CN113830089A - Rear wheel steering angle control method, device, equipment and storage medium - Google Patents

Rear wheel steering angle control method, device, equipment and storage medium Download PDF

Info

Publication number
CN113830089A
CN113830089A CN202010579597.5A CN202010579597A CN113830089A CN 113830089 A CN113830089 A CN 113830089A CN 202010579597 A CN202010579597 A CN 202010579597A CN 113830089 A CN113830089 A CN 113830089A
Authority
CN
China
Prior art keywords
rear wheel
steering
angle
steering angle
steering wheel
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202010579597.5A
Other languages
Chinese (zh)
Other versions
CN113830089B (en
Inventor
姬生远
韩东冬
潘越
刘咏萱
李晓迪
徐灯福
刘飞
周中坚
张成宝
翁辉
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SAIC Motor Corp Ltd
Shanghai Automotive Industry Corp Group
Original Assignee
SAIC Motor Corp Ltd
Shanghai Automotive Industry Corp Group
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SAIC Motor Corp Ltd, Shanghai Automotive Industry Corp Group filed Critical SAIC Motor Corp Ltd
Priority to CN202010579597.5A priority Critical patent/CN113830089B/en
Publication of CN113830089A publication Critical patent/CN113830089A/en
Application granted granted Critical
Publication of CN113830089B publication Critical patent/CN113830089B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18145—Cornering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/112—Roll movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D17/00—Means on vehicles for adjusting camber, castor, or toe-in
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/20—Steering systems
    • B60W2710/207—Steering angle of wheels

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

The embodiment of the application provides a rear wheel steering control method, a device, equipment and a storage medium, wherein a current operation mode of a steering wheel of a vehicle is determined according to basic driving information by acquiring the basic driving information related to the driving condition of the vehicle, and the operation mode represents hand-force control steering wheel/no-hand-force control steering wheel; generating a target rear wheel steering angle matched with the operation mode by using the basic driving information, wherein the target rear wheel steering angle is a rear wheel steering angle required by currently controlling a steering wheel without depending on hand force and keeping the vehicle from deviating; and then the actual rear wheel corner of the vehicle is controlled based on the target rear wheel corner, so that the deviation working condition can be corrected, the situation that the driver needs to maintain large hand force all the time to correct the deviation of the vehicle is avoided, the operation strength of the driver is reduced, and the driving safety is improved.

Description

Rear wheel steering angle control method, device, equipment and storage medium
Technical Field
The present invention relates to the field of automotive technologies, and in particular, to a method, an apparatus, a device, and a storage medium for controlling a rear wheel steering angle.
Background
Due to the limited arrangement space of the front cabin of the vehicle, the load difference of the left wheel and the right wheel of the vehicle, the length and the horizontal included angle of the left driving shaft and the right driving shaft are inconsistent, the left front suspension part and the right front suspension part cannot be completely symmetrical (the front-drive vehicle is particularly obvious), the abrasion of tires and other factors can cause the deviation of the vehicle.
For example, under the condition of rapid acceleration of the vehicle, the phenomenon of obvious vehicle deviation can occur; for another example, when the vehicle runs on a bridge at a constant speed, the vehicle is usually deviated due to the side wind; for another example, when the vehicle runs on a slope, the vehicle can be influenced to deviate due to the action of gravity; for another example, braking deviation may be caused by the difference of the braking force of the vehicle during braking.
When the vehicle is in a deviation working condition, the driver is required to maintain a large hand force all the time to correct the deviation of the vehicle, so that the operation strength of the driver is increased, and the running safety is poor.
Disclosure of Invention
In view of this, the present application provides a method, an apparatus, a device, and a storage medium for controlling a rear wheel steering angle, so as to correct a deviation condition by controlling the rear wheel steering angle, avoid that a driver needs to maintain a large hand force all the time to correct the vehicle deviation, reduce the operation strength of the driver, and improve the driving safety.
The technical scheme is as follows:
a rear wheel steering angle control method comprising:
acquiring basic driving information of a vehicle, wherein the basic driving information is related to the current driving condition of the vehicle;
determining the current operation mode of the steering wheel of the vehicle according to the basic driving information, wherein the operation mode represents that the steering wheel is controlled by hand force or the steering wheel is not controlled by hand force;
generating a target rear wheel steering angle matched with the operation mode by using the basic driving information, wherein the target rear wheel steering angle is a rear wheel steering angle required for controlling the steering wheel without depending on hands and keeping the vehicle from deviating currently;
controlling an actual rear wheel steering angle of the vehicle based on the target rear wheel steering angle.
