Vehicle steering control method and apparatus, system, and vehicle
Patent Information
- Application Number
- PCT/CN2025/082167
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- Filing Date
- 2025-03-12
- Publication Date
- 2026-09-17
Smart Images
Figure CN2025082167_17092026_PF_FP_ABST
Abstract
Description
A vehicle steering control method, device, system, and vehicle Technical Field
[0001] This application relates to the field of vehicles, and more specifically to a vehicle steering control method, device, system, and vehicle. Background Technology
[0002] With the widespread use of smart cars in daily life, users expect them to provide a more comfortable and intelligent experience. Against this backdrop, steering by wire (SBW) systems are gradually being introduced and applied in the field of smart cars. Compared to traditional electric power steering (EPS), SBW eliminates the mechanical connection between the steering wheel and the steering wheels, using electricity to achieve steering entirely. This eliminates the limitations of traditional steering systems, allowing for free design of the vehicle's steering force and angular transmission characteristics. Intelligent vehicle steering can be achieved through control algorithms, and SBW is also more space-efficient and lighter than traditional steering systems. A key concept in steering systems is the "steering ratio," which refers to the proportional relationship between the steering wheel angle and the wheel angle. SBW supports variable steering ratios, adjusting this ratio based on factors such as vehicle speed and steering angle. This reduces the steering wheel rotation at low speeds or when turning, making steering easier; while at high speeds, the steering wheel becomes more stable, improving vehicle stability and safety. In addition, the SBW system can better support various automated driving systems (ADS). It can be integrated with other sensors and control systems to achieve functions such as automatic lane keeping and automatic parking, thereby improving driving safety and convenience.
[0003] Besides SBW (Side Steering) systems, other systems such as Electric Power Steering (EPS), Active Front Steering (AFS), Four-Wheel Steering (4WS / Rear-Wheel Steering, RWS), and Redundant Steering also play important roles in intelligent vehicles. Future steering systems will evolve towards greater integration, software-based solutions, and collaborative capabilities to fully support autonomous driving and personalized driving experiences.
[0004] However, current steering systems, when switching between intelligent driving mode and human driving mode, result in an uncomfortable driving experience due to improper control of the steering wheel or front wheel angles. Furthermore, during cruise control scenarios, in emergency obstacle avoidance situations, the driver may struggle with the system for control of the steering wheel, affecting vehicle safety. Summary of the Invention
[0005] This application provides a vehicle steering control method, device, system, and vehicle. The method can ensure the driver's comfort when switching driving modes and improve the vehicle's driving safety when steering.
[0006] In a first aspect, a vehicle steering control method is provided, wherein the vehicle's driving modes include an intelligent driving mode and a human driving mode. The method is characterized by comprising: when the vehicle switches from a current driving mode to a target driving mode, adjusting the steering ratio from the current steering ratio to the target steering ratio; if steering wheel rotation is determined based on the vehicle's driving scenario and the target driving mode, determining a target steering wheel angle based on the target steering ratio and a predicted target wheel angle, and then sending a request for steering wheel angle control information, the request for steering wheel angle control information including the target steering wheel angle information; and / or if wheel rotation is determined based on the vehicle's driving scenario and the target driving mode, determining a target wheel angle based on the target steering ratio and a predicted target steering wheel angle, and then sending a request for wheel angle control information, the request for wheel angle control information including the target wheel angle information.
[0007] In this embodiment of the application, when the driving mode of the vehicle is switched, the steering ratio can be dynamically adjusted according to the target driving mode, and the system can intelligently determine whether to turn the steering wheel or the wheels. Based on the target steering ratio and the predicted wheel or steering wheel angle, the system can accurately calculate the target turning angle to ensure that the steering action is highly matched with the driving intention, thereby improving the vehicle's handling and response speed.
[0008] In conjunction with the first aspect, in some implementations of the first aspect, the adjustment of the steering ratio is smooth.
[0009] In this embodiment, the smooth steering ratio makes the steering system respond more smoothly and naturally when the vehicle switches between intelligent driving mode and human driving mode, avoiding the discomfort caused by sudden changes or abrupt adjustments in steering ratio, and also avoiding the driver's discomfort caused by switching driving modes, thus improving driving comfort and safety.
[0010] In conjunction with the first aspect, in some implementations of the first aspect, the target steering ratio is determined by an algorithm designed based on a derivative-smooth function.
[0011] In this embodiment, the target steering ratio is determined by using an algorithm based on derivative smoothing function design, which ensures that the change process of the steering ratio is smooth and continuous. This smooth transition significantly improves the naturalness of steering control and driving comfort.
[0012] In conjunction with the first aspect, in some implementations of the first aspect, when the vehicle encounters an emergency lateral obstacle avoidance, the adjustment of the steering ratio is determined according to the obstacle avoidance strategy.
[0013] In this embodiment, when the vehicle encounters an emergency lateral obstacle avoidance, the steering ratio can be dynamically adjusted according to the obstacle avoidance strategy, ensuring that the vehicle can quickly and accurately execute obstacle avoidance actions, significantly improving the vehicle's handling response speed in emergency situations, reducing the risk of collision, and effectively improving driving safety.
