CN112026909B - Neutral learning method, device and system for four-wheel steering vehicle - Google Patents
Neutral learning method, device and system for four-wheel steering vehicle Download PDFInfo
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- CN112026909B CN112026909B CN202010806643.0A CN202010806643A CN112026909B CN 112026909 B CN112026909 B CN 112026909B CN 202010806643 A CN202010806643 A CN 202010806643A CN 112026909 B CN112026909 B CN 112026909B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0466—Controlling the motor for returning the steering wheel to neutral position
Abstract
The invention relates to a neutral learning method, a device and a system for a four-wheel steering vehicle, wherein the method comprises the following steps: controlling a vehicle to run linearly, and responding to a center offset signal in a front wheel to acquire vehicle information, wherein the vehicle information comprises a rear wheel angle and running information; judging whether the angle of the rear wheel is larger than a preset angle or not; if yes, when the driving information meets the preset condition, setting the front wheel steering angle in the current state to be zero degree, and returning to the step S1; if not, when the running information meets the preset condition, the front wheel steering angle in the current state is set to be zero, and neutral learning is achieved. The invention provides a neutral learning method, a device and a system for a four-wheel steering vehicle, which are used for performing neutral learning on the four-wheel steering vehicle by utilizing rear wheel steering angle information provided by a rear wheel steering system, effectively reducing the influence of the rear wheel steering system on the straight running of the vehicle, solving the problem of vehicle body irregularity existing in the four-wheel steering vehicle and improving the accuracy of neutral learning.
Description
Technical Field
The invention relates to the technical field of automobile steering control, in particular to a neutral learning method, a neutral learning device and a neutral learning system for a four-wheel steering vehicle.
Background
With the development of the automobile industry, the chassis field is configured with a four-wheel steering function which gradually becomes the development trend of the automobile industry, the four-wheel steering function can effectively improve the steering sensitivity of the automobile at low speed and the steering stability of the automobile at high speed, and the control performance of the automobile is greatly improved. However, at the same time, the number of the steering wheels of the vehicle is increased from two front wheels to four wheels, and the increase of the number of the steering wheels increases the difficulty of the posture control of the vehicle body when the vehicle runs, especially the zero position angle control of each wheel when the vehicle runs in a straight line, so that a great test is added to the capability of realizing the stable straight line running of the vehicle.
For an automobile without rear wheel steering, the straight-line running of the automobile only needs to realize neutral position control through a front wheel steering system, and the automobile has straight-line running capability without deviation under the condition of no driver intervention. For a main host factory, two methods are mainly used for realizing neutral position control of a front wheel steering system, the first method is a production line calibration method, and neutral position calibration of the front wheel steering system is carried out under the condition that a four-wheel positioning station calibrates toe-in, steering wheel angles and the like of wheels when an automobile production line is off-line. The second method is to determine the zero position of the vehicle in straight line running by a neutral self-learning method, the front wheel steering system judges the running state of the vehicle by monitoring signals such as the vehicle speed, the yaw angular velocity, the steering wheel torque and the like, and the neutral self-learning is realized according to the vehicle state. The second method is widely used by large host factories because it does not require production line calibration, has stable learning effect, and can continuously optimize learning during driving.
However, in the case of an automobile equipped with a rear wheel steering system, the steering angle of the rear wheels affects the yaw rate and the vehicle traveling track of the vehicle, and affects the strategy of front wheel neutral learning.
In view of the above technical problem, it is desirable to provide a neutral learning method, device and system for a four-wheel-steering vehicle that can be compatible with a rear-wheel steering system.
Disclosure of Invention
In view of the above problems in the prior art, an object of the present invention is to provide a method, an apparatus, and a system for learning a neutral position for a four-wheel-steered vehicle, in which the neutral position of the four-wheel-steered vehicle is learned by using rear wheel steering angle information provided by a rear wheel steering system, so that the influence of the rear wheel steering system on the straight-line running of the vehicle is effectively reduced, the problem of vehicle body error in the four-wheel-steered vehicle is solved, and the accuracy of the neutral position learning is improved.
In order to solve the above problems, the present invention provides a neutral learning method for a four-wheel-steering vehicle, comprising the steps of:
s1, controlling a vehicle to run linearly, responding to a middle offset signal of a front wheel, and acquiring vehicle information, wherein the vehicle information comprises a rear wheel angle and running information;
s2, judging whether the angle of the rear wheel is larger than a preset angle or not;
s3, if yes, when the driving information meets the preset condition, setting the front wheel steering angle in the current state to be zero, and returning to the step S1;
and S4, if not, when the running information meets the preset condition, setting the front wheel steering angle in the current state to be zero, and realizing neutral learning.