Preferably, the determining the current operation mode of the steering wheel of the vehicle according to the basic driving information includes:
acquiring a steering wheel angle, a steering wheel torque and a yaw rate from the basic driving information;
determining whether the steering wheel torque meets a preset steering wheel torque condition;
if the steering wheel torque meets the steering wheel torque condition, judging whether the steering wheel corner meets a preset hand power control steering wheel condition;
if the steering wheel corner meets the hand-power control steering wheel condition, determining that the current operation mode of the steering wheel is a hand-power control steering wheel mode;
if the steering wheel torque does not meet the steering wheel torque condition, judging whether the yaw rate and the steering wheel angle meet the preset condition of controlling the steering wheel without hands;
and if the yaw rate and the steering wheel angle meet the preset condition of no-hand-control steering wheel, determining that the current operation mode of the steering wheel is the no-hand-control steering wheel mode.
Preferably, if the hand-controlled steering wheel condition/the yaw rate and the steering wheel angle do not satisfy the pre-set hand-free-controlled steering wheel condition, the method further includes:
the target rear wheel steering angle is determined to be 0.
Preferably, the generating a target rear wheel steering angle matching the operation pattern using the base travel information includes:
determining from the base travel information travel data that matches the operating mode, the travel data that matches the hand-controlled steering wheel mode including the steering wheel torque, and the travel data that matches the hands-free steering wheel mode including vehicle speed, steering wheel angle, and yaw rate;
acquiring a preset target rear wheel steering angle calculation rule matched with the operation mode;
and calculating the running data matched with the operation mode by using a target rear wheel steering angle calculation rule matched with the operation mode to obtain a target rear wheel steering angle.
Preferably, the method further comprises the following steps:
and adjusting the target rear wheel steering angle within the steering angle amplitude limit according to the preset steering angle amplitude limit.
Preferably, the controlling the actual rear wheel steering angle of the vehicle based on the target rear wheel steering angle includes:
determining a steering angle range formed by the actual rear wheel steering angle and the target rear wheel steering angle;
determining a target steering angle from the steering angle range, wherein the currently determined target steering angle is closer to the target rear wheel steering angle than the target steering angle determined last time in history;
adjusting the actual rear wheel corner of the vehicle to be the current target corner;
judging whether the current target corner is the target rear wheel corner or not;
and if the current target turning angle is not the target rear wheel turning angle, returning to execute the step of determining the target turning angle from the turning angle range.
Preferably, in the case where the operation mode is the hands-free control steering wheel mode, if the target rudder angle is the target rear-wheel rudder angle, the method further includes:
and performing closed-loop control on the actual rear wheel steering angle of the vehicle by using the yaw rate of the vehicle based on a target rear wheel steering angle calculation rule matched with the hands-free control steering wheel mode.
A rear wheel steering angle control device comprising:
the system comprises an information acquisition unit, a data processing unit and a data processing unit, wherein the information acquisition unit is used for acquiring basic running information of a vehicle, and the basic running information is related to the current running condition of the vehicle;
an operation mode determination unit, configured to determine, according to the basic driving information, an operation mode currently applied to a steering wheel of the vehicle, where the operation mode represents hand force control of the steering wheel/hand force absence control of the steering wheel;
a target rear wheel steering angle determining unit, configured to generate a target rear wheel steering angle that matches the operation mode by using the basic travel information, where the target rear wheel steering angle is a rear wheel steering angle that is required to currently control the steering wheel without depending on hand force and keep the vehicle from deviating;
a rear wheel steering angle control unit for controlling an actual rear wheel steering angle of the vehicle based on the target rear wheel steering angle.
An apparatus, comprising: the system comprises a processor and a memory, wherein the processor and the memory are connected through a communication bus; the processor is used for calling and executing the program stored in the memory; the memory is used for storing a program for implementing the rear wheel steering angle control method.
A computer-readable storage medium having stored therein computer-executable instructions for performing the rear wheel steering control method.
