CN112026919B - Vehicle steering control method and device, vehicle and medium - Google Patents
Vehicle steering control method and device, vehicle and medium Download PDFInfo
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- CN112026919B CN112026919B CN202010937066.9A CN202010937066A CN112026919B CN 112026919 B CN112026919 B CN 112026919B CN 202010937066 A CN202010937066 A CN 202010937066A CN 112026919 B CN112026919 B CN 112026919B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/001—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits the torque NOT being among the input parameters
Abstract
The invention discloses a vehicle steering control method, which comprises the following steps: after receiving a backing request, determining the front wheel brake pressure of the vehicle according to the detected current gradient value; and determining the wheel speed of the front wheel of the vehicle according to the detected wheel speed of the rear wheel of the vehicle, the detected brake pressure of the rear wheel of the vehicle and the detected brake pressure of the front wheel of the vehicle, so as to realize steering control of the vehicle. When the vehicle is in a steep slope and a backing request is received, the steering control of the vehicle is realized through the restriction relationship among the front wheel brake pressure, the rear wheel brake pressure, the front wheel speed and the rear wheel speed of the vehicle.
Description
Technical Field
The embodiment of the invention relates to a vehicle control technology, in particular to a vehicle steering control method, a vehicle steering control device, a vehicle and a medium.
Background
Wheel anti-lock technology has been invented and applied for many years, and when the wheels are locked, the wheels lose lateral force, so that the vehicle is easy to drift or cannot steer. In the conventional anti-lock control logic, when the vehicle speed is low and is less than a certain value, the anti-lock control is exited to ensure that the vehicle is stopped quickly.
Under special operating mode, like cross-country operating mode, when the abrupt slope is fallen down, the driver can step on the braking, controls very low speed of a motor vehicle, because the vehicle is on the abrupt slope, axle load shifts to the rear axle, can appear this moment that the rear axle wheel has the speed of a motor vehicle, the front wheel locking condition, this kind of condition can lead to losing and turn to. If the driver releases the brakes more, the wheel speed of the front wheels is restored, and the steering capacity is restored, so that the vehicle speed is too high, and the vehicle is very dangerous on a steep slope.
In the prior art, an anti-lock brake system is adopted to repeatedly release and brake a thoroughly locked wheel, so that the direction is effectively prevented from being out of control. However, in the prior art, under the condition of reversing on a steep slope, the steering capacity of the vehicle is difficult to ensure.
Disclosure of Invention
The invention provides a vehicle steering control method, a vehicle steering control device, a vehicle and a medium, which are used for realizing steering control of the vehicle.
In a first aspect, an embodiment of the present invention provides a vehicle steering control method, including:
after receiving a backing request, determining the front wheel brake pressure of the vehicle according to the detected current gradient value;
and determining the wheel speed of the front wheel of the vehicle according to the detected wheel speed of the rear wheel of the vehicle, the detected brake pressure of the rear wheel of the vehicle and the detected brake pressure of the front wheel of the vehicle, so as to realize steering control of the vehicle.
In a second aspect, an embodiment of the present invention further provides a vehicle steering control apparatus, including: a first execution module and a second execution module, wherein,
the first execution module is used for determining the front wheel brake pressure of the vehicle according to the detected current gradient value after receiving a backing request;
and the second execution module is used for determining the wheel speed of the front wheel of the vehicle according to the detected wheel speed of the rear wheel of the vehicle, the detected brake pressure of the rear wheel of the vehicle and the detected brake pressure of the front wheel of the vehicle, so as to realize the steering control of the vehicle.
In a third aspect, an embodiment of the present invention further provides a vehicle, including:
one or more processors;
storage means for storing one or more programs;
sensing means for detecting vehicle information;
when executed by the one or more processors, cause the one or more processors to implement the vehicle steering control method of any of claims 1-7.
In a fourth aspect, embodiments of the present invention also provide a storage medium containing computer-executable instructions which, when executed by a computer processor, are configured to perform the vehicle steering control method according to the first aspect.