Further, the running information includes a vehicle speed, a yaw rate, and a steering wheel torque, and the preset conditions are: the vehicle speed is greater than a preset vehicle speed, the yaw angular speed is less than a preset angular speed, and the steering wheel torque is less than a preset torque.
Further, the setting the front wheel steering angle in the current state to zero degrees when the running information satisfies the preset condition, and returning to step S1 further includes:
obtaining a learning factor Qf according to the driving information;
when the learning factor Qf is less than or equal to 0.5, a reduction return signal is sent to the auto-return system to cause it to reduce the performance of auto-return, reducing the torque in the front wheel steering return.
Further, when the driving information meets the preset condition, the front wheel steering angle in the current state is set to be zero, and the implementation of the neutral learning further comprises:
obtaining a learning factor Qf according to the driving information;
when the learning factor Qf is greater than 0.5, a recovery return signal is sent to the auto-return system to cause it to recover the auto-return performance.
Further, the method for controlling the vehicle to run straight and acquiring the vehicle information in response to the front wheel center position offset signal, wherein the vehicle information comprises a rear wheel angle and running information, and specifically, the method for controlling the vehicle to run straight comprises the following steps: the front wheels of the vehicle are controlled to deflect, and the rear wheels deflect according to the deflection angle of the front wheels, so that the vehicle can run linearly.
Further, the setting of the front wheel steering angle in the current state to zero degree includes:
sending a wheel zero signal to a front wheel steering system to enable the front wheel steering system to set the front wheel angle in the current state to be zero.
Further, the preset angle ranges from 5 degrees to 10 degrees.
The invention also protects a neutral learning device for a four-wheel steering vehicle, comprising:
the information acquisition module is used for responding to a middle offset signal of a front wheel when a vehicle runs in a straight line and acquiring vehicle information, wherein the vehicle information comprises a rear wheel angle and running information;
the judging module is used for judging whether the angle of the rear wheel is larger than a preset angle or not;
a first executing module, configured to, when the driving information satisfies a preset condition and the rear wheel angle is greater than the preset angle, set the front wheel angle in the current state to zero, and return to the step S1: controlling a vehicle to run linearly, and responding to a center offset signal in a front wheel to acquire vehicle information, wherein the vehicle information comprises a rear wheel angle and running information;
and the second execution module is used for setting the front wheel steering angle in the current state to be zero degree when the driving information meets the preset condition under the condition that the rear wheel angle is smaller than or equal to the preset angle, so that neutral learning is realized.
The invention also protects a middle learning system for a four-wheel steering vehicle, which comprises a front-wheel steering system, a rear-wheel steering system and the middle learning device for the four-wheel steering vehicle, wherein the middle learning system for the four-wheel steering vehicle is used for realizing the middle learning of the front-wheel steering system and the rear-wheel steering system through the middle learning device for the four-wheel steering vehicle.
Further, the front wheel steering system further comprises an automatic aligning device, and the automatic aligning device is used for controlling the front wheel of the vehicle to return to the middle position of the front wheel when the steering wheel is not controlled manually.
Compared with the prior art, the invention has obvious advantages and beneficial effects. By the technical scheme, the neutral learning method for the four-wheel steering vehicle, the neutral learning device for the four-wheel steering vehicle and the neutral learning system for the four-wheel steering vehicle comprising the neutral learning device can achieve considerable technical progress and practicability, have industrial wide utilization value and at least have the following advantages:
1) according to the neutral learning method, device and system for the four-wheel steering vehicle, the neutral learning of the four-wheel steering vehicle is performed by utilizing the rear wheel steering angle information provided by the rear wheel steering system, the influence of the rear wheel steering system on the straight running of the vehicle is effectively reduced, the problem of vehicle body irregularity of the four-wheel steering vehicle is solved, and the neutral learning accuracy is improved;
2) by performing staged middle position learning according to the rear wheel angle, the deviation condition of the vehicle is reduced when learning is not completed, and meanwhile, the accuracy of middle position learning is considered;
3) according to the invention, the mid-position learning is carried out by utilizing the rear wheel angle information sent by the existing rear wheel steering system, the rear wheel steering system is not required to be correspondingly changed, and finally the mid-position learning method, the device and the system of the four-wheel steering vehicle are established, so that the development cost is reduced.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings used in the description of the embodiment or the prior art will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
Fig. 1 is a flowchart of a median learning method for a four-wheel-steering vehicle according to an embodiment of the present invention.
