End-stop protection control method and system for rear-wheel steering system of vehicle

Abstract

The present application relates to the technical field of vehicle rear-wheel steering, and provides an end-stop protection control method and system for a rear-wheel steering system of a vehicle. The method comprises: acquiring the real-time vehicle speed of a vehicle, a rear-wheel high-speed maximum angle value, and a rear-wheel low-speed maximum angle value; calculating a low-speed maximum value weight on the basis of the current vehicle speed and a high-speed function vehicle speed boundary; calculating a high-speed maximum value weight on the basis of the current vehicle speed and a low-speed function vehicle speed boundary; and calculating a rear-wheel angle maximum value by using the high-speed maximum value weight, the low-speed maximum value weight, the rear-wheel high-speed maximum angle value, and the rear-wheel low-speed maximum angle value, and controlling rear wheels to rotate within the rear-wheel angle maximum value. In the present application, by simply completing the calibration of lookup table data for low-speed control and high-speed control, an end-stop protection angle for a transitional vehicle speed can be calculated, thereby simplifying the calibration steps and the computation steps.

Description

A method and system for end-of-line protection control of the rear-wheel steering system of an automobile.

[0001] Cross-references to related applications

[0002] This application claims priority to Chinese Patent Application No. 202510374990.3, filed on March 27, 2025, entitled "A Method and System for End Protection Control of Rear Wheel Steering System of an Automobile", the entire contents of which are incorporated herein by reference and constitute a part of this invention for all purposes. Technical Field

[0003] This application relates to the field of automotive rear-wheel steering technology, and specifically to a method and system for end-of-line protection control of an automotive rear-wheel steering system. Background Technology

[0004] With the development of the automotive industry, users' demands for vehicle flexibility, stability, and safety are increasing daily. Rear-wheel steering technology can reasonably meet these needs. In low-speed mode, it reduces the turning radius by opposing front and rear wheel deflections, while in high-speed mode, it increases lane-changing stability by opposing front and rear wheel deflections. The coordinated control of high-speed and low-speed modes can improve the driving experience and affect driving safety. At the same time, end-of-range protection has a significant impact on driving experience and safety. Therefore, for users, vehicles equipped with rear-wheel steering need a more reasonable end-of-range protection mechanism. The mainstream approach is to use a lookup table to determine the end-of-range protection angle and limit the rear wheel speed. Existing end-of-range protection control methods only consider end-of-range protection in high-speed and low-speed modes. Currently, most rear-wheel steering vehicles have a transition speed between high-speed and low-speed modes. Without this transition speed, the rear wheels will wobble back and forth when switching between high-speed and low-speed modes, affecting the driving experience and failing to guarantee effective end-of-range protection within the transition speed range, resulting in a poor driving experience. Summary of the Invention

[0005] To address the aforementioned issues, this application proposes an end-of-life protection control method and system for a vehicle's rear-wheel steering system. By monitoring changes in vehicle speed in real time, dynamically controlling the weighted value based on the current vehicle speed and the boundary values ​​of high and low speeds, the current steering angle is calculated. The steering angle is evaluated based on the maximum rear wheel angle at different vehicle speeds to determine whether steering angle limitation is required, thereby achieving end-of-life protection.

[0006] In one aspect, this application provides a method for end-of-line protection control of the rear-wheel steering system of an automobile;

[0007] A method for end-of-line protection control of a rear-wheel steering system of an automobile, comprising:

[0008] Obtain the vehicle's real-time speed, maximum rear wheel angle at high speed, and maximum rear wheel angle at low speed;

[0009] The weight of the low-speed maximum value is calculated based on the current vehicle speed and the high-speed function vehicle speed boundary.

[0010] Calculate the maximum speed weight based on the current vehicle speed and the low-speed function vehicle speed boundary;

[0011] The maximum rear wheel angle is calculated using the weights of the maximum high speed and the maximum low speed, the maximum high speed angle of the rear wheel, and the maximum low speed angle of the rear wheel, and the rear wheel is controlled to rotate within the maximum rear wheel angle.

[0012] In some implementations, a vehicle speed sensor is used to acquire vehicle speed information in real time, monitor changes in vehicle speed, and transmit the vehicle speed information to a domain controller. After receiving the vehicle speed data, the domain controller performs calculations and processing.

[0013] In some implementations, obtaining the maximum high-speed rear wheel angle and the maximum low-speed rear wheel angle includes: inputting the current vehicle speed into the high-speed lookup module and the low-speed lookup module to obtain the maximum high-speed rear wheel angle and the maximum low-speed rear wheel angle at the current vehicle speed.