[0014] In conjunction with the first aspect, in some implementations of the first aspect, when the vehicle switches to intelligent driving mode, before adjusting the steering ratio, a request for steering wheel angle control handshake information or a request for wheel angle control handshake information is sent.
[0015] In conjunction with the first aspect, in some implementations of the first aspect, the steering wheel angle control handshake completion information or the wheel angle control handshake completion information is received.
[0016] In this embodiment, through the interaction of handshake information, the system can avoid steering control failure or error caused by communication delay or unreadiness of related units, thereby improving the reliability and stability of the system.
[0017] In conjunction with the first aspect, in some implementations of the first aspect, the result of the steering wheel angle control or the result of the wheel angle control is received.
[0018] In this embodiment, by receiving the execution results of steering wheel angle control or wheel angle control, the system can monitor the execution of steering control in real time, ensuring that the steering action is completed accurately according to the expected goal. This feedback mechanism significantly improves the accuracy and reliability of steering control.
[0019] In conjunction with the first aspect, in some implementations of the first aspect, when the vehicle exits the intelligent driving mode, the method further includes: sending a release steering wheel angle control handshake message or a release wheel angle control handshake message.
[0020] In conjunction with the first aspect, in some implementations of the first aspect, the steering wheel angle control handshake release information or the wheel angle control handshake release information is received.
[0021] In this embodiment, when the vehicle exits the intelligent driving mode, a handshake release mechanism is used to ensure that the human driving mode can seamlessly take over steering control, avoiding control conflicts or competition issues and enhancing the coordination and stability of the system.
[0022] Secondly, a vehicle steering control device is provided, wherein the vehicle's driving modes include an intelligent driving mode and a human driving mode. The device comprises: an adjustment unit, a judgment unit, a calculation unit, and a sending unit. The adjustment unit is used to adjust the steering ratio from the current steering ratio to the target steering ratio when the vehicle switches from the current driving mode to the target driving mode. The judgment unit is used to determine whether to turn the steering wheel and / or turn the wheels based on the vehicle's driving scenario and the target driving mode. If the judgment unit determines to turn the steering wheel, the calculation unit is used to determine the target steering wheel angle based on the target steering ratio and a predicted target wheel angle. The sending unit is used to send a request for steering wheel angle control information, which includes the target steering wheel angle information. If the judgment unit determines to turn the wheels, the calculation unit is used to determine the target steering wheel angle based on the target steering ratio and a predicted target wheel angle. The sending unit is used to send a request for steering wheel angle control information, which includes the target steering wheel angle information.
[0023] In conjunction with the second aspect, in some implementations of the second aspect, the adjustment unit is also used to adjust the steering ratio in a smooth manner.
[0024] In conjunction with the second aspect, in some implementations of the second aspect, the adjustment unit is also used to determine the target steering ratio based on an algorithm designed according to a function with a smooth derivative.
[0025] In conjunction with the second aspect, in some implementations of the second aspect, the adjustment unit is also used to adjust the steering ratio in accordance with the obstacle avoidance strategy when the vehicle encounters an emergency lateral obstacle avoidance.
[0026] In conjunction with the second aspect, in some implementations of the second aspect, the device further includes a receiving unit for receiving the result of steering wheel angle control execution or the result of wheel angle control execution.
[0027] Thirdly, a vehicle steering control device is provided, comprising: at least one processor and a memory, the at least one processor being coupled to the memory for reading and executing instructions in the memory, such that the device implements the method in any of the implementations of the first aspect described above.
[0028] Fourthly, a chip is provided, the chip including circuitry for performing the method in any of the implementations of the first aspect described above.
[0029] Fifthly, a computer-readable storage medium is provided that stores program code, which, when run on a computer, causes the computer to perform the method in any of the implementations of the first aspect described above.
[0030] Sixthly, a computer program product is provided, the computer product including a computer program that, when run by a processor, causes the method in any of the implementations of the first aspect to be executed.
[0031] In a seventh aspect, a vehicle is provided, comprising: a vehicle steering control device according to any implementation of the second aspect above, or a vehicle steering control system according to any implementation of the third aspect above. Attached Figure Description
[0032] Figure 1 is a functional schematic diagram of a vehicle provided in an embodiment of this application;
[0033] Figure 2 is an SBW system architecture provided in an embodiment of this application;
[0034] Figure 3 shows a system architecture applicable to the vehicle steering control method provided in the embodiments of this application;
[0035] Figure 4 is a schematic flowchart of a vehicle steering control method provided in an embodiment of this application;
[0036] Figure 5 is a diagram of the steering wheel angle curve and the front wheel angle curve in an automatic parking assistance scenario provided by an embodiment of this application.
[0037] Figure 6 is a diagram of the steering wheel angle curve and the front wheel angle curve in an adaptive cruise control scenario provided by an embodiment of this application.
[0038] Figure 7 is a diagram showing the steering wheel angle curve and the front wheel angle curve when an emergency lateral obstacle avoidance function is enabled according to an embodiment of this application.