Fig. 2 is a schematic block diagram of a neutral learning apparatus for a four-wheel-steering vehicle according to an embodiment of the present invention.
Fig. 3 is a schematic view of a vehicle according to an embodiment of the present invention in a state where the vehicle body is out of alignment while traveling straight.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
In the several embodiments provided in this application, the described system embodiments are only illustrative, for example, the division of the modules is only one logical function division, and there may be other division manners in actual implementation, for example, a plurality of modules or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of modules or units through some interfaces, and may be in an electrical or other form.
The present embodiment provides a neutral learning method for a four-wheel-steering vehicle, as shown in fig. 1, including the steps of:
s1, controlling a vehicle to run linearly, responding to a middle offset signal of a front wheel, and acquiring vehicle information, wherein the vehicle information comprises a rear wheel angle and running information;
s2, judging whether the angle of the rear wheel is larger than a preset angle or not;
s3, if yes, when the driving information meets the preset condition, setting the front wheel steering angle in the current state to be zero, and returning to the step S1;
and S4, if not, when the running information meets the preset condition, setting the front wheel steering angle in the current state to be zero, and realizing neutral learning.
When the rear wheel angle is larger than a preset angle, performing neutral learning in a first stage by using rear wheel steering angle information provided by a rear wheel steering system; and when the rear wheel angle is smaller than the preset angle, performing second-stage neutral learning, wherein when the rear wheel angle is detected to be smaller than the preset angle, the condition that the rear wheel angle is smaller than the preset angle after the first-stage neutral learning is performed is included, and the condition that the rear wheel angle is smaller than the preset angle is detected on the premise that the first-stage neutral learning is not performed is also included. By carrying out staged median learning on the four-wheel steering vehicle, the influence of a rear wheel steering system on the straight running of the vehicle is effectively reduced, the problem of vehicle body irregularity of the four-wheel steering vehicle is solved, and the accuracy of the median learning is improved.
Further, the running information includes a vehicle speed, a yaw rate, and a steering wheel torque, and the preset conditions are: the vehicle speed is greater than a preset vehicle speed, the yaw angular speed is less than a preset angular speed, and the steering wheel torque is less than a preset torque.
The straight-driving state of the vehicle is judged according to the vehicle speed, the yaw rate and the steering wheel torque, and neutral learning is carried out when the vehicle speed, the yaw rate and the steering wheel torque all meet the conditions.
Further, the setting the front wheel steering angle in the current state to zero degrees when the running information satisfies the preset condition, and returning to step S1 further includes:
obtaining a learning factor Qf according to the driving information;
when the learning factor Qf is less than or equal to 0.5, a reduction return signal is sent to the auto-return system to cause it to reduce the performance of auto-return, reducing the torque in the front wheel steering return.
The learning factor Qf directly reflects the effect of current median learning, and the value range is 0-1. The range of the learning factor of the first stage is 0-0.5, and the range of the learning factor of the second stage is 0.5-1. The magnitude of the vehicle speed, the steering wheel torque, and the vehicle yaw rate at each stage affects the magnitude of the output median factor Qf, and the output median factor Qf is larger as the vehicle speed is higher, the steering wheel torque is smaller, and the yaw rate is smaller. When the learning factor Qf is smaller (less than 0.5), the reduction aligning signal is sent to the automatic aligning system to reduce the automatic aligning performance, so that the moment in the front wheel steering is reduced, the influence of the automatic aligning function on the vehicle deviation is reduced, and the learning speed is accelerated.
Further, when the driving information meets the preset condition, the front wheel steering angle in the current state is set to be zero, and the implementation of the neutral learning further comprises:
obtaining a learning factor Qf according to the driving information;
when the learning factor Qf is greater than 0.5, a recovery signal is sent to the auto-recovery system to recover its auto-recovery performance.
And after the learning of the second stage is carried out, the learning factor range is 0.5-1. When the learning factor Qf is large (greater than 0.5), the self-righting performance is restored, ensuring the driving experience of the driver.
Further, the method for controlling the vehicle to run straight and acquiring the vehicle information in response to the front wheel center position offset signal, wherein the vehicle information comprises a rear wheel angle and running information, and specifically, the method for controlling the vehicle to run straight comprises the following steps: the front wheels of the vehicle are controlled to deflect, and the rear wheels deflect according to the deflection angle of the front wheels, so that the vehicle can run linearly.