According to the invention, after a backing request is received, the front wheel brake pressure of a vehicle is determined according to the detected current gradient value; and determining the wheel speed of the front wheel of the vehicle according to the detected wheel speed of the rear wheel of the vehicle, the detected brake pressure of the rear wheel of the vehicle and the detected brake pressure of the front wheel of the vehicle, so as to realize steering control of the vehicle. When the vehicle is in a steep slope and a backing request is received, the problem that the steering capacity of the vehicle is difficult to guarantee when the vehicle is backed in the steep slope is solved through the restriction relationship among the front wheel brake pressure, the rear wheel brake pressure, the front wheel speed and the rear wheel speed of the vehicle, and the steering control of the vehicle is realized.
Drawings
Fig. 1 is a flowchart of a vehicle steering control method according to an embodiment of the present invention;
fig. 2 is a flowchart of a vehicle steering control method according to a second embodiment of the present invention;
fig. 3 is a flowchart illustrating an implementation of a vehicle steering control method according to a second embodiment of the present invention;
fig. 4 is a structural diagram of a vehicle steering control apparatus according to a third embodiment of the present invention;
fig. 5 is a schematic structural diagram of a vehicle according to a fourth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a flowchart of a vehicle steering control method according to an embodiment of the present invention, where the embodiment is applicable to a situation where a vehicle backs up on a steep slope, and the method may be executed by a vehicle system, and specifically includes the following steps: a vehicle steering control method characterized by comprising:
and step 110, after receiving a backing request, determining the front wheel brake pressure of the vehicle according to the detected current gradient value.
When the vehicle is in the abrupt slope and the locomotive is towards the higher side of abrupt slope, the axle load of the vehicle is transferred to the rear wheel more, if backing a car at this moment, there may exist the rear wheel and have a wheel speed, the condition that the front wheel locks, it is comparatively dangerous, so after receiving the request of backing a car, according to current gradient value, calculate or deduce the front wheel brake pressure of vehicle.
Wherein, the current gradient value can be detected by detecting the gravity center position of the vehicle.
Under the condition of the stress analysis of the vehicle, the front wheel brake pressure of the vehicle can be determined according to the gradient value. In addition, a data relationship between the front wheel brake pressure of the vehicle and the rear wheel brake pressure of the vehicle can be determined from the gradient value, and the front wheel brake pressure can be further determined from the data relationship and the detected rear wheel brake pressure.
It should be noted that the reverse request may be triggered according to the reverse operation of the driver.
After the front wheel brake pressure is determined, the front wheels may be depressurized according to the determined front wheel brake pressure. Pressure relief can reduce the over-pressure condition to the front wheels, thereby reducing braking to the front wheels.
The adjustment of the front wheel brake pressure can be achieved by means of a brake pressure regulator. A brake pressure regulator is one of the basic components of a vehicle braking system. The brake pressure regulator is connected in series between the brake master cylinder and the wheel cylinder, and directly or indirectly controls the brake pressure of the wheel cylinder through the electromagnetic valve. Generally, a brake pressure regulator in which an electromagnetic valve directly controls the braking pressure of a wheel cylinder is called a cyclic regulator, and a brake pressure regulator in which the braking pressure is indirectly controlled is called a variable displacement regulator.
And step 120, determining the wheel speed of the front wheel of the vehicle according to the detected wheel speed of the rear wheel of the vehicle, the braking pressure of the rear wheel of the vehicle and the braking pressure of the front wheel of the vehicle, and realizing the steering control of the vehicle.
In order to enable the vehicle to back at a low speed on a steep slope, the speed of a front wheel, the speed of a rear wheel, the braking pressure of the front wheel and the braking pressure of the rear wheel can be mutually restricted, the braking pressure of the front wheel is changed, and the speed of the front wheel can be changed; the rear wheel brake pressure may also be varied by varying the front wheel brake pressure. Therefore, the speed of the front wheel can be determined according to the speed of the rear wheel, the braking pressure of the rear wheel and the braking pressure of the front wheel, when the speed of the front wheel is greater than zero, the locking state of the front wheel of the vehicle is relieved, the vehicle can be safely backed at a low speed, and the steering control of the vehicle is realized.