[0039] Figure 8 is a schematic diagram of a vehicle avoiding an obstacle to the left during a left turn, provided in an embodiment of this application;
[0040] Figure 9 is a diagram of the steering wheel angle curve and the front wheel angle curve of a vehicle when it avoids an obstacle to the left during a left turn, according to an embodiment of this application.
[0041] Figure 10 shows a vehicle steering control device provided in an embodiment of this application;
[0042] Figure 11 shows another vehicle device control device provided in an embodiment of this application. Detailed Implementation
[0043] In the description of the embodiments of this application, unless otherwise stated, " / " means "or", for example, A / B can mean A or B; "and / or" in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. In this application, "at least one" means one or more, and "more" means two or more. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or multiple items. For example, at least one of a, b, or c can represent: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.
[0044] The use of prefixes such as "first" and "second" in this application embodiment is solely for distinguishing different descriptive objects and does not limit the position, order, priority, quantity, or content of the described objects. The use of ordinal numbers and other prefixes to distinguish descriptive objects in this application embodiment does not constitute a limitation on the described objects. The description of the described objects is found in the claims or the context of the embodiments, and the use of such prefixes should not constitute unnecessary restrictions.
[0045] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.
[0046] Figure 1 is a functional schematic diagram of a vehicle 100 provided in an embodiment of this application.
[0047] Vehicle 100 may include multiple subsystems, such as a perception system 120, a computing platform 130, and a steering system 140. Optionally, vehicle 100 may include more or fewer subsystems, and each subsystem may include one or more components. Furthermore, each subsystem and component of vehicle 100 may be interconnected via wired or wireless means.
[0048] The perception system 120 may include several types of sensors for sensing information about the environment surrounding the vehicle 100. For example, the perception system 120 may include a positioning system, which may be a global positioning system (GPS), a BeiDou system, or another positioning system. The perception system 120 may include one or more of the following: an inertial measurement unit (IMU), lidar, millimeter-wave radar, ultrasonic radar, and a camera device.
[0049] Some or all of the functions of vehicle 100 can be controlled by computing platform 130. Computing platform 130 may include processors 131 to 13n (n being a positive integer). A processor is a circuit with signal processing capabilities. In one implementation, the processor can be a circuit with instruction read and execute capabilities, such as a central processing unit (CPU), microprocessor, graphics processing unit (GPU) (which can be understood as a type of microprocessor), or digital signal processor (DSP). In another implementation, the processor can implement certain functions through the logical relationships of hardware circuits. These logical relationships are fixed or reconfigurable. For example, the processor may be a hardware circuit implemented using an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as an FPGA. In reconfigurable hardware circuits, the process of the processor loading a configuration document and configuring the hardware circuit can be understood as the process of the processor loading instructions to implement some or all of the functions of the aforementioned units. Furthermore, the processor can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), tensor processing unit (TPU), deep learning processing unit (DPU), etc. In addition, the computing platform 130 may also include a memory for storing instructions. Some or all of the processors 131 to 13n can call the instructions in the memory to implement the corresponding functions.
[0050] The computing platform 130 can control the functions of the vehicle 100 based on inputs received from various subsystems (e.g., the sensing system 120). In some embodiments, the computing platform 130 can be used to provide control over many aspects of the vehicle 100 and its subsystems.
[0051] The steering system 140 can control the steering of the wheels via electronic signals and can adjust the steering feedback according to the vehicle 100's speed, road conditions, and driving mode. The steering system 140 may include a steering by wire (SBW), an electric power steering (EPS), an active front steering (AFS), a four-wheel steering (4WS / Rear-Wheel Steering, RWS), or a redundant steering system, etc.
[0052] Optionally, the above components are just an example. In actual applications, the components in each of the above modules may be added or deleted as needed.
[0053] The term "vehicle" 100 as used in this application embodiment can include: road vehicles, water vehicles, air vehicles, industrial equipment, agricultural equipment, or entertainment equipment, etc. For example, a vehicle can be a means of transportation (such as commercial vehicles, passenger cars, motorcycles, flying cars, trains, etc.), industrial vehicles (such as forklifts, trailers, tractors, etc.), engineering vehicles (such as excavators, bulldozers, cranes, etc.), agricultural equipment (such as lawnmowers, harvesters, etc.), amusement equipment, toy vehicles, etc. This application embodiment does not specifically limit the type of vehicle.
[0054] The following uses a smart car as an example and a steering system that includes an SBW system as an example to illustrate the technical problems that this application needs to solve and the technical solutions adopted.
[0055] Typically, intelligent vehicles have two driving modes: intelligent driving mode and human driving mode. When switching from intelligent driving mode to human driving mode, or vice versa, since there is no mechanical connection between the steering wheel and the wheels in the SBW system, a control algorithm is needed to ensure a smooth transition in the steering wheel or wheel angles. This allows the driver to have a comfortable driving experience while holding the steering wheel. In emergency situations, the wheels respond quickly to intelligent driving commands to ensure vehicle safety.
