command. After obtaining a response signal, it transmits the response signal to the vehicle controller.

[0048] In S107, oscillation angle sensor information and lateral and vertical acceleration information are acquired based on the response signal.

[0049] In this step, the vehicle controller acts as the vehicle's onboard computer, enabling data collection and processing. After receiving the response signal transmitted by the motor controller, it acquires oscillation angle sensor information and lateral / vertical acceleration information based on the response signal to improve flexibility, achieve the user's desired rotation angle, and reduce rotational deviation in real-world scenarios. Both the oscillation angle sensor information and lateral / vertical acceleration information are obtained via the CAN bus from relevant sensors installed on the vehicle itself.

[0050] In S108, the wheel rotation angle is calculated based on the oscillation angle sensor information and the lateral and vertical acceleration information.

[0051] In this step, after acquiring oscillation angle sensor information and lateral and vertical acceleration information, the wheel rotation angle is calculated based on the oscillation angle sensor information and lateral and vertical acceleration information.

[0052] In S109, the wheel rotation angle is transmitted to the motor controller.

[0053] In this step, all vehicle controllers calculate and obtain the wheel rotation angle, then the motor controller but The process of controlling vehicle steering generates a large rotational deviation. To prevent Therefore, the wheel rotation angle is transmitted to the motor controller via the CAN bus.

[0054] In S110, self-closed loop control is performed based on the target direction, target wheel speed, wheel rotation angle, rotation angle, and support parameters to control the vehicle and complete the steering.

[0055] In this step, after the motor controller receives the wheel rotation angle transmitted by the all-wheel controller, it performs self-closed loop control based on the target direction, target wheel speed, wheel rotation angle, rotation angle, and support parameters to adapt to the actual scene and provide flexibility.

[0056] Specifically, the system calculates the motor speed and target rotation angle based on the target wheel speed, wheel rotation angle, and rotation angle. Then, it calculates the target torque based on the target direction, motor speed, target rotation angle, and support parameters. Finally, it controls the vehicle to complete the steering based on the target torque, motor speed, and target rotation angle.

[0057] In the vehicle steering control method provided in this embodiment, when the automatic turning mode is started, the vehicle controller acquires a pre-preparation signal input by the user, acquires vehicle support parameters based on the pre-preparation signal, and further obtains the target direction, rotation angle, feedforward torque, and target wheel speed based on the rotation direction signal, brake pedal signal, accelerator pedal signal, and gear position signal, and transmits a steering command to the motor controller. The motor controller responds to the feedforward torque based on the target direction, target wheel speed, and support parameters, obtains a response signal, and transmits the response signal to the vehicle controller. Based on the response signal, the vehicle controller acquires oscillation angle sensor information and lateral and longitudinal acceleration information, then calculates and obtains the wheel rotation angle, and transmits it to the motor controller. The motor controller performs self-closed loop control based on the target direction, target wheel speed, wheel rotation angle, rotation angle, and support parameters, and controls the vehicle to complete the steering. The method described above enables zero-turn radius steering during automatic vehicle turning, resulting in more flexible, precise, and efficient steering, as well as reduced rotational errors and millisecond-level drive control.

[0058] Figure 5 is a flowchart of a second embodiment of the vehicle steering control method provided in the embodiment of the present application. As shown in Figure 5, based on the above embodiment and with reference to Figure 4, step S110 includes steps S1101 to S1103. In S1101, the motor speed and target rotation angle are calculated based on the target wheel speed, wheel rotation angle, and rotation angle.

[0059] In this step, after the motor controller receives the steering command transmitted by the vehicle controller, it begins controlling the vehicle's steering action based on the steering command. To adapt to the actual scene, the motor controller can calculate and obtain a target rotation angle based on the rotation angle and wheel rotation angle set by the user. The target rotation angle is the angle at which the vehicle can rotate until it meets the user's needs. Next, the target wheel speed is converted into a motor rotation speed control signal, and the motor rotation speed is obtained using the resolver sensor based on the motor rotation speed control signal. Note that the motor rotation speed changes in real time based on the actual scene, support parameters, and user needs.

[0060] In S1102, the target torque is calculated based on the target direction, motor speed, target rotation angle, and support parameters.