When the vehicle is controlled to initially realize straight-line driving, the real-time angle and the real-time direction for controlling the rotation of the rear wheel are obtained according to the real-time angle and the real-time direction for controlling the rotation of the front wheel, namely the control of the rotation angle of the rear wheel is input according to the output rotation angle of the front wheel, so that when the front wheel deflects to realize straight-line driving, the rotation angle of the rear wheel under the straight-line driving is synchronously reduced. In the embodiment, the steering wheel is controlled to rotate through an automatic driving technology so as to control the vehicle to realize straight line driving, and in other embodiments, the angle of the steering wheel can be manually adjusted by a driver so that the vehicle can be in a straight line driving position.
Further, the setting of the front wheel steering angle in the current state to zero degree includes:
sending a wheel zero signal to a front wheel steering system to enable the front wheel steering system to set the front wheel angle in the current state to be zero.
And the front wheel steering system performs middle learning on the current position again by sending a wheel zero setting signal to the front wheel steering system.
Further, the preset angle ranges from 5 degrees to 10 degrees.
The present embodiment also provides a neutral learning device for a four-wheel-steering vehicle, as shown in fig. 2, including:
the information acquisition module 10 is used for responding to a front wheel middle offset signal when a vehicle runs in a straight line, and acquiring vehicle information, wherein the vehicle information comprises a rear wheel angle and running information;
the judging module 20 is configured to judge whether the rear wheel angle is greater than a preset angle;
a first executing module 30, configured to, when the driving information satisfies a preset condition when the rear wheel angle is greater than the preset angle, set the front wheel steering angle in the current state to zero, and return to the step S1: controlling a vehicle to run linearly, and responding to a center offset signal of a front wheel to acquire vehicle information, wherein the vehicle information comprises a rear wheel angle and running information;
and the second execution module 40 is configured to set the front wheel steering angle in the current state to zero degree when the driving information meets a preset condition under the condition that the rear wheel angle is smaller than or equal to the preset angle, so as to implement neutral learning.
According to the invention, the mid-position learning is carried out by utilizing the rear wheel angle information sent by the existing rear wheel steering system, the rear wheel steering system is not required to be correspondingly changed, and finally the mid-position learning method, the device and the system of the four-wheel steering vehicle are established, so that the development cost is reduced.
The embodiment also provides a middle learning system for a four-wheel steering vehicle, which comprises a front-wheel steering system, a rear-wheel steering system and the middle learning device for the four-wheel steering vehicle, wherein the middle learning system for the four-wheel steering vehicle is used for realizing the middle learning of the front-wheel steering system and the rear-wheel steering system through the middle learning device for the four-wheel steering vehicle.
Further, the front wheel steering system further comprises an automatic aligning device, and the automatic aligning device is used for controlling the front wheel of the vehicle to return to the middle position of the front wheel when the steering wheel is not controlled manually.
The present embodiment also provides a storage medium having stored thereon a computer program that, when executed by a processor, causes the processor to perform the steps of the above-described median learning method for a four-wheel-steering vehicle.
The present embodiment also provides a computer apparatus comprising a memory and a processor, the memory having stored therein a computer program which, when executed by the processor, causes the processor to perform the steps of the above-described median learning method for a four-wheel-steering vehicle.
The working principle of the embodiment is as follows:
1) in the initial state of the vehicle, the center position of the front wheel of the vehicle is in a deviated state, and the reason may be that the vehicle just or the front wheel steering system assembly replaces a sample. If the steering wheel is loosened, the vehicle can drive the front wheel to deflect towards the inner zero position due to the automatic centering function of the front wheel steering system, and the vehicle can deflect in a free state. Due to the fact that the center position is not correct, the front wheels and the rear wheels are not in the middle position to achieve vehicle running, and therefore the vehicle body and the vehicle running direction are not consistent, as shown in fig. 3, when the vehicle runs in a straight line but the vehicle body is in a non-correct state, the direction A is the vehicle body direction, and the direction B is the wheel direction, namely the phenomenon that the vehicle body is not correct occurs.
2) When the vehicle deviates, the steering wheel is adjusted to enable the vehicle to run in a straight line by means of an automatic driving technology or a mode of manually intervening the steering wheel. The front wheel steering system maintains the wheels at an angle that is the neutral offset angle of the front wheels under the above conditions. The rotating angle of the rear wheel and the rotating angle of the front wheel have input and output relations, and the rear wheel has a certain angle at the same time, and the angle is consistent with the angle of the front wheel and the angle of the rear wheel with the angle of the front wheel.