[0056] This application provides a vehicle steering control method, device, system, and vehicle that enables the driver to have a comfortable driving experience and allows the wheels to respond quickly to intelligent driving commands in emergency situations to ensure vehicle driving safety.
[0057] Figure 2 is an SBW system architecture provided in an embodiment of this application.
[0058] The SBW system can consist of a handwheel actuator (HWA) controller, a roadwheel actuator (RWA) controller, and an SBW domain controller.
[0059] The HWA controller, also known as the upper steering controller, controls the steering wheel's feedback torque or steering angle using torque control methods. The RWA controller, also known as the lower steering controller, controls the wheel's steering angle using angle control methods. The SBW domain controller connects to the ADS controller to enable communication between the SBW system and the ADS controller. The SBW domain controller can send steering angle commands to the HWA or RWA controller based on the received steering angle control information to control the steering wheel or front wheel angle.
[0060] It should be noted that, in this application, upward steering can be understood as the steering wheel turning action, and downward steering can be understood as the wheel turning action.
[0061] Figure 3 illustrates a system architecture applicable to the vehicle steering control method provided in this application embodiment. As mentioned earlier, a vehicle steering system can include various system structures. The following embodiments are all illustrated using a steering system including an SBW system as an example, and will not be elaborated further.
[0062] As shown in Figure 3, the system architecture may include an ADS controller and an SBW system. The ADS controller sends a steering wheel angle handshake request, a front wheel angle handshake request, a front wheel angle command request, or a steering wheel angle command request to the SBW system. The SBW system sends a steering wheel angle control handshake completion message, a front wheel angle control handshake completion message, and the execution result of the steering wheel angle or the front wheel angle to the ADS controller.
[0063] Understandably, different steering systems control different wheels; some can control only the front wheels, while others can control both the front and rear wheels. For example, Active Front Steering (AFS) allows additional steering angles to be added on top of driver input to control the front wheel angle, improving vehicle handling and safety. Another example is Rear Wheel Steering (RWS), which controls both the front and rear wheels, allowing the rear wheels to steer in the same or opposite direction as the front wheels, enhancing vehicle agility and stability.
[0064] Figure 4 is a schematic flowchart of a vehicle steering control method provided in an embodiment of this application. Taking the system shown in Figure 3 as an example, the method may include steps S101 to S109.
[0065] S101, when the vehicle enters the intelligent driving stage, that is, when it switches from human driving mode to intelligent driving mode, the ADS controller sends a request for steering wheel angle control handshake information or a request for front wheel angle control handshake information to the SBW system.
[0066] S102, the SBW system sends steering wheel angle control handshake completion information or front wheel angle control handshake completion information to the ADS controller;
[0067] S103, the ADS controller calculates the steering ratio for the next moment;
[0068] S104, the ADS controller uses this steering ratio to calculate the steering wheel angle or front wheel angle, where
[0069] If the steering wheel rotation is determined based on the vehicle's driving scenario and intelligent driving mode, the formula for calculating the steering wheel angle is: Target steering wheel angle = Predicted front wheel angle at the next moment × Steering ratio at the next moment.
[0070] Alternatively, if the front wheel rotation is determined based on the vehicle's driving scenario and intelligent driving mode, then the formula for calculating the front wheel steering angle is: Target front wheel steering angle = Predicted steering wheel angle at the next moment / Steering ratio at the next moment.
[0071] S105, the ADS controller sends a request for steering wheel angle control information or a request for front wheel angle control information to the SBW system. The request for steering wheel angle control information includes the target steering wheel angle information, and the request for front wheel angle control information includes the target front wheel angle information.
[0072] S106, the SBW system controls the steering wheel to turn to the target steering wheel angle based on the received steering wheel angle control information, or controls the front wheels to turn to the target front wheel angle based on the received front wheel angle control information;
[0073] S107, the SBW system sends the execution result of the steering wheel angle or the front wheel angle to the ADS controller;
[0074] S108, when exiting the intelligent driving stage, that is, when switching from intelligent driving mode to human driving mode, the ADS controller sends a release steering wheel angle control handshake information or a release front wheel angle control handshake information to the SBW system.
[0075] S109, the SBW system sends steering wheel angle control handshake release information or front wheel angle control handshake release information to the ADS controller.
[0076] It should be noted that in this process, steps S103 to S106, as a loop, can be executed multiple times during the transition phase. That is, the ADS controller can calculate the steering ratio for the next moment at a certain frequency, and based on this, calculate the steering wheel or front wheel angle, then send it to the SBW system. The SBW system then controls the steering wheel or front wheels to turn to the target angle. This calculation frequency can be designed according to the scenario requirements, thereby achieving either a gradual adjustment of the steering wheel or front wheel angle for a smooth transition, or a rapid adjustment of the steering wheel or front wheel angle to the target angle.
[0077] The steering method provided in the embodiments of this application will be described in detail below with reference to the accompanying drawings.