[0014] In some implementations, the weight of the low-speed maximum value is calculated based on the current vehicle speed and the high-speed function speed boundary, including:

[0015] Among them, V hmin This refers to the speed limit for high-speed functions.

[0016] In some implementations, the maximum speed weight is calculated based on the current vehicle speed and the low-speed function speed boundary, including:

[0017] Where v is the current vehicle speed, V lmax For low-speed functional vehicle speed boundaries, V hmin This refers to the speed limit for high-speed functions.

[0018] In some implementations, the maximum rear wheel angle is calculated using the weights of the high-speed maximum value, the low-speed maximum value, the maximum rear wheel angle at high speed, and the maximum rear wheel angle at low speed. This maximum rear wheel angle is then used to limit the output angle of the rear wheel steering, including: δ Δ =Q h *δ hr +Q l *δ lr ;

[0019] Among them, Q h The weight of the maximum speed, δ hr δ is the maximum high-speed angle value at the current vehicle speed. lrδ is the maximum angle value at low speed. Δ This represents the maximum angle of the rear wheel.

[0020] Secondly, this application provides an end-of-line protection control system for the rear-wheel steering system of an automobile;

[0021] An end-of-line protection control system for a rear-wheel steering system of an automobile, comprising:

[0022] The data acquisition module is used to acquire the vehicle's real-time speed, maximum high-speed rear wheel angle, and maximum low-speed rear wheel angle.

[0023] The calculation module is used to calculate the weight of the low-speed maximum value based on the current vehicle speed and the high-speed function speed boundary; calculate the weight of the high-speed maximum value based on the current vehicle speed and the low-speed function speed boundary; and calculate the maximum rear wheel angle using the weight of the high-speed maximum value, the weight of the low-speed maximum value, the maximum rear wheel angle at high speed, and the maximum rear wheel angle at low speed, and control the rear wheels to rotate within the maximum rear wheel angle.

[0024] Thirdly, this application provides a computer program product, including a computer program that, when executed by a processor, implements the aforementioned end-of-line protection control method for a rear-wheel steering system of an automobile.

[0025] Fourthly, this application provides a non-transitory computer-readable storage medium for storing computer instructions, which, when executed by a processor, implement the aforementioned end-of-life protection control method for a rear-wheel steering system of an automobile.

[0026] Fifthly, this application provides an electronic device, including: a processor, a memory, and a computer program; wherein the processor is connected to the memory, the computer program is stored in the memory, and when the electronic device is running, the processor executes the computer program stored in the memory to cause the electronic device to execute and implement the aforementioned end-of-line protection control method for a rear-wheel steering system of an automobile.

[0027] Compared with the prior art, the beneficial effects of this disclosure are as follows:

[0028] This application discloses an end-of-life protection control method for a rear-wheel steering system of an automobile. Compared with traditional rear-wheel steering control systems, this method uses a weighted algorithm to calculate the end-of-life protection angle instead of a lookup table. It reasonably calculates the end-of-life protection angle at the transition speed of rear-wheel steering. Only the lookup data for low-speed control and high-speed control needs to be calibrated to calculate the end-of-life protection angle at the transition speed, simplifying the calibration and calculation steps and improving efficiency.

[0029] This application discloses an end-of-life protection control method for a rear-wheel steering system of an automobile. In the rear-wheel steering system, the end-of-life protection system can use a weighted algorithm and the angle limit coefficient of high and low speed modes to perform weighted calculation within the transition speed to obtain a more reasonable end-of-life protection. In the angle evaluation stage, the current angle is compared with the maximum value of the rear wheel angle. If it exceeds the maximum value, it is determined that the angle needs to be limited; otherwise, no limit is imposed, thereby achieving end-of-life protection and improving the driving experience of the vehicle. Attached Figure Description

[0030] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute an undue limitation of this application.

[0031] Figure 1 is a schematic flowchart of the end protection control method for the rear wheel steering system of an automobile according to an embodiment of this application;

[0032] Figure 2 is a schematic diagram of the search process in an embodiment of this application;

[0033] Figure 3 is a table lookup interface diagram of the low-speed table lookup module in an embodiment of this application;

[0034] Figure 4 is a table lookup interface diagram of the high-speed table lookup module in an embodiment of this application; Detailed Implementation

[0035] The present application will be further described below with reference to the accompanying drawings and embodiments.