The speed sensor can be used for detecting the wheel speed of the rear wheel of the vehicle; or the speed detector is used for detecting the wheel speed of the rear wheel of the vehicle, the speed detector can be used for detecting the speed of the running vehicle, and the speed detector comprises a handheld radar Doppler detector and can detect the speed of the vehicle based on the Doppler effect that the speed of the vehicle is in direct proportion to the change of the microwave frequency. The detector emits microwave, and according to the Doppler effect of the reflected wave, the position and speed reading of the automobile can be indicated from the end display; the rear wheel speed can be detected by timing photography, continuous photography and aerial photography.
The detection of the rear wheel brake pressure and the front wheel brake pressure of the vehicle can be realized through the pressure sensor; or the detection of the rear wheel brake Pressure and the front wheel brake Pressure of the vehicle can be realized by a Tire Pressure Monitoring System (TPMS), and the TPMS can automatically monitor the Tire air Pressure in real time during the running process of the vehicle and alarm the Tire air leakage and low air Pressure so as to ensure the running safety.
It should be noted that when the vehicle is on a steep slope with a slope greater than a first preset slope, the wheel speed of the rear wheel is greater than zero, and the wheel speed of the rear wheel and the wheel speed of the front wheel conform to a preset first inequality, the vehicle steering control mode can be started; when the vehicle is in a steep slope larger than a first preset gradient, the vehicle is in a reverse gear or a neutral gear, the vehicle is in a braking mode, and the wheel speed of the rear wheels and the wheel speed of the front wheels accord with a preset second inequality, a vehicle steering control standby mode can be started; the vehicle steering control mode may be turned off when the vehicle is in drive, starting gear, or not entering a braking mode.
In addition, when the vehicle is on a steep slope larger than the first preset gradient, the vehicle is in a reverse gear or a neutral gear, and the driver steps on the brake to enter a braking mode, the vehicle can enter a vehicle steering control standby mode from a vehicle steering control off mode; when the vehicle is in a driving gear, the vehicle is in a starting gear, the driver releases the brake to exit the brake mode or the gradient of the vehicle is less than a second preset gradient, the vehicle can enter a vehicle steering control closing mode from a vehicle steering control standby mode; when the vehicle is in a vehicle steering control standby mode and the wheel speed of the rear wheels and the wheel speed of the front wheels conform to a preset first inequality, the vehicle can enter the vehicle steering control mode from the vehicle steering control standby mode; when the vehicle is in a vehicle steering control mode and the wheel speed of the rear wheels and the wheel speed of the front wheels accord with a preset second inequality, the vehicle can enter a vehicle steering control standby mode from the vehicle steering control mode; when the vehicle is in the vehicle steering control mode and the vehicle is in the drive gear, the vehicle is in the start gear, the driver releases the brake to exit the brake mode, or the vehicle is on a grade less than a second preset grade, the vehicle may enter the off vehicle steering control mode from the vehicle steering control mode.
The first preset inequality may include:
the second preset inequality may include:
the first preset gradient may include: the third percentage, the second predetermined slope may include: a fourth percentage, wherein the first percentage is greater than the second percentage and the third percentage is greater than the fourth percentage.
The vehicle steering control device provided by the embodiment determines the front wheel brake pressure of the vehicle according to the detected current gradient value after receiving the backing request; and determining the wheel speed of the front wheel of the vehicle according to the detected wheel speed of the rear wheel of the vehicle, the detected brake pressure of the rear wheel of the vehicle and the detected brake pressure of the front wheel of the vehicle, so as to realize steering control of the vehicle. When the vehicle is in a steep slope and a backing request is received, the problem that the steering capacity of the vehicle is difficult to guarantee when the vehicle is backed in the steep slope is solved through the restriction relationship among the front wheel brake pressure, the rear wheel brake pressure, the front wheel speed and the rear wheel speed of the vehicle, and the steering control of the vehicle is realized.
Example two
Fig. 2 is a flowchart of a vehicle steering control method according to a second embodiment of the present invention, which is embodied on the basis of the second embodiment. In this embodiment, the method includes:
step 210, after receiving a backing request, determining the front wheel brake pressure of the vehicle according to the detected current gradient value.
In one embodiment, step 210 includes:
and determining the friction force information of the vehicle according to the detected current gradient value.