The embodiment of the application provides a rear wheel steering control method, a device, equipment and a storage medium, wherein a current operation mode of a steering wheel of a vehicle is determined according to basic driving information by acquiring the basic driving information related to the driving condition of the vehicle, and the operation mode represents hand-force control steering wheel/no-hand-force control steering wheel; generating a target rear wheel steering angle matched with the operation mode by using the basic driving information, wherein the target rear wheel steering angle is a rear wheel steering angle required by currently controlling a steering wheel without depending on hand force and keeping the vehicle from deviating; and then the actual rear wheel corner of the vehicle is controlled based on the target rear wheel corner, so that the deviation working condition can be corrected, the situation that the driver needs to maintain large hand force all the time to correct the deviation of the vehicle is avoided, the operation strength of the driver is reduced, and the driving safety is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a flowchart of a rear wheel steering control method according to an embodiment of the present disclosure;
FIG. 2 is a flowchart of a method for determining a current steering wheel operating mode of a vehicle based on basic driving information according to an embodiment of the present disclosure;
fig. 3 is a flowchart of a method for generating a target rear wheel steering angle matched with an operation mode by using basic driving information according to an embodiment of the present application;
FIG. 4 is a flow chart of another method for controlling the rear wheel steering angle according to an embodiment of the present disclosure;
fig. 5 is a schematic diagram illustrating a rear wheel steering angle control method according to an embodiment of the present disclosure;
FIG. 6 is a schematic diagram illustrating RAC rear wheel steering control according to an embodiment of the present application;
fig. 7 is a schematic diagram illustrating rear wheel steering angle control of RAC in the hands-free control mode according to an embodiment of the present application;
FIG. 8 is a schematic diagram illustrating a control of the rear wheel steering angle of a RAC in the manual control mode according to an embodiment of the present disclosure;
fig. 9 is a schematic structural diagram of a rear wheel steering angle control device according to an embodiment of the present application.
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 derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example (b):
during the running of the vehicle, various factors cause the vehicle to deviate, such as deviation during acceleration, deviation influenced by side wind, deviation during slope running and deviation generated due to difference of braking force during braking. The embodiment of the application provides a rear wheel steering control method, a rear wheel steering control device, a rear wheel steering control equipment and a storage medium, which can correct various deviation working conditions, avoid the situation that a driver needs to maintain large hand force all the time to correct the deviation of a vehicle, reduce the operation strength of the driver and improve the driving safety. The rear wheel steering angle control method provided by the embodiment of the application is applied to a control method for four-wheel steering vehicle deviation compensation. In particular, it can be applied to a solution for correcting the deviation of the vehicle caused by the side wind and the slope.
Fig. 1 shows a method for controlling a rear wheel steering angle according to an embodiment of the present application.
As shown in fig. 1, the method includes:
s101, collecting basic running information of a vehicle, wherein the basic running information is related to the running condition of the current vehicle;
in the embodiment of the present application, during the running of the vehicle, the basic running information of the vehicle is collected, and the basic running information of the vehicle is related to the current running condition of the vehicle, for example, the collected basic running information of the vehicle may include any one or more of the vehicle speed, the steering wheel angle, the steering wheel torque and the yaw rate.
S102, determining the current operation mode of the steering wheel of the vehicle according to the basic driving information, wherein the operation mode represents hand-force control steering wheel/no-hand-force control steering wheel;
in the embodiment of the application, after basic driving information of a vehicle is collected in the driving process of the vehicle, the current operation mode of a vehicle driver on a steering wheel of the vehicle can be judged according to the basic driving information of the vehicle, for example, the operation mode is a hand-force control steering wheel mode, or the operation mode is a no-hand-force control steering wheel mode, wherein when the operation mode is the hand-force control steering wheel mode, the operation mode represents that the vehicle driver controls the steering wheel of the vehicle by hand force; when the operating mode is a hands-free control steering wheel mode, the operating mode is indicative of the vehicle driver not having hands to control the vehicle steering wheel.
S103, generating a target rear wheel steering angle matched with the operation mode by using the basic driving information, wherein the target rear wheel steering angle is a rear wheel steering angle required by controlling a steering wheel without depending on hands and keeping the vehicle from deviating currently;
in the embodiment of the application, after the operation mode is determined according to the basic running information of the vehicle, the rear wheel steering angle which is matched with the operation mode and is required for currently controlling the steering wheel of the vehicle without depending on the hand force and keeping the vehicle not to deviate can be calculated according to the basic running information, and for the convenience of distinguishing, the calculated rear wheel steering angle is called as the target rear wheel steering angle.
And S104, controlling the actual rear wheel steering angle of the vehicle based on the target rear wheel steering angle.
In the embodiment of the present application, after the target rear wheel steering angle is calculated, the actual rear wheel steering angle of the vehicle may be controlled according to the target rear wheel steering angle. For example, the actual rear wheel turning angle of the vehicle is adjusted to be the target rear wheel turning angle, and therefore the purpose that the vehicle is kept not to deviate under the condition that the steering wheel is controlled without depending on the hand force of a driver of the vehicle is achieved.