[0036] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0037] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0038] Example 1

[0039] One embodiment of this application provides a method for end-of-line protection control of a vehicle's rear-wheel steering system, comprising:

[0040] Step 1: Obtain the vehicle's real-time speed, maximum rear wheel angle at high speed, and maximum rear wheel angle at low speed;

[0041] Step 2: Calculate the weight of the low-speed maximum value based on the current vehicle speed and the high-speed function speed boundary; calculate the weight of the high-speed maximum value based on the current vehicle speed and the low-speed function speed boundary;

[0042] Step 3: Calculate the maximum rear wheel angle using the weights of the maximum high speed and the maximum low speed, the maximum rear wheel angle at high speed, and the maximum rear wheel angle at low speed, and control the rear wheel to rotate within the maximum rear wheel angle.

[0043] As one embodiment, the specific implementation process of the end-of-line protection control method for the rear-wheel steering system of an automobile according to this application is as follows:

[0044] Step 1: Obtain the vehicle's real-time speed, maximum rear wheel angle at high speed, and maximum rear wheel angle at low speed;

[0045] Specifically, vehicle speed information is acquired in real time using a vehicle speed sensor, changes in vehicle speed are monitored, and the vehicle speed information is transmitted to a domain controller. After receiving the vehicle speed data, the domain controller performs calculations and processing.

[0046] Obtaining the maximum high-speed and low-speed rear wheel angles involves inputting the current vehicle speed into the high-speed and low-speed lookup modules to obtain the maximum high-speed and low-speed rear wheel angles at that speed. The angle data for both modules needs to be obtained through vehicle testing. The lookup process involves inputting the vehicle speed (x-axis), determining the maximum high-speed or low-speed rear wheel angle (y-axis) based on the speed, and finally outputting the maximum rear wheel steering angle. The lookup table interface is shown in Figures 3 and 4.

[0047] Furthermore, in traditional rear-wheel steering systems, there is no end-protection angle in the transition speed range (e.g., 35-40 km / h) between high-speed control (e.g., above 40 km / h) and low-speed control (e.g., below 35 km / h). This can lead to vehicles equipped with rear-wheel steering failing to achieve end-protection in the transition range, resulting in vehicle instability. Therefore, calculating the maximum rear wheel steering angle can limit the maximum steering angle of the rear wheels within the transition speed range. This helps maintain vehicle stability within the transition speed range, preventing body roll. Simultaneously, the transition speed range is a special area that provides a buffer between low-speed and high-speed control, preventing a change in tire rotation direction that could cause a loss of driving feel when switching between high and low speed control modes. Calculating the maximum rear wheel angle ensures vehicle stability without affecting the overall driving feel. The specific calculation process is shown in step 2.

[0048] Step 2: Calculate the weight of the low-speed maximum value based on the current vehicle speed and the high-speed function speed boundary; calculate the weight of the high-speed maximum value based on the current vehicle speed and the low-speed function speed boundary;

[0049] Specifically, the maximum speed weight is calculated based on the current vehicle speed and the low-speed function vehicle speed boundary, including:

[0050] Where v is the current vehicle speed, V lmax For low-speed functional vehicle speed boundaries, V hmin This refers to the speed limit for high-speed functions.

[0051] Furthermore, the weight of the low-speed maximum value is calculated based on the current vehicle speed and the high-speed function speed boundary, including:

[0052] Among them, V hmin This refers to the speed limit for high-speed functions.

[0053] Step 3: Calculate the maximum rear wheel angle using the weights of the high-speed maximum value, the weights of the low-speed maximum value, the maximum rear wheel angle at high speed, and the maximum rear wheel angle at low speed. Use the maximum rear wheel angle to limit the output angle of the rear wheel rotation.

[0054] Specifically, the maximum rear wheel angle δ in the transition range Δ The calculation yields: δ Δ =Q h *δ hr +Q l *δ lr ;

[0055] Where, δ hr δ represents the maximum high-speed rear wheel angle at the current vehicle speed. lr This is the maximum angle value for the rear wheel at low speed.

[0056] Furthermore, the calculated maximum rear wheel angle δ is used. Δ Limit the steering angle in the transition zone; if the rear wheel steering angle exceeds δ... Δ The rear wheel steering angle is then limited to δ. Δ Otherwise, the rear wheel angle is output directly. The rear wheel angle is calculated automatically by the rear wheel steering system, including the angles for high-speed control, low-speed control, and transition range control.

[0057] Example 2

[0058] One embodiment of this application provides an end-of-line protection control system for a vehicle's rear-wheel steering system, comprising:

[0059] The data acquisition module is used to acquire the vehicle's real-time speed, maximum high-speed rear wheel angle, and maximum low-speed rear wheel angle.