Specifically, an included angle between the friction force and the gravity of the vehicle can be determined according to the current gradient value, and the stress analysis of the vehicle can be performed according to the included angle, the friction force, the gravity, the supporting force and the backing acceleration of the vehicle on the steep slope.
The front wheel brake pressure of the vehicle is determined from the friction of the vehicle, the weight of the vehicle and the current longitudinal acceleration of the vehicle.
In particular, from the force analysis, the front wheel brake pressure of the vehicle can be determined.
It should be noted that, in practical application, the vehicle may also be subjected to other forces, and the force applied to the vehicle is decomposed and synthesized according to the force analysis to determine the front wheel brake pressure of the vehicle.
In another embodiment, step 210 includes:
and searching a pre-constructed first information table according to the detected current gradient value, and determining the data relation between the front wheel brake pressure of the vehicle and the rear wheel brake pressure of the vehicle.
Specifically, the first information table may include a data relationship between front wheel brake pressure and rear wheel brake pressure of the vehicle. The data relationship may include the front wheel brake pressure being less than or equal to the rear wheel brake pressure. Of course, in practical applications, the data relationship between the front wheel brake pressure and the rear wheel brake pressure may also be defined by a specific gradient value.
And determining the front wheel brake pressure of the vehicle according to the data relation between the front wheel brake pressure of the vehicle and the rear wheel brake pressure of the vehicle and the detected rear wheel brake pressure of the vehicle.
In particular, the foregoing steps have determined a data relationship between the front wheel brake pressure and the rear wheel brake pressure of the vehicle, which may together determine the front wheel brake pressure.
And step 220, determining the wheel speed of the front wheel of the vehicle according to the detected wheel speed of the rear wheel of the vehicle, the braking pressure of the rear wheel of the vehicle and the braking pressure of the front wheel of the vehicle, and realizing the steering control of the vehicle.
In one embodiment, step 220 includes:
and determining the target front wheel speed of the vehicle according to the front wheel brake pressure of the vehicle.
Specifically, the front wheel brake pressure increases, and the target front wheel speed decreases; the front wheel brake pressure decreases and the target front wheel speed increases. In this embodiment, in order to reduce the occurrence of the locking phenomenon of the front wheel and ensure the low-speed running of the vehicle, the braking pressure of the front wheel may be sequentially reduced, and then the wheel speed of the target front wheel may be sequentially increased. When the vehicle can normally back up at a low speed, the target front wheel speed of the vehicle is determined.
First relationship information between a front wheel brake pressure of the vehicle and a rear wheel brake pressure of the vehicle is determined based on the target front wheel speed.
In one embodiment, determining first relationship information between a front wheel brake pressure of a vehicle and a rear wheel brake pressure of the vehicle based on a target front wheel speed specifically includes:
second relationship information between the target front wheel speed and the rear wheel speed of the vehicle is determined based on the target front wheel speed.
Specifically, the second relationship information may include a percentage relationship between the target front wheel speed and the rear wheel speed. The percentage relationship between the target front wheel speed and rear wheel speed may be determined based on vehicle weight.
It should be noted that the maximum vehicle speed during the reversing process may be preset, for example, the maximum vehicle jam may be 3 km/h, and the wheel speed of the control wheel during the whole reversing process does not exceed the preset maximum vehicle speed.
First relation information between a front wheel brake pressure of the vehicle and a rear wheel brake pressure of the vehicle is determined according to a rear wheel speed of the vehicle and second relation information between a target front wheel speed and the rear wheel speed of the vehicle.
Specifically, the rear wheel brake pressure may be determined according to the rear wheel speed, the front wheel brake pressure may be determined according to the front wheel speed, and then the first relationship information between the front wheel brake pressure of the vehicle and the rear wheel brake pressure of the vehicle may be determined according to the rear wheel brake pressure and the front wheel brake pressure.
The first relationship information may include a magnitude relationship between the front wheel brake pressure and the rear wheel brake pressure.
And determining the wheel speed of the front wheel of the vehicle according to the comparison result of the braking pressure of the front wheel of the vehicle and the braking pressure of the rear wheel of the vehicle and the second relation information of the wheel speed of the rear wheel of the vehicle and the target wheel speed, so as to realize the steering control of the vehicle.
