Vehicle steering control method and apparatus

Abstract

A vehicle steering control method and apparatus, an electronic device, and a computer readable storage medium, relating to the technical field of automobiles. The steering control method comprises: during steering of a vehicle, acquiring a steering wheel angle and left and right front wheel steering angles; on the basis of the steering wheel angle and the left and right front wheel steering angles, determining whether a steering system of the vehicle is normal or not; and if the steering system is abnormal, performing braking on front wheels corresponding to the steering wheel angle, so as to enable an absolute value of a ratio of the steering wheel angle to an equivalent steering angle of the vehicle to be a target steering ratio. On the basis of the control method, the steering angle of the vehicle can reach the angle required by a driver, thereby achieving normal steering of the vehicle.

Description

Vehicle steering control method and device Technical Field

[0001] The present invention relates to the field of automobile technology, and in particular to a vehicle steering control method and device. Background Art

[0002] In recent years, electronic steering technology, represented by steer-by-wire, has experienced rapid development. Compared to traditional steering systems, steer-by-wire offers advantages such as ease of control and environmental friendliness. With the advancement of electrification and intelligent vehicles, demands for the stability and safety of steer-by-wire systems are increasing. While a vehicle is in motion, steering system anomalies may occur, preventing the vehicle from steering properly and posing a significant safety risk. Therefore, to improve vehicle safety, it is necessary to consider how to ensure proper steering in the event of steering system anomalies.

[0003] Summary of the Invention

[0004] The present invention solves the technical problem of how to achieve normal steering of a vehicle when the vehicle steering system is abnormal by providing a vehicle steering control method and device.

[0005] On the one hand, the present invention provides the following technical solutions:

[0006] A vehicle steering control method, comprising:

[0007] During vehicle steering, obtain the steering wheel angle and left and right front wheel angles;

[0008] determining whether the vehicle's steering system is normal based on the steering wheel angle and the left and right front wheel angles;

[0009] If the steering system is abnormal, the front wheels corresponding to the steering wheel angle are braked so that the absolute value of the ratio of the steering wheel angle to the equivalent steering angle of the vehicle becomes a target steering ratio.

[0010] Optionally, judging whether the vehicle's steering system is normal based on the steering wheel angle and the left and right front wheel angles includes:

[0011] If the left and right front wheel angles are zero, or the absolute value of the ratio of the steering wheel angle to the left and right front wheel angles is greater than the target steering ratio, it is determined that the steering system is abnormal;

[0012] If the absolute value of the ratio of the steering wheel angle to the left and right front wheel angles is equal to the target steering ratio, it is determined that the steering system is normal.

[0013] Optionally, if the steering wheel angle is greater than zero, the front wheel corresponding to the steering wheel angle is the right front wheel; if the steering wheel angle is less than zero, the front wheel corresponding to the steering wheel angle is the left front wheel.

[0014] Optionally, the calculation formula of the equivalent steering angle is:

[0015] θ0 is the equivalent steering angle, V1 is the left front wheel speed, V2 is the right front wheel speed, L is the front wheelbase, and f is the sampling frequency of V1 and V2.

[0016] On the other hand, the present invention also provides the following technical solutions:

[0017] A vehicle steering control device, comprising:

[0018] An acquisition module is configured to acquire a steering wheel angle and left and right front wheel angles during vehicle steering;

[0019] a judgment module configured to judge whether the steering system of the vehicle is normal according to the steering wheel angle and the left and right front wheel angles;

[0020] The braking module is configured to brake the front wheels corresponding to the steering wheel angle if the steering system is abnormal, so that the absolute value of the ratio of the steering wheel angle to the equivalent steering angle of the vehicle is a target steering ratio.

[0021] Optionally, the judging module judges whether the steering system of the vehicle is normal according to the steering wheel angle and the left and right front wheel angles, including:

[0022] If the left and right front wheel angles are zero, or the absolute value of the ratio of the steering wheel angle to the left and right front wheel angles is greater than the target steering ratio, it is determined that the steering system is abnormal;

[0023] If the absolute value of the ratio of the steering wheel angle to the left and right front wheel angles is equal to the target steering ratio, it is determined that the steering system is normal.

[0024] Optionally, if the steering wheel angle is greater than zero, the front wheel corresponding to the steering wheel angle is the right front wheel; if the steering wheel angle is less than zero, the front wheel corresponding to the steering wheel angle is the left front wheel.