[0060] The calculation module is used to calculate the weight of the low-speed maximum value based on the current vehicle speed and the high-speed function speed boundary; calculate the weight of the high-speed maximum value based on the current vehicle speed and the low-speed function speed boundary; and calculate the maximum rear wheel angle using the weight of the high-speed maximum value, the weight of the low-speed maximum value, the maximum rear wheel angle at high speed, and the maximum rear wheel angle at low speed, and control the rear wheels to rotate within the maximum rear wheel angle.

[0061] As one embodiment, the specific method and process of the end-of-line protection control system for the rear-wheel steering system of an automobile according to this application is as follows:

[0062] Step 1: Obtain the vehicle's real-time speed, maximum rear wheel angle at high speed, and maximum rear wheel angle at low speed;

[0063] Specifically, vehicle speed information is acquired in real time using a vehicle speed sensor, changes in vehicle speed are monitored, and the vehicle speed information is transmitted to a domain controller. After receiving the vehicle speed data, the domain controller performs calculations and processing.

[0064] Obtaining the maximum high-speed and low-speed rear wheel angle values ​​involves inputting the current vehicle speed into the high-speed lookup module and the low-speed lookup module to obtain the maximum high-speed and low-speed rear wheel angle values ​​at the current vehicle speed.

[0065] Step 2: Calculate the weight of the low-speed maximum value based on the current vehicle speed and the high-speed function speed boundary; calculate the weight of the high-speed maximum value based on the current vehicle speed and the low-speed function speed boundary;

[0066] Specifically, the maximum speed weight is calculated based on the current vehicle speed and the low-speed function vehicle speed boundary, including:

[0067] Where v is the current vehicle speed, V lmax For low-speed functional vehicle speed boundaries, V hmin This refers to the speed limit for high-speed functions.

[0068] Furthermore, the weight of the low-speed maximum value is calculated based on the current vehicle speed and the high-speed function speed boundary, including:

[0069] Among them, V hmin This refers to the speed limit for high-speed functions.

[0070] Step 3: Calculate the maximum rear wheel angle using the weights of the high-speed maximum value, the weights of the low-speed maximum value, the maximum rear wheel angle at high speed, and the maximum rear wheel angle at low speed. Use the maximum rear wheel angle to limit the output angle of the rear wheel rotation.

[0071] Specifically, the maximum rear wheel angle δ in the transition range Δ The calculation yields: δΔ =Q h *δ hr +Q l *δ lr ;

[0072] Where, δ hr δ represents the maximum high-speed rear wheel angle at the current vehicle speed. lr This is the maximum angle value for the rear wheel at low speed.

[0073] Furthermore, the calculated maximum rear wheel angle is used to limit the turning angle of the transition range. If the rear wheel turning angle exceeds this limit, the rear wheel turning angle is restricted to a certain value; otherwise, the rear wheel turning angle is output directly.

[0074] Example 3

[0075] One embodiment of this application provides a computer program product, including a computer program that, when executed by a processor, implements the aforementioned end-of-line protection control method for a rear-wheel steering system of an automobile.

[0076] Example 4

[0077] One embodiment of this application provides a non-transitory computer-readable storage medium for storing computer instructions. When the computer instructions are executed by a processor, they implement the aforementioned end-of-line protection control method for a rear-wheel steering system of an automobile.

[0078] Example 5

[0079] One embodiment of this application provides an electronic device, including: a processor, a memory, and a computer program; wherein the processor is connected to the memory, and the computer program is stored in the memory. When the electronic device is running, the processor executes the computer program stored in the memory to enable the electronic device to implement the aforementioned end-of-line protection control method for a rear-wheel steering system of an automobile.

[0080] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in one or more flowchart illustrations and / or one or more block diagrams.

[0081] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable apparatus, provide steps for implementing the functions specified in one or more flowcharts and / or one or more block diagrams.

[0082] While the specific embodiments of this application have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of this application. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solutions of this application are still within the scope of protection of this application.

Claims

1. A rear wheel steering system end protection control method for an automobile, characterized by, include: Obtain the vehicle's real-time speed, maximum rear wheel angle at high speed, and maximum rear wheel angle at low speed; The weight of the low-speed maximum value is calculated based on the current vehicle speed and the high-speed function vehicle speed boundary. Calculate the maximum speed weight based on the current vehicle speed and the low-speed function vehicle speed boundary; The maximum rear wheel angle is calculated using the weights of the maximum high speed and the maximum low speed, the maximum high speed angle of the rear wheel, and the maximum low speed angle of the rear wheel, and the rear wheel is controlled to rotate within the maximum rear wheel angle.