[0061] In this step, the feedforward torque initially transmitted from the vehicle controller to the motor controller is intended to instruct the motor controller to begin controlling the vehicle's steering motion. To adapt to the actual scene and user needs, the target torque is calculated based on the road surface conditions in the target direction, motor speed, target rotation angle, and support parameters. Since different road surface conditions result in different frictional forces on the wheels, etc., the torque can be analyzed independently for different motors to reduce rotational deviation and improve rotational accuracy. Therefore, the calculated target torque is different torque data for multiple motors.

[0062] In the S1103, the vehicle is controlled and steering is completed based on the target torque, motor speed, and target rotation angle.

[0063] In this step, the motor controller calculates the target torque, motor speed, and target rotation angle based on the aforementioned data. Then, it controls the wheel motor to convert the target torque into electric current, and further into kinetic energy, thereby realizing the actual torque based on the motor speed and target rotation angle.

[0064] The motor controller can control the vehicle and complete steering operations by receiving commands transmitted by the vehicle controller in real time, or by calculating the target torque, motor speed, and target rotation angle in real time based on the commands. In this way, the objective of precise control can be achieved, resulting in control reaching millisecond levels, improved control accuracy, improved rotational accuracy for on-the-spot rotation, and it should be noted that the vehicle offset is limited to centimeter levels.

[0065] In the vehicle steering control method provided in this embodiment, motor speed and target rotation angle are calculated based on the target wheel speed, wheel rotation angle, and rotation angle. Then, a target torque is calculated based on the target direction, motor speed, target rotation angle, and support parameters. Finally, the vehicle is controlled to complete the steering based on the target torque, motor speed, and target rotation angle. This method achieves precise control, with control accuracy reaching millisecond levels, improving control precision, improving rotational precision for on-the-spot rotation, limiting the overall vehicle offset to centimeter levels, and improving the flexibility of the vehicle's automatic steering function.

[0066] Figure 6 is a flowchart of a third embodiment of the vehicle steering control method provided in the embodiment of the present application. As shown in Figure 6, based on the above embodiment and with reference to Figure 4, the vehicle steering control method provided in the present application further includes steps S111 to S113. The S111 acquires self-fault information and transmits it to all vehicle controllers.

[0067] In this step, to improve the flexibility of automatic turning, the motor controller acquires self-fault information in real time and transmits it to the vehicle controller, and the self-fault information includes overheating or overload.

[0068] In S112, a termination command is generated based on the self-fault information and sent to the motor controller.

[0069] In this step, after all vehicle controllers receive self-fault information transmitted by the motor controller in the above step, they determine that a failure has occurred in the motor controller and that the motor controller cannot properly control the vehicle and complete the steering operation. To avoid wear and tear on the vehicle's hardware, they generate a termination command based on the self-fault information and send it to the motor controller. The termination command is used to instruct the motor controller to terminate control of the vehicle's steering operation.

[0070] In S113, the vehicle is controlled and steering is terminated based on the termination command.

[0071] In this step, after the motor controller receives the termination command transmitted by the vehicle controller, it controls the vehicle to terminate steering based on the termination command in order to avoid wear and tear on its own equipment.

[0072] Optionally, to ensure controllability during the automatic turning process of the vehicle, steering can be terminated based on a user command. Specifically, after the all-vehicle controller receives a signal that the user has pressed the brake pedal, it sends a stop command to the motor controller. At this time, the motor controller stops steering the vehicle based on the stop command, and when the user releases the brake pedal, the vehicle can continue steering. The user can also stop or terminate vehicle steering by sending a stop or terminate command to the all-vehicle controller via the vehicle's display screen or intelligent terminal.

[0073] In the vehicle steering control method provided in this embodiment, the motor controller acquires self-fault information and transmits it to the vehicle controller. Based on the self-fault information, the vehicle controller generates a termination command and transmits it to the motor controller. Based on the termination command, the motor controller controls the vehicle to terminate steering. By monitoring its own information in real time, the automatic turning of the vehicle with a turning radius of zero becomes more flexible and controllable.

[0074] Figure 7 is a flowchart of a fourth embodiment of the vehicle steering control method provided in the embodiment of the present application. As shown in Figure 7, an analysis based on the above embodiment and with reference to Figure 4 shows that the vehicle steering control method provided in the present application further includes steps S114 and S115. In S114, the system receives an automatic U-turn start signal input by the user.