In order to facilitate understanding of the rear wheel steering angle control method provided in the embodiment of the present application, a process of determining a current operation mode of a steering wheel of a vehicle according to basic driving information in the rear wheel steering angle control method provided in the embodiment of the present application will be described in detail, and refer to fig. 2 specifically.
As shown in fig. 2, the method includes:
s201, acquiring a steering wheel angle, a steering wheel torque and a yaw rate from basic driving information;
s202, determining whether the steering wheel torque meets a preset steering wheel torque condition; if the steering wheel torque satisfies the steering wheel torque condition, executing step S203; if the steering wheel torque does not satisfy the steering wheel torque condition, executing step S205;
in an embodiment of the present application, the steering wheel torque condition includes an absolute value of steering wheel torque being greater than a first threshold and a duration of steering wheel torque being greater than a second threshold. Acquiring the steering wheel torque of the current vehicle from basic driving information of the vehicle, and if the absolute value of the steering wheel torque acquired from the basic driving information is larger than a first threshold and the duration is larger than a second threshold, determining that the steering wheel torque acquired from the basic driving information meets a steering wheel torque condition; if the absolute value of the steering wheel torque acquired from the basic travel information is not greater than the first threshold value or the duration is not greater than the second threshold value, it is determined that the steering wheel torque acquired from the basic travel information does not satisfy the steering wheel torque condition.
S203, judging whether the steering wheel corner meets the preset hand control steering wheel condition or not; if the steering wheel angle meets the hand power control steering wheel condition, executing step S204; if the steering wheel angle does not satisfy the hand control steering wheel condition, executing step S207;
in an embodiment of the present application, the hand-force control steering wheel condition includes an absolute value of a steering wheel angle being within a first steering wheel angle range; acquiring a steering wheel angle of a current vehicle from basic driving information of the vehicle, and determining that the steering wheel angle meets a hand-force control steering wheel condition if an absolute value of the steering wheel angle acquired from the basic driving information of the vehicle is within a first steering wheel angle range; and if the absolute value of the steering wheel angle acquired from the basic driving information of the vehicle is not within the first steering wheel angle range, determining that the steering wheel angle does not satisfy the hand control steering wheel condition, and determining that the target rear wheel steering angle is 0.
S204, determining that the current operation mode of the steering wheel is a hand-power control steering wheel mode;
s205, judging whether the yaw rate and the steering wheel angle meet the preset condition of controlling the steering wheel without hands; if the yaw rate and the steering wheel angle satisfy the preset condition of no-hand-control steering wheel, executing step S206; the yaw rate and the steering wheel angle do not satisfy the condition of no manual control of the steering wheel set in advance, and step S207 is executed;
in an embodiment of the present application, the hands-free control steering wheel condition includes: the absolute value of the steering wheel angle is within the second steering wheel angle range and the absolute value of the yaw rate is greater than the yaw rate threshold.
Acquiring a steering wheel angle and a yaw rate of the current vehicle from basic driving information of the vehicle, and determining that the yaw rate and the steering wheel angle satisfy a hands-free control steering wheel condition if an absolute value of the steering wheel angle acquired from the basic driving information is within a second steering wheel angle range and an absolute value of the yaw rate acquired from the basic driving information is greater than a yaw rate threshold value; if the absolute value of the steering wheel angle obtained from the basic travel information is not within the second steering wheel angle range or the absolute value of the yaw rate obtained from the basic travel information is not greater than the yaw-rate threshold value, it is determined that the yaw-rate and the steering wheel angle do not satisfy the no-manual-control-steering-wheel condition, and the target rear-wheel-steering angle is determined to be 0 at this time.
S206, determining that the current operation mode of the steering wheel is a hand-free control steering wheel mode;
and S207, determining that the target rear wheel steering angle is 0.
Fig. 3 is a flowchart of a method for generating a target rear wheel steering angle matched with an operation mode by using basic driving information according to an embodiment of the present application.
As shown in fig. 3, the method includes:
s301, determining running data matched with an operation mode from basic running information, wherein the running data matched with a hand-force control steering wheel mode comprises steering wheel torque, and the running data matched with a non-hand-force control steering wheel mode comprises vehicle speed, steering wheel turning angle and yaw rate;
s302, acquiring a preset target rear wheel steering angle calculation rule matched with the operation mode;
in the embodiment of the present application, when the operation mode is the hand-operated steering wheel mode, the target rear wheel steering angle calculation rule matched with the operation mode is related to the steering wheel torque; when the operation mode is the hands-free control steering wheel mode, the target rear-wheel steering angle calculation rule matching the operation mode is related to the vehicle speed, the steering wheel angle, and the yaw rate.