In one embodiment, determining a wheel speed of a front wheel of a vehicle according to a comparison result between a braking pressure of the front wheel of the vehicle and a braking pressure of a rear wheel of the vehicle and second relationship information between the wheel speed of the rear wheel of the vehicle and a target wheel speed, so as to implement steering control of the vehicle specifically includes:
and if the braking pressure of the front wheel of the vehicle is less than or equal to the braking pressure of the rear wheel of the vehicle and the wheel speed of the target front wheel meet the preset condition, determining the wheel speed of the front wheel of the vehicle, and realizing the steering control of the vehicle.
The preset condition may include a percentage relationship between the wheel speed of the front wheels and the wheel speed of the rear wheels. The specific percentage may be determined based on the actual vehicle weight, and is not particularly limited herein.
The front wheel brake pressure of the vehicle is smaller than or equal to the rear wheel brake pressure of the vehicle, the rear wheel speed of the vehicle and the target front wheel speed meet preset conditions, and under the premise that the two conditions are met simultaneously, the front wheel speed can be determined, so that the steering control of the vehicle can be realized.
Otherwise, the front wheel brake pressure of the vehicle is determined according to the current gradient value.
Of course, if the vehicle cannot be effectively steered, the front wheel brake pressure can be continuously adjusted, and then the front wheel speed can be adjusted until the two conditions are met.
And step 230, when the wheel speed of the front wheel of the vehicle is greater than zero, controlling the brake pressure of the front wheel to be kept unchanged, and finishing reversing.
When the speed of the front wheel is larger than zero, the front wheel and the rear wheel of the vehicle can rotate simultaneously, the occurrence of wheel locking is reduced, the possibility of dangerous accidents is reduced, and the steering control of the vehicle is realized.
When the wheel speed of the front wheel is larger than zero, the brake pressure of the front wheel at the moment can be kept, and the vehicle backing on the steep slope is completed.
The vehicle steering control device provided by the embodiment determines the front wheel brake pressure of the vehicle according to the detected current gradient value after receiving the backing request; determining the wheel speed of the front wheel of the vehicle according to the detected wheel speed of the rear wheel of the vehicle, the detected brake pressure of the rear wheel of the vehicle and the detected brake pressure of the front wheel of the vehicle, and realizing the steering control of the vehicle; and when the wheel speed of the front wheel of the vehicle is greater than zero, controlling the braking pressure of the front wheel to be kept unchanged, and finishing reversing. When the vehicle is in a steep slope and a backing request is received, the problem that the steering capacity of the vehicle is difficult to guarantee when the vehicle is backed in the steep slope is solved through the restriction relationship among the front wheel brake pressure, the rear wheel brake pressure, the front wheel speed and the rear wheel speed of the vehicle, and the steering control of the vehicle is realized.
Fig. 3 is a flowchart of implementation of a vehicle steering control method according to a second embodiment of the present invention, and an implementation manner of the method is exemplarily shown. As shown in figure 3 of the drawings,
specifically, the preset gradient value may be determined according to the vehicle.
specifically, the wheel speed of the front wheel and the wheel speed of the rear wheel meet second relation information, the braking pressure of the front wheel is smaller than or equal to the braking pressure of the rear wheel, and pressure relief of the front wheel is achieved.
And step 330, when the wheel speed of the front wheel is detected to be larger than zero, controlling the brake pressure of the front wheel not to change any more, and finishing reversing.
When the wheel speed of the current wheel is larger than zero, the front wheel of the vehicle is rotated, the occurrence of the locking phenomenon of the front wheel of the vehicle is reduced, the possibility of dangerous accidents is reduced, and the steering control of the vehicle is realized.
EXAMPLE III
Fig. 4 is a structural diagram of a vehicle steering control device according to a third embodiment of the present invention, where the device may be applied to a situation where a vehicle backs up on a steep slope, so as to implement steering control of the vehicle. The device can be implemented by software and/or hardware, and is generally integrated in a vehicle system, such as an automobile or a car.