[0075] In this step, the user sends an automatic turn-start signal to the all-vehicle controller, which receives the automatic turn-start signal input by the user, enabling the user to perform steering operations through intelligent remote control of the vehicle.

[0076] Specifically, the user can input an automatic turn-start signal through the in-vehicle display screen. For example, by tapping the automatic turn-start button via a screen touch method, an automatic turn-start signal is generated. Alternatively, the user can generate an automatic turn-start signal by remotely controlling the vehicle with an intelligent terminal. The intelligent terminal may be any electronic device capable of remote communication with the vehicle, such as a smartphone or laptop computer, and this invention does not specifically limit the type of intelligent terminal. The automatic turn-start signal can be transmitted to the vehicle controller via a CAN bus or the cloud.

[0077] In S115, the automatic turning mode is initiated based on the automatic turning start signal.

[0078] In this step, after the vehicle controller receives the automatic turn start signal transmitted by the user, it initiates the automatic turn mode based on the automatic turn start signal, preparing the vehicle for the automatic turn function.

[0079] In the vehicle steering control method provided in this embodiment, an automatic turning start signal is received from the user, and based on the automatic turning start signal, an automatic turning mode is initiated. This replaces the conventional method in which the driver operates the steering wheel to perform steering operations, making the vehicle's functions more intelligent.

[0080] In one specific embodiment, the vehicle steering control method provided in the embodiment of the present invention can also implement obstacle avoidance processing for obstacles in real-world scenarios, specifically as follows. The user can activate the obstacle avoidance assistance function via the vehicle's display screen or intelligent terminal. When this function is activated, the vehicle controller acquires image information collected by the vehicle's radar and cameras in real time. During the vehicle steering process, the vehicle controller can automatically determine the situation of obstacles around the vehicle. When either the radar or camera acquires obstacle information, it determines the distance and size of the obstacle and classifies it into Level 1, Level 2, and Level 3, specifically as follows: If the alert level is 1 and the distance to the vehicle from the obstacle is less than 0.3 meters, the system will determine it is a nearby obstacle and will automatically apply the brakes while simultaneously notifying the system that it will avoid damage. If the alert level is 2 and the distance between the vehicle and the obstacle is between 0.3 meters and 0.75 meters, the system will determine it to be a medium-range obstacle and will automatically bring the vehicle to a slow stop while simultaneously notifying the driver that damage will be avoided. If the vehicle is at Level 3 and the distance to the obstacle is between 0.75 and 1.5 meters, the system will determine it is a distant obstacle, automatically downgrade, rotate at the slowest speed, and not respond to acceleration requests from the accelerator pedal, while simultaneously notifying the user.

[0081] On the other hand, if the distance between the obstacle and the vehicle is greater than 1.5 meters, it will not be considered an obstacle.

[0082] Optionally, during the obstacle avoidance assistance process, the vehicle's display screen or the user's intelligent terminal can display image information of obstacles in real time. If the level is determined to be Level 1 or Level 2, an audible notification is given, allowing the user to clearly see the image information around the vehicle through the display screen and use it in conjunction with radar obstacle notification information to make a comprehensive judgment about the situation of obstacles around the vehicle.

[0083] Even when the user has turned off the obstacle avoidance assistance level judgment function, they can still subjectively judge obstacles using the image display function, thereby giving the user more options and relinquishing control.

[0084] Figure 8 is a schematic diagram of the configuration of a first embodiment of a vehicle steering control device provided in an embodiment of the present invention, and as shown in Figure 8, the vehicle steering control device 200 includes a first receiving module 201, a response module 202, a transmitting module 203, a second receiving module 204, and a first control module 205. The first receiving module 201 receives steering commands transmitted by the vehicle controller, which include a target direction, rotation angle, feedforward torque, target wheel speed, and support parameters, the support parameters being used to assist the motor controller in responding to the steering command.

[0085] The response module 202 responds to the feedforward torque and obtains a response signal based on the target direction, target wheel speed, and support parameters.

[0086] The transmission module 203 transmits the response signal to all vehicle controllers.

[0087] The second receiving module 204 receives the wheel rotation angle transmitted by the all-vehicle controller, and the rotation angle is obtained by the all-vehicle controller based on the response signal.