3) When the vehicle is traveling straight, the front wheel steering system receives and monitors vehicle speed, steering wheel torque, and vehicle yaw rate, as well as the current real-time rear wheel steering signals. The middle learning device judges the vehicle running condition according to the four pieces of information. Distinguishing the mode entering the first stage middle position learning or the mode entering the second stage middle position learning through the size of the rear wheel angle: and judging whether the angle of the rear wheel is larger than a preset angle, if so, entering the first-stage neutral learning, and if not, directly entering the second-stage neutral learning. When the four conditions that the vehicle speed is greater than the preset vehicle speed, the yaw rate is less than the preset angular speed and the steering wheel torque is less than the preset torque are all met, middle position learning is carried out, and the front wheel steering angle in the current state is set to be zero. After the first-stage neutral learning is finished, whether the second-stage neutral learning is started or not needs to be judged again according to the rear wheel angle in the current state, if the rear wheel angle is still larger than the preset angle, the first-stage neutral learning is carried out again, and if the rear wheel angle is smaller than the preset angle, the second-stage neutral learning is carried out.
4) When the vehicle speed, the yaw rate, the steering wheel torque and the rear wheel angle all meet preset conditions, the middle learning in the first stage is carried out, the previous zero position is deleted, the current turning angle is set to be 0 degree, meanwhile, the learning factor Qf of the middle learning is set to be a value not larger than 0.5, and the specific value of Qf is determined according to the vehicle speed, the yaw rate and the steering wheel torque.
5) After the first stage of the middle position learning is completed, the front wheel and the actual middle position corner are within a smaller deviation range, and the control of the rear wheel corner is input through the front wheel output corner, so that the corner of the rear wheel under the straight line driving is synchronously reduced, when the rear wheel angle is smaller than the preset angle and the vehicle speed, the yaw rate and the steering wheel torque also meet the preset conditions, the second stage of the middle position learning is carried out, and at the moment, the middle position learning factor Qf is increased to be more than 0.5 (the upper limit is 1).
6) At the moment, the neutral angles of the front wheel and the rear wheel are continuously converged to be near a real zero position through repeated and continuous learning, so that the front wheel and the rear wheel are near zero degrees when the vehicle runs in a straight line, and the purpose that the vehicle runs in a straight line completely without deviation in a free state is achieved.
Through the above specific embodiments, the following technical effects are achieved:
1) according to the neutral learning method, device and system for the four-wheel steering vehicle, the neutral learning of the four-wheel steering vehicle is performed by utilizing the rear wheel steering angle information provided by the rear wheel steering system, the influence of the rear wheel steering system on the straight running of the vehicle is effectively reduced, the problem of vehicle body irregularity of the four-wheel steering vehicle is solved, and the neutral learning accuracy is improved;
2) by performing staged middle position learning according to the rear wheel angle, the deviation condition of the vehicle is reduced when learning is not completed, and meanwhile, the accuracy of middle position learning is considered;
3) according to the invention, the mid-position learning is carried out by utilizing the rear wheel angle information sent by the existing rear wheel steering system, the rear wheel steering system is not required to be correspondingly changed, and finally the mid-position learning method, the device and the system of the four-wheel steering vehicle are established, so that the development cost is reduced.
It is noted that for the sake of simplicity, each of the above-described method embodiments is described as a series of acts, but it should be understood by those skilled in the art that the present invention is not limited by the order of acts described, as some steps may be performed in other orders or simultaneously according to the present invention. Similarly, the modules of the median learning device for a four-wheel-steering vehicle are computer programs or program segments for performing one or more specific functions, and the distinction between the modules does not mean that the actual program code is necessarily separate. Further, the above embodiments may be arbitrarily combined to obtain other embodiments.
In the foregoing embodiments, the descriptions of the embodiments have respective emphasis, and reference may be made to related descriptions of other embodiments for parts that are not described in detail in a certain embodiment. Those of skill in the art will further appreciate that the various illustrative logical blocks, units, and steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both. To clearly illustrate the interchangeability of hardware and software, various illustrative components, elements, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design requirements of the overall system. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present embodiments.