As shown in fig. 4, the apparatus includes: a first execution module 410 and a second execution module 420, wherein,
the first execution module 410 is configured to, after receiving a reverse request, determine a front wheel brake pressure of the vehicle according to a detected current gradient value;
the second executing module 420 is configured to determine a wheel speed of a front wheel of the vehicle according to the detected wheel speed of the rear wheel of the vehicle, the detected brake pressure of the rear wheel of the vehicle, and the detected brake pressure of the front wheel of the vehicle, so as to implement steering control of the vehicle.
The vehicle steering control device provided by the embodiment determines the front wheel brake pressure of the vehicle according to the detected current gradient value after receiving the backing request; and determining the wheel speed of the front wheel of the vehicle according to the detected wheel speed of the rear wheel of the vehicle, the detected brake pressure of the rear wheel of the vehicle and the detected brake pressure of the front wheel of the vehicle, so as to realize steering control of the vehicle. When the vehicle is in a steep slope and a backing request is received, the problem that the steering capacity of the vehicle is difficult to guarantee when the vehicle is backed in the steep slope is solved through the restriction relationship among the front wheel brake pressure, the rear wheel brake pressure, the front wheel speed and the rear wheel speed of the vehicle, and the steering control of the vehicle is realized.
On the basis of the foregoing embodiment, the first executing module 410 is specifically configured to:
determining the friction force of the vehicle according to the detected current gradient value;
determining the front wheel brake pressure of the vehicle according to the friction force of the vehicle, the gravity of the vehicle and the current longitudinal acceleration of the vehicle.
On the basis of the foregoing embodiment, the first executing module 410 may further be configured to:
searching a pre-constructed first information table according to the detected current gradient value, and determining a data relation between the front wheel brake pressure of the vehicle and the rear wheel brake pressure of the vehicle;
and determining the front wheel brake pressure of the vehicle according to the data relation between the front wheel brake pressure of the vehicle and the rear wheel brake pressure of the vehicle and the detected rear wheel brake pressure of the vehicle.
On the basis of the foregoing embodiment, the second executing module 420 is specifically configured to:
determining a target front wheel speed of the vehicle according to the front wheel brake pressure of the vehicle.
Determining first relationship information between a front wheel brake pressure of the vehicle and a rear wheel brake pressure of the vehicle based on the target front wheel speed.
In one embodiment, determining first relationship information between a front wheel brake pressure of the vehicle and a rear wheel brake pressure of the vehicle based on the target front wheel speed specifically includes:
determining second relationship information between the target front wheel speed and a rear wheel speed of the vehicle based on the target front wheel speed;
determining first relation information between the front wheel brake pressure of the vehicle and the rear wheel brake pressure of the vehicle according to the rear wheel speed of the vehicle and the relation information between the target front wheel speed and the rear wheel speed of the vehicle.
And determining the wheel speed of the front wheel of the vehicle according to the first relation information of the braking pressure of the front wheel of the vehicle and the braking pressure of the rear wheel of the vehicle and the comparison result of the wheel speed of the rear wheel of the vehicle and the target wheel speed, so as to realize the steering control of the vehicle.
In one embodiment, determining a wheel speed of a front wheel of the vehicle according to first relationship information between a braking pressure of the front wheel of the vehicle and a braking pressure of a rear wheel of the vehicle and a comparison result between the wheel speed of the rear wheel of the vehicle and the target wheel speed, so as to implement steering control of the vehicle specifically includes:
if the front wheel brake pressure of the vehicle is smaller than or equal to the rear wheel brake pressure of the vehicle and the rear wheel speed of the vehicle and the target front wheel speed meet a preset inequality, determining the front wheel speed of the vehicle and realizing the steering control of the vehicle;
otherwise, continuously determining the front wheel brake pressure of the vehicle according to the current gradient value.
On the basis of the above embodiment, the apparatus further includes: a control module that, wherein,
and the control module is used for controlling the front wheel brake pressure to keep unchanged when the wheel speed of the front wheel of the vehicle is greater than zero, so as to finish backing.