[0078] Please refer to Figure 5, which shows the steering wheel angle curve and front wheel angle curve in the automatic parking assist (APA) scenario. In this scenario, the vehicle is automatically parking under the control of the intelligent driving system. During this process, the driver requests to take over the vehicle at time t0. The vehicle then switches from intelligent driving mode to human driving mode, and the steering wheel angle smoothly transitions from the current angle to the angle in human driving mode. In the figure, the horizontal axis represents time t, the vertical axis represents the steering angle, the solid line represents the steering wheel angle curve, and the dashed line represents the front wheel angle curve.
[0079] In the APA (Automatic Driving Assistance) scenario's intelligent driving mode, the vehicle's intelligent driving system directly controls the front wheel steering angle, without relying on the physical rotation of the steering wheel. At this time, the vehicle's steering wheel remains stationary, meaning the steering wheel angle is 0°, while the front wheel steering angle changes according to the parking path requirements.
[0080] When the intelligent driving mode switches to the human driving mode at time t0, the vehicle steering ratio will smoothly transition from the intelligent driving mode steering ratio at time t0 to the human driving mode steering ratio at time t1. n The steering ratio in the driver-driven mode will smoothly transition from 0° at time t0 to t... n The steering wheel angle is adjusted constantly to allow the driver to have a comfortable driving experience.
[0081] From time t0 to t n During this transition phase, the ADS controller gradually changes the steering ratio according to the requirement for a smooth steering wheel transition, that is, it determines the steering ratio at times t1, t2, etc. The steering ratio at each time point can be obtained through a certain algorithm, which is designed based on a function with a smooth derivative, so that the steering ratio is smooth during the transition phase. This results in smooth steering wheel rotation and improves the driver's driving experience.
[0082] The ADS controller determines the target steering wheel angle at time t1 based on the steering ratio at time t1 and the predicted front wheel angle at time t1. It then sends a first request for steering wheel angle control information to the SBW system, which includes the target steering wheel angle information at time t1. Upon receiving this information, the SBW system controls the steering wheel to rotate from 0° and then sends the executed steering wheel angle at time t1 to the ADS controller.
[0083] In the next round, the ADS controller determines the target steering wheel angle at time t2 based on the steering ratio at time t2 and the predicted front wheel angle at time t2. It then sends a second steering wheel angle control request to the SBW system, which carries the target steering wheel angle information for time t2. Upon receiving this information, the SBW system controls the steering wheel to rotate from the steering wheel angle at time t1 to the target steering wheel angle at time t2, and then sends the execution result of the steering wheel angle at time t2 to the ADS controller.
[0084] Understandable, from time t0 to t n Within a given timeframe, this rotation process is repeated multiple times at a certain frequency, causing the steering wheel angle to gradually increase smoothly under the control of the SBW system until it fully transitions to t. n The steering wheel angle in human-driven mode at all times.
[0085] When the steering wheel angle smoothly transitions to t n When the steering wheel is turned in the human-driven mode, the vehicle exits the intelligent driving mode. The ADS controller sends a release steering wheel angle control handshake message to the SBW system; the SBW system sends a steering wheel angle control handshake release message to the ADS controller.
[0086] Please refer to Figure 6, which shows the steering wheel angle curve and front wheel angle curve in an adaptive cruise control (ACC) scenario. In this scenario, the vehicle is adaptively cruised under the control of the intelligent driving system. During this time, the driver requests to take over the vehicle at time t0. The vehicle then switches from intelligent driving mode to human driving mode, and the front wheel angle smoothly transitions from the current angle to the angle in human driving mode. In the figure, the horizontal axis represents time t, the vertical axis represents the steering angle, the solid line represents the steering wheel angle curve, and the dashed line represents the front wheel angle curve.
[0087] In the intelligent driving mode of ACC scenario, the vehicle's intelligent driving system adopts a small steering ratio, which makes the vehicle respond quickly and sensitively to steering.
[0088] When the intelligent driving mode switches to the human driving mode at time t0, the vehicle's steering ratio gradually increases. That is, while the steering wheel angle remains unchanged, the front wheel angle gradually decreases in a smooth transition, so that the driver can have a comfortable driving experience when driving the vehicle with a large steering ratio later.
[0089] From time t0 to t n During this transition phase, the ADS controller gradually changes the steering ratio according to the requirement for a smooth transition of the front wheels, that is, it determines the steering ratio at times t1, t2, etc. The steering ratio at each time point can be obtained through a certain algorithm, which can be designed based on a function with a smooth derivative, so that the steering ratio is smooth during the transition phase. This results in smooth front wheel rotation and improves the driver's driving experience.
[0090] The ADS controller determines the target front wheel steering angle at time t1 based on the steering ratio at time t1 and the predicted steering wheel angle at time t1. It then sends a first request for front wheel steering angle control information to the SBW system, which carries the target front wheel steering angle information at time t1. Upon receiving this information, the SBW system controls the front wheel steering angle to decrease to the target front wheel steering angle at time t1, and then sends the execution result of the front wheel steering angle at time t1 back to the ADS controller.
[0091] In the next round, the ADS controller determines the target front wheel angle at time t2 based on the steering ratio at time t2 and the predicted steering wheel angle at time t2. It then sends a second request for front wheel angle control information to the SBW system, which carries the target front wheel angle information for time t2. Upon receiving this information, the SBW system controls the front wheels to rotate from the front wheel angle at time t1 to the target front wheel angle at time t2, and then sends the execution result of the front wheel angle at time t2 to the ADS controller.