2. The end protection control method of a rear wheel steering system of an automobile according to claim 1, characterized by, Vehicle speed information is acquired in real time using a vehicle speed sensor, changes in vehicle speed are monitored, and the vehicle speed information is transmitted to a domain controller. After receiving the vehicle speed data, the domain controller performs calculations and processing.

3. The end protection control method of a rear wheel steering system of an automobile according to claim 1, characterized by, Obtaining the maximum high-speed and low-speed rear wheel angle values ​​involves inputting the current vehicle speed into the high-speed lookup module and the low-speed lookup module to obtain the maximum high-speed and low-speed rear wheel angle values ​​at the current vehicle speed.

4. The end protection control method of a rear wheel steering system of an automobile according to claim 1, characterized by, The weight of the low-speed maximum value is calculated based on the current vehicle speed and the high-speed function speed boundary, including: Among them, V hmin This refers to the speed limit for high-speed functions.

5. The end protection control method of a rear wheel steering system of an automobile according to claim 1, characterized by, According to the current vehicle speed and the low-speed function vehicle speed boundary, a high-speed maximum value weight is calculated, including: Where v is the current vehicle speed, V lmax For low-speed functional vehicle speed boundaries, V hmin This refers to the speed limit for high-speed functions.

6. The end protection control method of a rear wheel steering system of an automobile according to claim 1, characterized by, The maximum rear wheel angle is calculated using the weights of the high-speed maximum value, the low-speed maximum value, the maximum rear wheel angle at high speed, and the maximum rear wheel angle at low speed. This maximum rear wheel angle is then used to limit the output angle of the rear wheel steering, including: δ Δ =Q h *δ hr +Q l *δ lr ; Among them, Q h The weight of the maximum speed, δ hr δ is the maximum high-speed angle value at the current vehicle speed. lr δ is the maximum angle value at low speed. Δ This represents the maximum angle of the rear wheel.

7. A rear wheel steering system end protection control system for a vehicle, characterized by, include: The data acquisition module is used to acquire the vehicle's real-time speed, maximum high-speed rear wheel angle, and maximum low-speed rear wheel angle. The calculation module is used to calculate the weight of the low-speed maximum value based on the current vehicle speed and the high-speed function speed boundary; calculate the weight of the high-speed maximum value based on the current vehicle speed and the low-speed function speed boundary; and calculate the maximum rear wheel angle using the weight of the high-speed maximum value, the weight of the low-speed maximum value, the maximum rear wheel angle at high speed, and the maximum rear wheel angle at low speed, and control the rear wheels to rotate within the maximum rear wheel angle.

8. A kick-toe end protection control system for a vehicle rear wheel steering system as defined in claim 7, wherein, Vehicle speed information is acquired in real time using a vehicle speed sensor, changes in vehicle speed are monitored, and the vehicle speed information is transmitted to a domain controller. After receiving the vehicle speed data, the domain controller performs calculations and processing.

9. The end protection control system for a vehicle's rear wheel steering system of claim 7, wherein, Obtaining the maximum high-speed and low-speed rear wheel angle values ​​involves inputting the current vehicle speed into the high-speed lookup module and the low-speed lookup module to obtain the maximum high-speed and low-speed rear wheel angle values ​​at the current vehicle speed.

10. The end-of-line protection control system for the rear-wheel steering system of an automobile as described in claim 7, characterized in that, According to the current vehicle speed and the high-speed function vehicle speed boundary, a low-speed maximum value weight is calculated, including: Among them, V hmin This refers to the speed limit for high-speed functions.

11. The end-of-line protection control system for the rear-wheel steering system of an automobile as described in claim 7, characterized in that, According to the current vehicle speed and the low-speed function vehicle speed boundary, a high-speed maximum value weight is calculated, including: Where v is the current vehicle speed, V lmax For low-speed functional vehicle speed boundaries, V hmin This refers to the speed limit for high-speed functions.

12. A computer program product comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the end-of-line protection control method for the rear-wheel steering system of an automobile as described in claim 1.

13. A non-transitory computer-readable storage medium, comprising: The non-transitory computer-readable storage medium is used to store computer instructions, which, when executed by a processor, implement the end-of-life protection control method for the rear-wheel steering system of an automobile as described in claim 1.

14. An electronic device, comprising: include: The device includes a processor, a memory, and a computer program; wherein the processor is connected to the memory, the computer program is stored in the memory, and when the electronic device is running, the processor executes the computer program stored in the memory to enable the electronic device to implement the end-of-line protection control method for the rear-wheel steering system of an automobile as described in claim 1.

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