The vehicle steering control device provided by the embodiment of the invention can execute the vehicle steering control method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
Example four
Fig. 5 is a schematic structural diagram of a vehicle according to a fourth embodiment of the present invention, as shown in fig. 5, the vehicle includes a processor 510, a memory 520, and a sensing device 530; the number of processors 510 in the vehicle may be one or more, and one processor 510 is taken as an example in fig. 5; the processor 510, memory 520, and sensing device 530 in the vehicle may be connected by a bus or other means, as exemplified by the bus connection in fig. 5.
The memory 520, which is a computer-readable storage medium, may be used to store software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the vehicle steering control method in the embodiment of the present invention (e.g., the first execution module 410 and the second execution module 420 in the vehicle steering control apparatus). The processor 510 executes various functional applications and data processing of the vehicle, i.e., implements the vehicle steering control method described above, by executing software programs, instructions, and modules stored in the memory 520.
The memory 520 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 520 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory 520 may further include memory located remotely from the processor 510, which may be connected to the vehicle over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
And a sensing device 530 for detecting vehicle information. The number of sensors 530 in the vehicle may be one or more, and one sensor 530 is illustrated in fig. 5. The sensors 530 may include speed sensors and pressure sensors, and the vehicle information may include rear wheel speeds, rear wheel brake pressures, front wheel speeds, and front wheel brake pressures.
EXAMPLE five
Fifth, an embodiment of the present invention further provides a storage medium containing computer-executable instructions, which when executed by a computer processor, perform a method for controlling steering of a vehicle, the method comprising:
after receiving a backing request, determining the front wheel brake pressure of the vehicle according to the detected current gradient value;
and determining the wheel speed of the front wheel of the vehicle according to the detected wheel speed of the rear wheel of the vehicle, the detected brake pressure of the rear wheel of the vehicle and the detected brake pressure of the front wheel of the vehicle, so as to realize steering control of the vehicle.
Of course, the storage medium containing the computer-executable instructions provided by the embodiments of the present invention is not limited to the method operations described above, and may also perform related operations in the vehicle steering control method provided by any embodiments of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the above search apparatus, each included unit and module are merely divided according to functional logic, but are not limited to the above division as long as the corresponding functions can be implemented; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (9)
1. A vehicle steering control method characterized by comprising:
after receiving a backing request, determining the front wheel brake pressure of the vehicle according to the detected current gradient value;
determining the wheel speed of the front wheel of the vehicle according to the detected wheel speed of the rear wheel of the vehicle, the detected brake pressure of the rear wheel of the vehicle and the detected brake pressure of the front wheel of the vehicle, and realizing the steering control of the vehicle;
wherein, the determining the wheel speed of the front wheel of the vehicle according to the detected wheel speed of the rear wheel of the vehicle, the detected brake pressure of the rear wheel of the vehicle and the detected brake pressure of the front wheel of the vehicle to realize the steering control of the vehicle comprises the following steps:
determining a target front wheel speed of the vehicle according to the front wheel brake pressure of the vehicle;
determining first relationship information between a front wheel brake pressure of the vehicle and a rear wheel brake pressure of the vehicle based on the target front wheel speed;
and determining the wheel speed of the front wheel of the vehicle according to the comparison result of the braking pressure of the front wheel of the vehicle and the braking pressure of the rear wheel of the vehicle and the second relation information of the wheel speed of the rear wheel of the vehicle and the target wheel speed, so as to realize the steering control of the vehicle.
2. The vehicle steering control method according to claim 1, wherein determining a front wheel brake pressure of the vehicle in accordance with the detected current gradient value includes:
determining friction force information of the vehicle according to the detected current gradient value;
determining the front wheel brake pressure of the vehicle according to the friction force of the vehicle, the gravity of the vehicle and the current longitudinal acceleration of the vehicle.
3. The vehicle steering control method according to claim 1, wherein determining a front wheel brake pressure of the vehicle in accordance with the detected current gradient value includes:
searching a pre-constructed first information table according to the detected current gradient value, and determining a data relation between the front wheel brake pressure of the vehicle and the rear wheel brake pressure of the vehicle;
and determining the front wheel brake pressure of the vehicle according to the data relation between the front wheel brake pressure of the vehicle and the rear wheel brake pressure of the vehicle and the detected rear wheel brake pressure of the vehicle.