[0092] Understandable, from time t0 to t n Within a given time period, this rotation process is repeated multiple times at a certain frequency, causing the steering angle of the front wheels to gradually decrease smoothly under the control of the SBW system until it completely transitions to t. n The front wheel steering angle in the driver-controlled mode at all times.
[0093] The current wheel rotation angle smoothly transitions to t. n Once the front wheels of the vehicle in human-driven mode have turned, the vehicle exits intelligent driving mode. The ADS controller sends a handshake message to the SBW system to release the front wheel steering angle control; the SBW system then sends a handshake message to the ADS controller to release the front wheel steering angle control.
[0094] Please refer to Figure 7, which shows the steering wheel angle curve and front wheel angle curve when the emergency lateral obstacle avoidance function is enabled in lane keeping assist (LKA) or emergency lane keeping assist (ELKA) scenarios. In the figure, the horizontal axis is time t, the vertical axis is the steering angle, the solid line is the steering wheel angle curve, and the dashed line is the front wheel angle curve.
[0095] In this scenario, the vehicle switches from human driving mode to intelligent driving mode, completes emergency lateral obstacle avoidance, and then exits intelligent driving mode to switch back to human driving mode. During both driving mode switches, the steering wheel angle remains constant to match human driving expectations. Simultaneously, the steering ratio adjustment follows the obstacle avoidance strategy, and the front wheel steering angle curve also changes accordingly. The following example of a specific obstacle avoidance scenario will provide further explanation.
[0096] Please refer to Figure 8, which shows a diagram of a vehicle swerving to the left to avoid a protruding obstacle on the right side while making a left turn.
[0097] Please refer to Figure 9, which shows the steering wheel angle curve and front wheel angle curve of the vehicle in the scenario shown in Figure 8. In the figure, the horizontal axis represents time t, the vertical axis represents the steering angle, the solid line represents the steering wheel angle curve, and the dashed line represents the front wheel angle curve. On this time axis, the vehicle switches from human driving mode to intelligent driving mode, completes emergency lateral obstacle avoidance, and then exits intelligent driving mode.
[0098] When a vehicle encounters a protruding obstacle on its right while making a left turn, the vehicle activates its emergency lateral obstacle avoidance function. The obstacle avoidance trajectory involves first rapidly increasing the left turn angle, then correcting to the right, and finally returning to the initial left-turn posture. Therefore, the vehicle's steering ratio first rapidly decreases to the intelligent driving mode steering ratio, and then returns to the initial human-driven mode steering ratio after completing obstacle avoidance. The specific process is as follows:
[0099] At time t0, the vehicle immediately switches from human driving mode to intelligent driving mode. The ADS controller sends a request for front wheel steering angle control handshake information to the SBW system, and the SBW system sends a front wheel steering angle control handshake completion information to the ADS controller.
[0100] The ADS controller calculates the steering ratio at times t1 and t2, which must meet the requirements for the vehicle to safely and efficiently perform emergency lateral obstacle avoidance functions in intelligent driving mode.
[0101] The ADS controller determines the target front wheel steering angle at time t1 based on the steering ratio at time t1 and the predicted steering wheel angle at time t1. It then sends a first request for front wheel steering angle control information to the SBW system, which includes the target front wheel steering angle information at time t1. Upon receiving this information, the SBW system controls the front wheels to quickly rotate to the target front wheel steering angle at time t1, and then sends the execution result of the front wheel steering angle at time t1 back to the ADS controller.
[0102] In the next round, the ADS controller determines the target front wheel angle at time t2 based on the steering ratio at time t2 and the predicted steering wheel angle at time t2. It then sends a second request for front wheel angle control information to the SBW system, which carries the target front wheel angle information at time t2. Upon receiving this information, the SBW system controls the front wheel angle to quickly rotate to the front wheel angle at time t2, and then sends the execution result of the front wheel angle at time t2 to the ADS controller.
[0103] After completing obstacle avoidance, the vehicle exits intelligent driving mode and returns to human driving mode. The ADS controller determines t n The turning ratio at time t n Time-to-turn ratio and predicted t n The steering wheel angle is determined at any given moment. n The target front wheel steering angle at a given time is determined, and then a third request for front wheel steering angle control information is sent to the SBW system. This third request for front wheel steering angle control information carries the value t. n The target front wheel steering angle information at any given moment. Upon receiving this information, the SBW system controls the front wheel steering angle to rapidly rotate to t. n The target front wheel steering angle at a given moment is then sent to the ADS controller. n The result of the front wheel steering angle at any given moment.
[0104] It is understood that the three front wheel steering angle adjustments in this embodiment are merely illustrative. In complex obstacle avoidance scenarios, the front wheel steering angle needs to be adjusted multiple times to complete emergency lateral obstacle avoidance. Therefore, this rotation process is executed repeatedly at a certain frequency until the vehicle completes emergency lateral obstacle avoidance. Subsequently, the vehicle exits the intelligent driving mode and returns to the human driving mode. The ADS controller sends a front wheel steering angle control handshake information to the SBW system; the SBW system sends a front wheel steering angle control handshake release information to the ADS controller.