[0025] Optionally, the calculation formula of the equivalent steering angle is:

[0026] θ0 is the equivalent steering angle, V1 is the left front wheel speed, V2 is the right front wheel speed, L is the front wheelbase, and f is the sampling frequency of V1 and V2.

[0027] On the other hand, the present invention also provides the following technical solutions:

[0028] An electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements any of the above-mentioned vehicle steering control methods when executing the computer program.

[0029] On the other hand, the present invention also provides the following technical solutions:

[0030] A computer-readable storage medium stores a computer program, which implements any of the above-mentioned vehicle steering control methods when executed by a processor.

[0031] One or more technical solutions provided by the present invention have at least the following technical effects or advantages:

[0032] When the vehicle steering system is abnormal, the present invention brakes the front wheels corresponding to the steering direction. Due to the existence of wheel speed difference, the vehicle will turn so that the absolute value of the ratio of the steering wheel angle to the equivalent steering angle of the vehicle becomes the target steering ratio, so that the steering angle of the vehicle can reach the angle required by the driver, thereby realizing normal steering of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0034] FIG1 is a flow chart of a vehicle steering control method according to an embodiment of the present invention;

[0035] FIG2 is a schematic diagram showing the principle of an equivalent steering angle according to an embodiment of the present invention;

[0036] FIG3 is a schematic diagram of a vehicle steering control device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0037] The embodiments of the present invention provide a vehicle steering control method and device to solve the technical problem of how to achieve normal steering of the vehicle when the vehicle steering system is abnormal.

[0038] In order to better understand the technical solution of the present invention, the technical solution of the present invention will be described in detail below with reference to the accompanying drawings and specific implementation methods.

[0039] As shown in FIG1 , the vehicle steering control method according to an embodiment of the present invention includes:

[0040] Step S1, during vehicle steering, obtaining the steering wheel angle and the left and right front wheel angles;

[0041] Step S2, judging whether the vehicle's steering system is normal based on the steering wheel angle and the left and right front wheel angles;

[0042] Step S3: If the steering system is abnormal, the front wheels corresponding to the steering wheel angle are braked so that the absolute value of the ratio of the steering wheel angle to the equivalent steering angle of the vehicle is the target steering ratio.

[0043] Prior to step S1, the embodiment of the present invention further requires determining whether the vehicle is turning during driving, i.e., obtaining a steering wheel angle. If the steering wheel angle is non-zero, the vehicle is determined to be turning; if the steering wheel angle is zero, the vehicle is not turning. The steering wheel angle can be set to be greater than zero for right turns and less than zero for left turns. Alternatively, the steering wheel angle can be set to be less than zero for right turns and greater than zero for left turns, without limitation.

[0044] When the steering system is functioning properly, the absolute value of the ratio of the vehicle's steering wheel angle to the left and right front wheel angles is the target steering ratio, a constant value. Steering system abnormalities fall into two categories: one is when the steering system is not fully functional, meaning the steering angle does not reach the driver's desired angle. The steering wheel angle represents the driver's desired angle, and the actual left and right front wheel angles represent the steering angle. When the steering system is not fully functional, the actual left and right front wheel angles are not zero but are smaller than the left and right front wheel angles corresponding to the steering wheel angle under normal circumstances. The other is when the steering system is completely ineffective, meaning it has failed, and the actual left and right front wheel angles are zero. Therefore, step S2 includes: if the left and right front wheel angles are zero, or the absolute value of the ratio of the steering wheel angle to the left and right front wheel angles is greater than the target steering ratio, then the steering system is determined to be abnormal; if the absolute value of the ratio of the steering wheel angle to the left and right front wheel angles is equal to the target steering ratio, then the steering system is determined to be normal. Among them, the left and right front wheel angles are zero, which means that the steering system fails; the absolute value of the ratio of the steering wheel angle to the left and right front wheel angles is greater than the target steering ratio, which means understeering and the steering system is not fully functional.

[0045] In step S3, if it is stipulated that the steering wheel angle is greater than zero when turning right and less than zero when turning left, then when the steering wheel angle is greater than zero, the front wheel corresponding to the steering wheel angle is the right front wheel; when the steering wheel angle is less than zero, the front wheel corresponding to the steering wheel angle is the left front wheel.