And S303, calculating the running data matched with the operation mode by using the target rear wheel steering angle calculation rule matched with the operation mode to obtain the target rear wheel steering angle.
Fig. 4 is a flowchart of another rear wheel steering angle control method according to an embodiment of the present application.
As shown in fig. 4, the method includes:
s401, collecting basic running information of a vehicle, wherein the basic running information is related to the running condition of the current vehicle;
s402, determining the current operation mode of the steering wheel of the vehicle according to the basic driving information, wherein the operation mode represents a hand-force control steering wheel/no-hand-force control steering wheel;
s403, generating a target rear wheel steering angle matched with the operation mode by using the basic driving information, wherein the target rear wheel steering angle is a rear wheel steering angle required by controlling a steering wheel without depending on hands and keeping the vehicle from deviating currently;
s404, adjusting the target rear wheel steering angle within the steering angle amplitude limit according to the preset steering angle amplitude limit;
in the embodiment of the application, in consideration of the fact that an excessively large target rear wheel steering angle is calculated, especially when the vehicle speed is high, the target rear wheel steering angle is limited to be within the preset rear wheel steering angle range, and the preset rear wheel steering angle range can be (-Ang, Ang) deg, for safety consideration.
And S405, controlling the actual rear wheel steering angle of the vehicle based on the adjusted target rear wheel steering angle.
When the vehicle is in a deviation state, the actual rear wheel steering angle of the vehicle is directly adjusted, so that the vehicle can shake in a steady running state, and in order to avoid the uncomfortable influence, the actual rear wheel steering angle of the vehicle is adjusted in a mode of gradually increasing or decreasing the target steering angle of the rear wheel in a slope mode.
In the embodiment of the application, after the target rear wheel steering angle is adjusted within the corner limit according to the preset corner limit, the corner range formed by the actual rear wheel steering angle and the target rear wheel steering angle can be determined; determining a target corner from the corner range, wherein the currently determined target corner is closer to a target rear wheel corner than the target corner determined last time in history; adjusting the actual rear wheel steering angle of the vehicle to be the current target steering angle; judging whether the current target turning angle is a target rear wheel turning angle or not; and if the current target steering angle is not the target rear wheel steering angle, returning to execute the step of determining the target steering angle from the steering angle range.
Further, in this embodiment of the application, if the current target rudder angle is the target rear wheel rudder angle, it may be determined that the current target rudder angle is the target rear wheel rudder angle. That is, the actual rear wheel steering angle of the current vehicle is the target rear wheel steering angle.
The embodiment of the application provides a control method for correcting vehicle deviation through rear wheel steering. The control method solves the problem of vehicle deviation caused by the following working conditions: the acceleration deviation working condition, the side wind or the slope influence the vehicle deviation working condition and the braking deviation working condition. The method for controlling the rear wheel steering Angle provided by the embodiment of the application is applied to equipment, and the equipment can be an RAC (real wheel Angle Compensation controller) controller. A rear wheel steering angle control method provided in the embodiment of the present application will be described in detail below with an RAC controller as an example.
Fig. 5 is a schematic diagram of a rear wheel steering angle control method provided in an embodiment of the present application, fig. 6 is a schematic diagram of a RAC rear wheel steering angle control provided in the embodiment of the present application, fig. 7 is a schematic diagram of a rear wheel steering angle control of an RAC in a hands-free control mode provided in the embodiment of the present application, and fig. 8 is a schematic diagram of a rear wheel steering angle control of an RAC in a hands-free control mode provided in the embodiment of the present application.
With reference to fig. 5 to 8, a rear wheel steering angle control method provided in an embodiment of the present application includes the following processes:
firstly, judging the deviation state of the vehicle
When the hand power is available, the vehicle deviation state is judged according to the steering wheel rotation angle and the steering wheel torque. For example, to prevent a collision with the four-wheel steering function during the running of the vehicle, the absolute steering wheel angle | whllangle | is limited to (0, θ)1) deg, while steering wheel torque absolute value | Tq>Tq0Nm and duration of steering wheel torque>Time1s, at this moment, it is judged that the vehicle is in a deviation state under the action of external force, and as the driver keeps certain hand power, the vehicle can run along a straight line, at this moment, the RAC controller enters a compensation mode of a hand-power steering wheel control mode to correct the deviation vehicle. In the embodiment of the present application, the manual steering wheel control mode may be regarded as a manual steering wheel control mode.