4. The vehicle steering control method according to claim 1, wherein determining first relationship information between a front wheel brake pressure of the vehicle and a rear wheel brake pressure of the vehicle based on the target front wheel speed includes:
determining second relationship information between the target front wheel speed and a rear wheel speed of the vehicle based on the target front wheel speed;
and determining first relation information between the front wheel brake pressure of the vehicle and the rear wheel brake pressure of the vehicle according to the rear wheel speed of the vehicle and second relation information between the target front wheel speed and the rear wheel speed of the vehicle.
5. The vehicle steering control method according to claim 1, wherein determining a wheel speed of a front wheel of the vehicle according to a comparison result of a front wheel brake pressure of the vehicle and a rear wheel brake pressure of the vehicle and second relationship information of the wheel speed of the rear wheel of the vehicle and a target front wheel speed, and implementing steering control of the vehicle comprises:
if the front wheel brake pressure of the vehicle is smaller than or equal to the rear wheel brake pressure of the vehicle and the rear wheel speed of the vehicle and the target front wheel speed meet preset conditions, determining the front wheel speed of the vehicle and realizing steering control of the vehicle;
otherwise, continuously determining the front wheel brake pressure of the vehicle according to the current gradient value.
6. The vehicle steering control method according to claim 1, further comprising, after determining a front wheel speed of the vehicle based on the detected rear wheel speed of the vehicle, rear wheel brake pressure of the vehicle, and front wheel brake pressure of the vehicle, and implementing steering control of the vehicle:
and when the wheel speed of the front wheel of the vehicle is greater than zero, controlling the braking pressure of the front wheel to be kept unchanged, and finishing reversing.
7. A vehicle steering control apparatus, characterized by comprising: a first execution module and a second execution module, wherein,
the first execution module is used for determining the front wheel brake pressure of the vehicle according to the detected current gradient value after receiving a backing request;
the second execution module is used for determining the wheel speed of the front wheel of the vehicle according to the detected wheel speed of the rear wheel of the vehicle, the detected brake pressure of the rear wheel of the vehicle and the detected brake pressure of the front wheel of the vehicle, so as to realize steering control of the vehicle;
the second execution module is specifically configured to:
determining a target front wheel speed of the vehicle according to the front wheel brake pressure of the vehicle;
determining first relationship information between a front wheel brake pressure of the vehicle and a rear wheel brake pressure of the vehicle based on the target front wheel speed;
and determining the wheel speed of the front wheel of the vehicle according to the first relation information of the braking pressure of the front wheel of the vehicle and the braking pressure of the rear wheel of the vehicle and the comparison result of the wheel speed of the rear wheel of the vehicle and the target wheel speed, so as to realize the steering control of the vehicle.
8. A vehicle, characterized in that the vehicle comprises:
one or more processors;
storage means for storing one or more programs;
sensing means for detecting vehicle information;
when executed by the one or more processors, cause the one or more processors to implement the vehicle steering control method of any of claims 1-6.
9. A storage medium containing computer executable instructions for performing the vehicle steering control method of any one of claims 1-6 when executed by a computer processor.
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| CN202010937066.9A CN112026919B (en) | 2020-09-08 | 2020-09-08 | Vehicle steering control method and device, vehicle and medium |
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| WO2014016945A1 (en) * | 2012-07-26 | 2014-01-30 | トヨタ自動車株式会社 | Braking/driving force control device |
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| CN111391857A (en) * | 2019-12-24 | 2020-07-10 | 北京理工大学 | Gradient estimation method and system for distributed driving electric automobile |
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| US4886322A (en) * | 1985-02-19 | 1989-12-12 | Kelsey Hayes Company | Vehicle anti-lock brake system |
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|---|---|---|---|---|
| EP0461934A2 (en) * | 1990-06-15 | 1991-12-18 | Mitsubishi Jidosha Kogyo Kabushiki Kaisha | Control method for an antiskid braking system |
| US6199964B1 (en) * | 1997-11-08 | 2001-03-13 | Aisin Seiki Kabushiki Kaisha | Braking control system for an automotive vehicle |
| WO2014016945A1 (en) * | 2012-07-26 | 2014-01-30 | トヨタ自動車株式会社 | Braking/driving force control device |
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