[0088] The first control module 205 performs self-closed loop control based on the target direction, target wheel speed, wheel rotation angle, rotation angle, and support parameters to control the vehicle and complete the steering.

[0089] Figure 9 is a schematic diagram of the configuration of a second embodiment of a vehicle steering control device provided in an embodiment of the present invention, and as shown in Figure 9, the first control module 205 includes a first calculation unit 2051, a second calculation unit 2052, and a control unit 2053. The first calculation unit 2051 calculates the motor speed and target rotation angle based on the target wheel speed, wheel rotation angle, and rotation angle.

[0090] The second calculation unit 2052 calculates and obtains the target torque based on the target direction, motor speed, target rotation angle, and support parameters.

[0091] The control unit 2053 controls the vehicle to complete the steering based on the target torque, motor speed, and target rotation angle.

[0092] Figure 10 is a schematic diagram of the configuration of a third embodiment of the vehicle steering control device provided in the embodiment of the present application, and as shown in Figure 10, the vehicle steering control device 200 further includes an acquisition module 206, a third receiving module 207, and a second control module 208. The acquisition module 206 acquires self-fault information and transmits it to the vehicle controller, and the self-fault information includes overheating or overload.

[0093] The third receiving module 207 receives a termination command transmitted by the vehicle controller, which is used to instruct the motor controller to terminate control of the vehicle's steering operation.

[0094] The second control module 208 controls the vehicle to terminate steering based on the termination command.

[0095] The vehicle steering control devices provided in each of the above embodiments are used to implement the motor controller-side method in any of the above embodiment, and since their implementation principles and technical effects are similar, a detailed explanation is omitted here.

[0096] Figure 11 is a schematic diagram of the configuration of a fourth embodiment of the vehicle steering control device provided in the embodiment of the present application, and as shown in Figure 11, the vehicle steering control device 300 includes a first acquisition module 301, a second acquisition module 302, a generation module 303, and a first transmission module 304. The first acquisition module 301 acquires pre-preparation signals input by the user when the automatic turning mode is started, and these pre-preparation signals include a rotation direction signal, a rotation angle signal, a brake pedal signal, an accelerator pedal signal, and a gear position signal.

[0097] The second acquisition module 302 acquires vehicle support parameters based on the preparation signal, and these support parameters are used to help the motor controller respond to steering commands.

[0098] The generation module 303 obtains the target direction, rotation angle, feedforward torque, and target wheel speed based on the rotation direction signal, brake pedal signal, accelerator pedal signal, and gear position signal. The feedforward torque is used to instruct the motor controller to begin controlling the vehicle's steering motion.

[0099] The first transmission module 304 transmits a steering command to the motor controller, which includes the target direction, rotation angle, feedforward torque, target wheel speed, and support parameters.

[0100] Figure 12 is a schematic diagram of the configuration of a fifth embodiment of the vehicle steering control device provided in the embodiment of the present application, and as shown in Figure 12, the vehicle steering control device 300 further includes a first receiving module 305, a third acquisition module 306, a calculation module 307, a second transmitting module 308, a second receiving module 309, and a mode start module 310. The first receiving module 305 receives the response signal transmitted by the motor controller.

[0101] The third acquisition module 306 acquires oscillation angle sensor information and lateral and vertical acceleration information based on the response signal.

[0102] The calculation module 307 calculates and obtains the wheel rotation angle based on the oscillation angle sensor information and the lateral and vertical acceleration information.

[0103] The second transmission module 308 transmits the wheel rotation angle to the motor controller.

[0104] The second receiving module 309 receives an automatic turn-start signal input by the user.

[0105] The mode start module 310 starts the automatic turning mode based on the automatic turning start signal.

[0106] The vehicle steering control devices provided in each of the above embodiments are used to implement the vehicle controller-side method in any of the above embodiment, and since their implementation principles and technical effects are similar, a detailed explanation is omitted here.

[0107] Those skilled in the art will understand that all or some of the steps in the above methods can be completed by a program instructing the relevant hardware (e.g., a processor), and the program may be stored in a computer-readable storage medium such as read-only memory, a magnetic disk, or an optical disk. Optionally, all or some of the steps in the above embodiments can also be implemented using one or more integrated circuits. Accordingly, each module or unit in the above embodiments can be implemented in hardware form, for example by an integrated circuit implementing its corresponding function, or in software function module form, for example by a processor executing a program or instruction stored in memory to implement its corresponding function. The present invention is not limited to any particular combination of hardware and software.