When the driver does not put his hand on the steering wheel or lightly rides on the steering wheel while the vehicle is running, the steering wheel hand force is small, and when the absolute value of the steering wheel angle | whllanle | is detected to be at (0, θ |)2) deg, absolute value of simultaneous yaw angular velocity | r->Wrdeg/s, the vehicle is in a deviation state, and at the moment, the RAC controller enters a hand-free steering wheel control mode to calculate the target rear wheel steering angle and correct the deviation vehicle.
And secondly, calculating an expected rear wheel steering angle by the RAC controller, wherein the expected rear wheel steering angle is the target rear wheel steering angle.
1) Manual steering wheel control mode: under the working condition of side wind or slope, a driver needs to operate the steering wheel to keep the middle position, even the steering wheel with a certain angle towards the direction opposite to the deviation needs certain hand power. The RAC controller controls the actual rear wheel steering angle and direction of the vehicle in a closed loop mode according to the steering wheel torque (the steering wheel torque comprises the magnitude and the direction), so that the straight-line running is realized, and the hand power of a driver is reduced to 0.
In the embodiment of the present application, the preset target rear wheel steering angle calculation rule matching with the hand-powered steering wheel control pattern may be as follows:
δr_2＝KP(0-Tq)+KD(0-Tq) Wherein, K isPIs the proportional gain coefficient and KDIs a differential gain factor.
2) Control mode of hands-free steering wheel: the driver has no hand force to act on the steering wheel, and under the working condition of side wind or slope, the front wheels deflect at a small angle, so that the vehicle can deviate at different degrees. At this time, the yaw rate is generated, the RAC controller calculates the target rear wheel rotation angle according to the yaw rate, and performs closed-loop control on the yaw rate to realize linear driving.
Establishing a single-shaft whole vehicle model with rear wheel steering:
Figure BDA0002552682820000101
Figure BDA0002552682820000102
wherein, the distance l between the front axle and the vehicle mass centerfDistance l between rear axle and vehicle center of massrFront and rear axle equivalent yaw stiffness kf，krFront and rear wheel turning angle deltaf，δrMass m of the whole vehicle and rotational inertia I of the vehicle around Z axiszLongitudinal vehicle speed V, yaw angular velocityrAnd vehicle centroid slip angle β.
The laplace transform on both sides is obtained,
Figure BDA0002552682820000103
wherein the content of the first and second substances,
Figure BDA0002552682820000104
Figure BDA0002552682820000105
further, a yaw-rate transfer function is obtained,
Figure BDA0002552682820000106
wherein the content of the first and second substances,
Figure BDA0002552682820000107
further the method can be used for obtaining the compound,
Figure BDA0002552682820000108
according to the above formula, G can be obtainedr(s) this yaw rate is a transfer function of the front and rear wheel turning angles. Similarly, when the vehicle deviates under the action of external force, the yaw velocity is set to be 0 according to the front wheel rotation angle, the yaw velocity and the vehicle speed under the current state, and the target rear wheel rotation angle delta is obtainedr_1。
In actual control, because the whole vehicle parameters of the vehicle model have different degrees of deviation from the real vehicle, yaw rate closed-loop feedback control is added, after the rear wheel corner reaches the target rear wheel corner, the rear wheel corner is switched to be controlled through yaw rate closed-loop feedback to adjust the rear wheel corner by a small angle, and the target rear wheel corner delta is outputr_1The yaw velocity is reduced, and the linear running can be realized when no manual force acts on the steering wheel.
Thirdly, limiting the target rear wheel steering angle
To prevent the RAC controller from calculating an excessively large target rear wheel steering angle, which may adversely affect the straight-driving vehicle, especially at high vehicle speeds, the final target steering angle is limited to (-Ang, Ang) deg for safety reasons.
Fourthly, outputting the target turning angle of the rear wheel on a slope
When the vehicle is in a deviation state, the RAC controller acts or quits, the vehicle is enabled to shake in a steady running state, and in order to avoid the uncomfortable influence, the actual rear wheel target rotation angle is gradually increased or decreased in a slope mode.
For example, when the current actual rear wheel steering angle is 0 and the vehicle is in a running state, a target rear wheel steering angle Ang0 deg is calculated, but an Ang0 in the form of a step is not output, but the output rear wheel steering angle is gradually increased from 0 until Ang0 deg is reached.
Based on the above description, a method for controlling a rear wheel steering angle provided in the embodiment of the present application will be described in detail as follows:
1. judging the deviation state of the vehicle, detecting whether the torque of the steering wheel is greater than Tq0Nm, and the torque duration is greater than Time1s, if the vehicle state satisfies the above judgment condition, it is then judged that the absolute value of the steering wheel angle is less than θ1deg, if the vehicle state satisfies the above steering wheel angle range determination condition, the RAC controller enters the "manual mode" control mode, and if the above condition is not satisfied, 0 is output as the desired rear wheel angle.