[0046] When the steering system is abnormal, if the vehicle turns right, the right front wheel will be braked to slow down the right front wheel, and the left front wheel speed V1 and the right front wheel speed V2 will be detected. At this time, V1>V2. Due to the existence of the wheel speed difference, the vehicle will turn. According to the formula Calculate the equivalent steering angle θ0, where L is the front wheelbase and f is the sampling frequency of V1 and V2. If the absolute value of the ratio of the steering wheel angle to the equivalent steering angle equals the target steering ratio, the right steering angle has reached the driver's desired angle. If the absolute value of the ratio of the steering wheel angle to the equivalent steering angle is still greater than the target steering ratio, increase the braking force on the right front wheel to further decelerate the right front wheel until the absolute value of the ratio of the steering wheel angle to the equivalent steering angle equals the target steering ratio.

[0047] If the vehicle turns left, the left front wheel is braked to slow it down, and the left front wheel speed V1 and the right front wheel speed V2 are detected. At this time, V1 is less than V2. Due to the existence of the wheel speed difference, the vehicle will turn, and the equivalent steering angle θ0 is calculated. As shown in Figure 2, if the absolute value of the ratio of the steering wheel angle to the equivalent steering angle is the target steering ratio, it means that the left steering angle has reached the angle required by the driver; if the absolute value of the ratio of the steering wheel angle to the equivalent steering angle is still greater than the target steering ratio, it is necessary to increase the braking force allocated to the left front wheel to continue to decelerate the left front wheel until the absolute value of the ratio of the steering wheel angle to the equivalent steering angle is equal to the target steering ratio.

[0048] As can be seen from the above, in an embodiment of the present invention, when the vehicle steering system is abnormal, the front wheels corresponding to the steering direction are braked. Due to the existence of the wheel speed difference, the vehicle will turn so that the absolute value of the ratio of the steering wheel angle to the equivalent steering angle of the vehicle is the target steering ratio, so that the steering angle of the vehicle can reach the angle required by the driver, thereby achieving normal steering of the vehicle.

[0049] As shown in FIG3 , an embodiment of the present invention further provides a vehicle steering control device, comprising:

[0050] An acquisition module is configured to acquire a steering wheel angle and left and right front wheel angles during vehicle steering;

[0051] a judgment module configured to judge whether the vehicle's steering system is normal based on the steering wheel angle and the left and right front wheel angles;

[0052] The braking module is configured to brake the front wheels corresponding to the steering wheel angle if the steering system is abnormal, so that the absolute value of the ratio of the steering wheel angle to the equivalent steering angle of the vehicle is the target steering ratio.

[0053] Furthermore, the judgment module judges whether the vehicle's steering system is normal based on the steering wheel angle and the left and right front wheel angles, which may include:

[0054] If the left and right front wheel angles are zero, or the absolute value of the ratio of the steering wheel angle to the left and right front wheel angles is greater than the target steering ratio, the steering system is determined to be abnormal;

[0055] If the absolute value of the ratio of the steering wheel angle to the left and right front wheel angles is equal to the target steering ratio, the steering system is determined to be normal.

[0056] Furthermore, if the steering wheel angle is greater than zero, the front wheel corresponding to the steering wheel angle is the right front wheel; if the steering wheel angle is less than zero, the front wheel corresponding to the steering wheel angle is the left front wheel.

[0057] Furthermore, the calculation formula of the equivalent steering angle is:

[0058] θ0 is the equivalent steering angle, V1 is the left front wheel speed, V2 is the right front wheel speed, L is the front wheelbase, and f is the sampling frequency of V1 and V2.

[0059] Based on the same inventive concept as the vehicle steering control method described above, an embodiment of the present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and runnable on the processor, wherein when the processor executes the computer program, the steps of any one of the vehicle steering control methods described above are implemented.

[0060] Among them, the bus architecture (represented by the bus), the bus can include any number of interconnected buses and bridges, and the bus links together various circuits including one or more processors represented by the processor and memory represented by the memory. The bus can also link together various other circuits such as peripherals, voltage regulators, and power management circuits, which are all well known in the art and therefore will not be described further herein. The bus interface provides an interface between the bus and the receiver and transmitter. The receiver and transmitter can be the same component, namely a transceiver, which provides a unit for communicating with various other devices on a transmission medium. The processor is responsible for managing the bus and general processing, while the memory can be configured to store data used by the processor when performing operations.