[0108] Figure 13 is a schematic diagram of the configuration of a vehicle provided in an embodiment of the present invention, and as shown in Figure 13, the vehicle includes a vehicle body 400, a memory unit 401, an electronic control unit 402, and a display screen 403. The memory unit 401 is configured to store computer-executable instructions.

[0109] The electronic control unit 402 is configured to execute computer-executable instructions stored in memory to implement the method in any of the embodiments.

[0110] Display screen 403 displays notification information sent to the user by the vehicle controller.

[0111] Embodiments of the present application further provide a computer-readable storage medium in which computer-executable instructions are stored, and the method of any embodiment is realized when the computer-executable instructions are executed by a processor.

[0112] The above computer-readable storage medium body This can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random-access memory, electrically erasable programmable read-only memory, erasable programmable read-only memory, programmable read-only memory, read-only memory, magnetic storage devices, flash memory, magnetic disks, or optical disks. The readable storage medium may be any available medium accessible by a general-purpose or dedicated computer.

[0113] By optionally integrating a readable storage medium with the processor, the processor can read information from and write information to the readable storage medium. Naturally, the readable storage medium may also be a component of the processor. The processor and the readable storage medium can be located within an Application Specific Integrated Circuit (ASIC). Naturally, the processor and the readable storage medium can also exist as discrete components within a device.

[0114] Embodiments of the present application further provide a computer program product comprising a computer program stored in a computer-readable storage medium, wherein at least one processor can read the computer program from the computer-readable storage medium, and at least one processor can implement the technical solutions provided in any of the above method embodiments when executing the computer program.

[0115] Those skilled in the art, considering the specification and practicing the inventions disclosed herein, will readily conceive of other embodiments of the Application. The Application seeks to cover all variations, uses, or adaptable changes of the Application, which adhere to the general principles of the Application and include common or customary technical means known in the Art but not disclosed herein. The Specification and Examples are illustrative only, and the true scope and spirit of the Application are set forth in the following Claims.

[0116] This application is not limited to the exact structure described above and shown in the drawings, and it should be understood that various modifications and changes can be made without exceeding its scope. The scope of this application is limited only by the claims listed below.

[0117] This application claims priority to a Chinese patent application filed with the China National Intellectual Property Administration on July 28, 2023, application number 2023109459695, with the title of the invention "Vehicle steering control method, apparatus, vehicle and memory medium," and incorporates its entire contents by reference.

Claims

1. A method for controlling vehicle steering used in a motor controller, A step of receiving a steering command transmitted by a vehicle controller, wherein the steering command includes a target direction, rotation angle, feedforward torque, target wheel speed, and support parameters, the support parameters being used to assist the motor controller in responding to the steering command; A step of obtaining a response signal in response to the feedforward torque based on the target direction, the target wheel speed, and the support parameters, The steps include: transmitting the response signal to the vehicle controller, A step of receiving the wheel rotation angle transmitted by the all-vehicle controller, wherein the wheel rotation angle is obtained by the all-vehicle controller based on the response signal, The steps include: performing self-closed loop control based on the target direction, target wheel speed, wheel rotation angle, rotation angle, and support parameters to control the vehicle and complete steering; A method for controlling vehicle steering, including [the specified method].

2. The step of performing self-closed loop control based on the target direction, target wheel speed, wheel rotation angle, rotation angle, and support parameters, and controlling the vehicle to complete steering, is: The steps include calculating and obtaining the motor rotation speed and target rotation angle based on the target wheel speed, the wheel rotation angle, and the rotation angle, The steps include: calculating and obtaining a target torque based on the target direction, the motor rotation speed, the target rotation angle, and the support parameters; The method according to claim 1, comprising the steps of controlling the vehicle and completing steering based on the target torque, the motor rotation speed, and the target rotation angle.

3. The aforementioned method, A step of acquiring self-fault information and transmitting it to the vehicle controller, wherein the self-fault information includes overheating or overload, A step of receiving a termination command transmitted by the vehicle controller, wherein the termination command is used to instruct the motor controller to terminate control of the steering operation of the vehicle, The method according to claim 2, further comprising the steps of controlling the vehicle and ending steering based on the termination command.