[0105] Throughout the entire emergency lateral obstacle avoidance process, the SBW system maintains a stable steering wheel angle, which meets the driver's expectations. This reduces the risk of loss of control caused by driver misoperation or struggle for the steering wheel in emergency situations, ensuring stable and reliable obstacle avoidance actions and improving vehicle driving safety.
[0106] It should be understood that, in the various embodiments of this application, unless otherwise specified or in case of logical conflict, the terms and / or descriptions between the various embodiments are consistent and can be referenced by each other, and the technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.
[0107] Figure 10 is a schematic diagram of a vehicle steering control device provided in an embodiment of this application. The device 1000 may include an adjustment unit 1010, a judgment unit 1020, a calculation unit 1030, and a sending unit 1040. Optionally, the device 1000 may further include a receiving unit 1050 for implementing corresponding receiving functions, receiving instructions and / or data.
[0108] Optionally, the device 1000 further includes a storage unit for implementing corresponding storage functions and storing corresponding instructions and / or data.
[0109] In one embodiment, the device 1000 includes: an adjustment unit 1010, a judgment unit 1020, a calculation unit 1030, and a sending unit 1040; the adjustment unit 1010 is used to adjust the steering ratio from the current steering ratio to the target steering ratio when the vehicle switches from the current driving mode to the target driving mode; the judgment unit 1020 is used to determine whether to turn the steering wheel and / or turn the wheels according to the vehicle driving scenario and the target driving mode; if the judgment unit determines to turn the steering wheel, the calculation unit 1030 is used to determine the target steering wheel angle according to the target steering ratio and the predicted target wheel angle of the vehicle; the sending unit 1040 is used to send a request for steering wheel angle control information, the request for steering wheel angle control information including the target steering wheel angle information; if the judgment unit 1020 determines to turn the wheels, the calculation unit 1030 is used to determine the target steering wheel angle according to the target steering ratio and the predicted target wheel angle of the vehicle; the sending unit 1040 is used to send a request for steering wheel angle control information, the request for steering wheel angle control information including the target steering wheel angle information.
[0110] In one possible implementation, the adjustment unit 1010 is also used to adjust the steering ratio in a smooth manner.
[0111] In one possible implementation, the adjustment unit 1010 is also used to determine the target steering ratio based on an algorithm designed according to a function with a smooth derivative.
[0112] In one possible implementation, the adjustment unit 1010 is also used to adjust the steering ratio to follow the obstacle avoidance strategy when the vehicle encounters an emergency lateral obstacle avoidance.
[0113] In one possible implementation, the sending unit 1040 is further configured to send a request for steering wheel angle control handshake information or a request for wheel angle control handshake information before adjusting the steering ratio when the vehicle switches to intelligent driving mode.
[0114] In one possible implementation, the device 1000 further includes a receiving unit 1050 for receiving steering wheel angle control handshake completion information or wheel angle control handshake completion information.
[0115] In one possible implementation, the device 1000 further includes a receiving unit 1050 for receiving the steering wheel angle control execution result or the wheel angle control execution result.
[0116] In one possible implementation, the sending unit 1040 is also used to send a release steering wheel angle control handshake message or a release wheel angle control handshake message.
[0117] In one possible implementation, the device 1000 further includes a receiving unit 1050 for receiving steering wheel angle control handshake release information or wheel angle control handshake release information.
[0118] Figure 11 is a schematic diagram of another vehicle steering control device provided in an embodiment of this application.
[0119] The device 1100 includes a memory 1110, a processor 1120, and a communication interface 1130. The memory 1110, processor 1120, and communication interface 1130 are connected via an internal connection path. The memory 1110 stores instructions, and the processor 1120 executes the instructions stored in the memory 1110 to control the communication interface 1130 to acquire information, thereby enabling the device 1100 to implement the aforementioned steer-by-wire control method. Optionally, the memory 1110 can be coupled to the processor 1120 via an interface, or it can be integrated with the processor 1120.
[0120] It should be noted that the communication interface 1130 described above uses a transceiver device, such as, but not limited to, a transceiver. The communication interface 1130 may also include an input / output interface.
[0121] The memory 1110 stores one or more computer programs, which include instructions. When the instructions are executed by the processor 1120, the device 1100 performs the vehicle steering control methods described in the above embodiments.
[0122] In implementation, each step of the above method can be completed by the integrated logic circuitry of the hardware in the processor 1120 or by instructions in software form. The method disclosed in the embodiments of this application can be directly implemented by a hardware processor, or by a combination of hardware and software modules in the processor. The software modules can reside in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. This storage medium is located in memory 1110, and the processor 1120 reads the information in memory 1110 and, in conjunction with its hardware, completes the steps of the above method. To avoid repetition, detailed descriptions are not provided here.