The foregoing description has disclosed fully preferred embodiments of the present invention. It should be noted that those skilled in the art can make modifications to the embodiments of the present invention without departing from the scope of the appended claims. Accordingly, the scope of the appended claims is not to be limited to the specific embodiments described above.
Claims (10)
1. A neutral learning method for a four-wheel-steering vehicle, wherein a real-time angle and a real-time direction for controlling rotation of rear wheels are obtained based on a real-time angle and a real-time direction for rotation of front wheels, the method comprising:
s1, controlling a vehicle to run linearly, responding to a middle offset signal of a front wheel, and acquiring vehicle information, wherein the vehicle information comprises a rear wheel angle and running information;
s2, judging whether the angle of the rear wheel is larger than a preset angle or not;
s3, if yes, when the driving information meets the preset condition, setting the front wheel steering angle in the current state to be zero, and returning to the step S1;
and S4, if not, when the running information meets the preset condition, setting the front wheel steering angle in the current state to be zero, and realizing neutral learning.
2. The neutral learning method for a four-wheel-steering vehicle according to claim 1, wherein the running information includes a vehicle speed, a yaw rate, and a steering wheel torque, and the preset conditions are: the vehicle speed is greater than a preset vehicle speed, the yaw angular speed is less than a preset angular speed, and the steering wheel torque is less than a preset torque.
3. The neutral learning method for a four-wheel-steering vehicle according to claim 1, wherein the setting the front wheel steering angle at the current state to zero degrees when the running information satisfies a preset condition, and returning to step S1 further comprises:
obtaining a learning factor Qf according to the driving information;
when the learning factor Qf is less than or equal to 0.5, a reduction return signal is sent to the auto-return system to cause it to reduce the performance of auto-return, reducing the torque in the front wheel steering return.
4. The neutral learning method for a four-wheel-steering vehicle according to claim 3, wherein the setting of the front wheel steering angle in the current state to zero degrees when the running information satisfies a preset condition, the implementing neutral learning further comprises:
obtaining a learning factor Qf according to the driving information;
when the learning factor Qf is greater than 0.5, a recovery signal is sent to the auto-recovery system to recover its auto-recovery performance.
5. The neutral learning method for a four-wheel-steering vehicle according to claim 2, wherein the method of controlling the vehicle to travel straight, and the vehicle information including the rear wheel angle and the travel information is acquired in response to the front wheel neutral shift signal, and specifically, the method of controlling the vehicle to travel straight is: the front wheels of the vehicle are controlled to deflect, and the rear wheels deflect according to the deflection angle of the front wheels, so that the vehicle can run linearly.
6. The neutral learning method for a four-wheel-steering vehicle according to claim 5, wherein the setting of the front wheel steering angle in the current state to zero degrees comprises:
sending a wheel zero signal to a front wheel steering system to enable the front wheel steering system to set the front wheel angle in the current state to be zero.
7. The neutral learning method for a four-wheel-steering vehicle according to claim 1, wherein the preset angle is in a range of 5 ° to 10 °.
8. A neutral learning apparatus for a four-wheel-steering vehicle, the apparatus comprising:
the information acquisition module is used for responding to a middle offset signal of a front wheel when a vehicle runs in a straight line and acquiring vehicle information, wherein the vehicle information comprises a rear wheel angle and running information;
the judging module is used for judging whether the angle of the rear wheel is larger than a preset angle or not;
a first executing module, configured to, when the driving information satisfies a preset condition and the rear wheel angle is greater than the preset angle, set the front wheel angle in the current state to zero, and return to step S1: controlling a vehicle to run linearly, and responding to a center offset signal in a front wheel to acquire vehicle information, wherein the vehicle information comprises a rear wheel angle and running information;
and the second execution module is used for setting the front wheel steering angle in the current state to be zero degree when the driving information meets the preset condition under the condition that the rear wheel angle is smaller than or equal to the preset angle, so that neutral learning is realized.
9. A neutral learning system for a four-wheel-steering vehicle, characterized in that the system comprises a front-wheel steering system, a rear-wheel steering system, and the neutral learning apparatus for a four-wheel-steering vehicle according to claim 8, the neutral learning system for a four-wheel-steering vehicle being configured to implement neutral learning of the front-wheel steering system and the rear-wheel steering system by the neutral learning apparatus for a four-wheel-steering vehicle.
10. The neutral learning system for a four-wheel-steering vehicle according to claim 9, wherein the front-wheel steering system further comprises an auto-centering device for controlling the front-wheel of the vehicle to be centered in the front wheel without human control of the steering wheel.
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