4. A vehicle steering control method used in a vehicle controller, Steps include: acquiring a pre-preparation signal input by the user when the automatic turning mode is started, wherein the pre-preparation signal includes a rotation direction signal, a rotation angle signal, a brake pedal signal, an accelerator pedal signal, and a gear position signal; A step of acquiring vehicle support parameters based on the aforementioned pre-preparation signal, wherein the support parameters are used to assist the motor controller in responding to steering commands; A step of obtaining a target direction, rotation angle, feedforward torque, and target wheel speed based on the rotation direction signal, brake pedal signal, accelerator pedal signal, and gear position signal, wherein the feedforward torque is used to instruct the motor controller to begin controlling the steering operation of the vehicle. A step of transmitting the steering command to the motor controller, wherein the steering command includes the target direction, the rotation angle, the feedforward torque, the target wheel speed, and the support parameters. A control method including

5. The aforementioned method, The steps include receiving a response signal transmitted by the motor controller, The steps include acquiring oscillation angle sensor information and lateral and vertical acceleration information based on the response signal, The steps include: calculating and obtaining the wheel rotation angle based on the oscillation angle sensor information and the lateral and vertical acceleration information; The method according to claim 4, further comprising the step of transmitting the wheel rotation angle to the motor controller.

6. The aforementioned method, A step of receiving self-fault information transmitted by the motor controller, wherein the self-fault information includes overheating or overload; The method according to claim 5, further comprising the steps of generating a termination command based on the self-fault information and transmitting it to the motor controller, wherein the termination command is used to instruct the motor controller to terminate control of the steering operation of the vehicle.

7. The method, prior to the step of receiving a pre-preparation signal transmitted by the user, The steps include receiving an automatic turn-start signal input by the user, The method according to claim 6, further comprising the step of starting an automatic turning mode based on the automatic turning start signal.

8. A vehicle steering control device, A first receiving module that receives steering commands transmitted by a vehicle controller, wherein the steering command includes a target direction, rotation angle, feedforward torque, target wheel speed, and support parameters, the support parameters being used to assist the motor controller in responding to the steering command, and the first receiving module, A response module that responds to the feedforward torque and obtains a response signal based on the target direction, the target wheel speed, and the support parameters, A transmission module that transmits the response signal to the vehicle controller, A second receiving module that receives the wheel rotation angle transmitted by the all-vehicle controller, wherein the wheel rotation angle is calculated by the all-vehicle controller based on the response signal, A first control module performs self-closed loop control based on the target direction, target wheel speed, wheel rotation angle, rotation angle, and support parameters, and controls the vehicle to complete steering. A control device, including a control device.

9. A vehicle steering control device, A first acquisition module that acquires a pre-preparation signal input by the user when the automatic turning mode is started, wherein the pre-preparation signal includes a rotation direction signal, a rotation angle signal, a brake pedal signal, an accelerator pedal signal, and a gear position signal, A second acquisition module that acquires vehicle support parameters based on the aforementioned pre-preparation signal, wherein the support parameters are used to assist the motor controller in responding to steering commands, and the second acquisition module A generation module that obtains a target direction, rotation angle, feedforward torque, and target wheel speed based on the rotation direction signal, brake pedal signal, accelerator pedal signal, and gear position signal, wherein the feedforward torque is used to instruct the motor controller to begin controlling the steering operation of the vehicle. A first transmitting module that transmits the steering command to the motor controller, wherein the steering command includes the target direction, the rotation angle, the feedforward torque, the target wheel speed, and the support parameters, A control device, including a control device.

10. It is a vehicle, The vehicle body includes a memory unit located within the vehicle body, an electronic control unit, and a display screen. The memory unit is configured to store computer-executable instructions. The electronic control unit is configured to execute computer-executable instructions stored in the memory unit to implement the method according to any one of claims 1 to 7. vehicle.

11. A computer-readable storage medium, The computer-readable storage medium stores computer-executable instructions, and the vehicle steering control method according to any one of claims 1 to 7 is realized when the computer-executable instructions are executed by a processor. Computer-readable storage medium.

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