[0123] Optionally, the communication interface 1130 in FIG11 can implement the sending unit 1040 and receiving unit 1050 in FIG10, and the processor 1120 in FIG11 can implement the adjustment unit 1010, judgment unit 1020 and calculation unit 1030 in FIG10.
[0124] This application also provides a computer-readable storage medium storing program code that, when run on a computer, causes the computer to execute any of the methods shown in Figures 4 to 9.
[0125] This application also provides a computer program product, which includes a computer program that, when run, causes a computer to perform any of the methods shown in Figures 4 to 9.
[0126] This application also provides a chip, including: a circuit for performing any of the methods in Figures 4 to 9 above.
[0127] This application also provides a vehicle, including: a steer-by-wire control device as shown in FIG2.
[0128] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.
[0129] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.
[0130] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.
[0131] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.
[0132] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.
[0133] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.
[0134] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.
Claims
1. A vehicle steering control method, a driving mode of the vehicle including an intelligent driving mode and a human driving mode, characterized by, The method comprises: adjusting the steering ratio from a current steering ratio to a target steering ratio when the vehicle switches from a current driving mode to a target driving mode; if it is determined to turn the steering wheel according to the vehicle driving scene and the target driving mode, determining a target steering wheel angle according to the target steering ratio and a predicted target vehicle wheel angle, and then sending request steering wheel angle control information containing target steering wheel angle information; and / or if it is determined to turn the wheel according to the vehicle driving scene and the target driving mode, determining a target wheel angle according to the target steering ratio and a predicted target vehicle wheel angle, and then sending request wheel angle control information containing target wheel angle information.
2. The method of claim 1, wherein, The adjustment of the steering ratio is smooth.
3. The method of claim 2, wherein, The target steering ratio is determined by an algorithm designed according to a function smoothed by a derivative.
4. The method of claim 1, wherein, When the vehicle encounters an emergency lateral obstacle avoidance, the adjustment of the steering ratio follows the determination of the obstacle avoidance strategy.
5. The method according to any one of claims 1 to 4, characterized in that, When the vehicle switches to the intelligent driving mode, before adjusting the steering ratio, the method further comprises: sending request steering wheel angle control handshake information or request wheel angle control handshake information.
6. The method of claim 5, wherein, The method further comprises: receiving steering wheel angle control handshake completion information or wheel angle control handshake completion information.
7. The method according to any one of claims 1 to 4, characterized in that, The method further comprises: receiving steering wheel angle control execution results or wheel angle control execution results.
8. The method according to any one of claims 1 to 4, characterized in that, When the vehicle exits the intelligent driving mode, the method further comprises: sending release steering wheel angle control handshake information or release wheel angle control handshake information.
9. The method of claim 8, wherein, The method further comprises: receiving steering wheel angle control handshake release information or wheel angle control handshake release information.
10. A vehicle steering control device, a driving mode of the vehicle including an autonomous driving mode and a manual driving mode, characterized by, The device comprises: an adjustment unit, a judgment unit, a calculation unit and a sending unit; The adjustment unit is configured to adjust the steering ratio from a current steering ratio to a target steering ratio when the vehicle switches from a current driving mode to a target driving mode. The judgment unit is configured to determine whether to turn the steering wheel and / or turn the wheel according to the vehicle driving scene and the target driving mode. If the judgment unit determines to turn the steering wheel, the calculation unit is configured to determine a target steering wheel angle according to the target steering ratio and a predicted target vehicle wheel angle; and the sending unit is configured to send request steering wheel angle control information containing target steering wheel angle information. If the judgment unit determines to turn the wheel, the calculation unit is configured to determine a target steering wheel angle according to the target steering ratio and a predicted target vehicle wheel angle; and the sending unit is configured to send request steering wheel angle control information containing target steering wheel angle information.
11. The apparatus of claim 10, wherein, The adjustment unit is further configured to adjust the steering ratio in a smooth manner.
12. The apparatus of claim 11, wherein, The adjustment unit is further configured to determine the target steering ratio by an algorithm designed according to a function smoothed by a derivative.
13. The apparatus of claim 10, wherein, The adjustment unit is further configured to determine the adjustment of the steering ratio following the determination of the obstacle avoidance strategy when the vehicle encounters an emergency lateral obstacle avoidance.
14. The apparatus of claim 10, wherein, The device further comprises a receiving unit; The receiving unit is configured to receive a steering wheel angle control execution result or a wheel angle control execution result.
15. A vehicle steering control device characterized by comprising: The computer program product comprises a computer readable storage medium storing program code which, when executed on a computer, causes the computer to perform the method of any one of claims 1 to 9.
16. A chip, characterized by The chip comprises a circuit configured to perform the method of any one of claims 1 to 9.
17. A computer-readable storage medium, characterized in that, The computer readable storage medium stores program code which, when executed on a computer, causes the computer to perform the method of any one of claims 1 to 9.
18. A computer program product, characterised in that, The computer product comprises a computer program which, when executed, causes a computer to perform the method of any one of claims 1 to 9.
19. A vehicle characterized by comprising: The vehicle steering control device comprises any one of claims 10 to 15.