[0061] Since the electronic device described in the embodiments of the present invention is an electronic device used to implement the vehicle steering control method in the embodiments of the present invention, and based on the vehicle steering control method described in the embodiments of the present invention, those skilled in the art will be able to understand the specific implementation of the electronic device in the embodiments of the present invention and its various variations, so how the electronic device implements the method in the embodiments of the present invention will not be described in detail here. As long as those skilled in the art can implement the electronic device used in the vehicle steering control method in the embodiments of the present invention, it falls within the scope of protection of the present invention.

[0062] Based on the same inventive concept as the above-mentioned vehicle steering control method, the present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements any of the above-mentioned vehicle steering control methods.

[0063] It will be understood by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0064] The present invention is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce a device for implementing the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0065] These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a product including an instruction device that implements the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0066] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0067] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0068] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to include such changes and modifications.

Claims

1. A vehicle steering control method, characterized in that: include: During vehicle steering, obtain the steering wheel angle and left and right front wheel angles; Determining whether the steering system of the vehicle is normal according to the steering wheel angle and the left and right front wheel angles; If the steering system is abnormal, the front wheels corresponding to the steering wheel angle are braked so that the absolute value of the ratio of the steering wheel angle to the equivalent steering angle of the vehicle is the target steering ratio.

2. The vehicle steering control method according to claim 1, characterized in that: The determining whether the steering system of the vehicle is normal according to the steering wheel angle and the left and right front wheel angles includes: If the left and right front wheel turning angles are zero, or the absolute value of the ratio of the steering wheel turning angle to the left and right front wheel turning angles is greater than the target steering ratio, it is determined that the steering system is abnormal; If the absolute value of the ratio of the steering wheel angle to the left and right front wheel angles is equal to the target steering ratio, it is determined that the steering system is normal.

3. The vehicle steering control method according to claim 1, characterized in that: If the steering wheel angle is greater than zero, the front wheel corresponding to the steering wheel angle is the right front wheel; if the steering wheel angle is less than zero, the front wheel corresponding to the steering wheel angle is the left front wheel.

4. The vehicle steering control method according to claim 1, characterized in that: The calculation formula of the equivalent steering angle is: θ0 is the equivalent steering angle, V1 is the left front wheel speed, V2 is the right front wheel speed, L is the front wheel width, and f is the sampling frequency of V1 and V2.

5. A vehicle steering control device, characterized in that: include: An acquisition module is configured to acquire a steering wheel angle and left and right front wheel angles during a vehicle steering process; A judgment module is configured to judge the vehicle according to the steering wheel angle and the left and right front wheel angles. Is the steering system normal? The braking module is configured to brake the front wheels corresponding to the steering wheel angle if the steering system is abnormal, so that the absolute value of the ratio of the steering wheel angle to the equivalent steering angle of the vehicle is a target steering ratio.

6. The vehicle steering control device according to claim 5, characterized in that: The judging module judges whether the steering system of the vehicle is normal according to the steering wheel angle and the left and right front wheel angles, including: If the left and right front wheel turning angles are zero, or the absolute value of the ratio of the steering wheel turning angle to the left and right front wheel turning angles is greater than the target steering ratio, it is determined that the steering system is abnormal; If the absolute value of the ratio of the steering wheel angle to the left and right front wheel angles is equal to the target steering ratio, it is determined that the steering system is normal.

7. The vehicle steering control device according to claim 5, characterized in that: If the steering wheel angle is greater than zero, the front wheel corresponding to the steering wheel angle is the right front wheel; if the steering wheel angle is less than zero, the front wheel corresponding to the steering wheel angle is the left front wheel.

8. The vehicle steering control device according to claim 5, characterized in that: The calculation formula of the equivalent steering angle is: θ0 is the equivalent steering angle, V1 is the left front wheel speed, V2 is the right front wheel speed, L is the front wheel width, and f is the sampling frequency of V1 and V2.

9. An electronic device, characterized in that: The invention comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the vehicle steering control method according to any one of claims 1 to 4 when executing the computer program.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the vehicle steering control method according to any one of claims 1 to 4 is implemented.

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