2. If the RAC controller enters a 'manual mode' control mode, the RAC controller performs PI closed-loop control according to a torque signal of a steering wheel, and adjusts the size and the direction of a rear wheel corner according to the size and the direction of the torque signal.
3. If the vehicle state does not satisfy the steering wheel torque greater than Tq0Nm, and the moment duration is greater than Time1s, then it is determined whether the absolute value of the yaw rate is greater than Wr deg/s and the absolute value of the steering wheel angle is at (0, θ)2) deg, if the above conditions are satisfied, the RAC controller enters into a hands-free mode, first the RAC controller is based on the vehicle speed, yaw rate and steering wheel angleCalculating a target rear wheel steering angle deltar_1When the actual turning angle of the rear wheel reaches deltar_1When the yaw rate is controlled in a closed loop, the rear wheel steering angle is calculated based on the difference between the yaw rate and 0r_1. If the above-step determination condition is not satisfied, the RAC controller outputs 0 as the desired rear wheel steering angle.
4. Outputting the expected rear wheel corner through the steps, limiting the expected rear wheel corner through a rear wheel corner limiting module, wherein the expected rear wheel corner is limited to (-Ang, Ang) deg, increasing and decreasing in a slope mode, and finally, the rear wheel corner delta is obtainedr_tAnd the output is transmitted to a rear wheel steering actuator.
The method and the device can correct the deviation caused by acceleration, side wind or slope and braking, and eliminate the deviation under various working conditions. When a driver operates the steering wheel to go straight, the hand strength of the steering wheel can be reduced, and the driving fatigue is reduced; when the driver does not hold the steering wheel with hands, the rear wheel can rotate, so that the vehicle keeps running in a straight line, and the running safety is improved.
Fig. 9 is a schematic structural diagram of a rear wheel steering angle control device according to an embodiment of the present application.
As shown in fig. 9, the apparatus includes:
the information acquisition unit 91 is used for acquiring basic running information of the vehicle, and the basic running information is related to the running condition of the current vehicle;
an operation mode determination unit 92 for determining a current operation mode for the steering wheel of the vehicle based on the basic travel information, the operation mode representing a hand-controlled steering wheel/a hands-free steering wheel;
a target rear wheel steering angle determining unit 93 for generating a target rear wheel steering angle matched with the operation mode by using the basic running information, the target rear wheel steering angle being a rear wheel steering angle required for currently controlling the steering wheel without depending on the manual force and keeping the vehicle from deviating;
and a rear wheel steering angle control unit 94 for controlling an actual rear wheel steering angle of the vehicle based on the target rear wheel steering angle.
In this embodiment, preferably, the operation mode determining unit includes:
a first acquisition unit configured to acquire a steering wheel angle, a steering wheel torque, and a yaw rate from the basic travel information;
a first determination unit for determining whether or not a steering wheel torque satisfies a steering wheel torque condition set in advance;
the first judgment unit is used for judging whether the steering wheel rotating angle meets the preset hand force control steering wheel condition or not if the steering wheel torque meets the steering wheel torque condition;
the second determining unit is used for determining that the current operation mode of the steering wheel is the hand-power control steering wheel mode if the steering wheel rotating angle meets the hand-power control steering wheel condition;
the second judgment unit is used for judging whether the yaw rate and the steering wheel angle meet the preset condition of controlling the steering wheel without hands or not if the steering wheel torque does not meet the condition of the steering wheel torque;
and the third determining unit is used for determining that the current operation mode of the steering wheel is the hands-free control steering wheel mode if the yaw rate and the steering wheel angle meet the preset hands-free control steering wheel conditions.
Further, the rear wheel steering angle control device provided in the embodiment of the present application further includes:
and a fourth determining unit for determining the target rear-wheel steering angle to be 0 if the steering wheel angle does not satisfy the hand-controlled steering wheel condition/yaw rate and the steering wheel angle does not satisfy the hand-free-controlled steering wheel condition set in advance.
In the embodiment of the present application, preferably, the target rear wheel steering angle determination unit includes:
a fifth determination unit for determining, from the base travel information, travel data matched with the operation mode, the travel data matched with the hand-controlled steering wheel mode including steering wheel torque, and the travel data matched with the hands-free steering wheel mode including vehicle speed, steering wheel angle, and yaw rate;
a second obtaining unit, configured to obtain a preset target rear wheel steering angle calculation rule matched with the operation mode;
and the calculating unit is used for calculating the running data matched with the operation mode by using the target rear wheel steering angle calculating rule matched with the operation mode to obtain the target rear wheel steering angle.
Further, the rear wheel steering angle control device provided in the embodiment of the present application further includes:
and the amplitude limiting unit is used for adjusting the target rear wheel rotation angle within the rotation angle amplitude limit according to the preset rotation angle amplitude limit.
In the embodiment of the present application, preferably, the rear wheel steering angle control unit includes:
a sixth determining unit configured to determine a steering angle range formed by the actual rear wheel steering angle and the target rear wheel steering angle;
a seventh determining unit configured to determine a target rudder angle from the rudder angle range, the currently determined target rudder angle being closer to the target rear wheel rudder angle than the target rudder angle determined last time in history;
an adjusting unit for adjusting an actual rear wheel steering angle of the vehicle to a current target steering angle;
a third judging unit, configured to judge whether the current target corner is a target rear wheel corner;
and the returning unit is used for returning to execute the step of determining the target corner from the corner range if the current target corner is not the target rear wheel corner.
Further, the rear wheel control device provided by the embodiment of the present application further includes:
and a yaw-rate closed-loop control unit for, if the target steering angle is the target rear-wheel steering angle, closed-loop controlling an actual rear-wheel steering angle of the vehicle using the yaw-rate of the vehicle based on a target rear-wheel steering angle calculation rule matching the hands-free control steering mode, in a case where the operation mode is the hands-free control steering wheel mode.
An embodiment of the present application further provides an apparatus, including: the processor and the memory are connected through a communication bus; the processor is used for calling and executing the program stored in the memory; and a memory for storing a program for implementing the rear wheel steering angle control method as described above.
Further, an embodiment of the present application further provides a computer-readable storage medium, where computer-executable instructions are stored in the computer-readable storage medium, and the computer-executable instructions are used to execute the rear wheel steering angle control method.
The method, the device, the equipment and the storage medium for controlling the rear wheel steering angle provided by the invention are described in detail, a specific example is applied in the text to explain the principle and the implementation mode of the invention, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
It should be noted that, in the present specification, the embodiments are all described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
It is further noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include or include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. A rear wheel steering angle control method characterized by comprising:
acquiring basic driving information of a vehicle, wherein the basic driving information is related to the current driving condition of the vehicle;
determining the current operation mode of the steering wheel of the vehicle according to the basic driving information, wherein the operation mode represents that the steering wheel is controlled by hand force or the steering wheel is not controlled by hand force;
generating a target rear wheel steering angle matched with the operation mode by using the basic driving information, wherein the target rear wheel steering angle is a rear wheel steering angle required for controlling the steering wheel without depending on hands and keeping the vehicle from deviating currently;
controlling an actual rear wheel steering angle of the vehicle based on the target rear wheel steering angle.
2. The method of claim 1, wherein determining a current operating mode for a steering wheel of the vehicle based on the base travel information comprises:
acquiring a steering wheel angle, a steering wheel torque and a yaw rate from the basic driving information;
determining whether the steering wheel torque meets a preset steering wheel torque condition;
if the steering wheel torque meets the steering wheel torque condition, judging whether the steering wheel corner meets a preset hand power control steering wheel condition;
if the steering wheel corner meets the hand-power control steering wheel condition, determining that the current operation mode of the steering wheel is a hand-power control steering wheel mode;
if the steering wheel torque does not meet the steering wheel torque condition, judging whether the yaw rate and the steering wheel angle meet the preset condition of controlling the steering wheel without hands;
and if the yaw rate and the steering wheel angle meet the preset condition of no-hand-control steering wheel, determining that the current operation mode of the steering wheel is the no-hand-control steering wheel mode.
3. The method of claim 2, wherein if the hand-controlled steering wheel angle does not satisfy the hand-controlled steering wheel condition/the yaw rate and the steering wheel angle does not satisfy a pre-set hands-free-controlled steering wheel condition, the method further comprises:
the target rear wheel steering angle is determined to be 0.
4. The method according to claim 2, wherein the generating a target rear wheel steering angle that matches the operation pattern using the base travel information includes:
determining from the base travel information travel data that matches the operating mode, the travel data that matches the hand-controlled steering wheel mode including the steering wheel torque, and the travel data that matches the hands-free steering wheel mode including vehicle speed, steering wheel angle, and yaw rate;
acquiring a preset target rear wheel steering angle calculation rule matched with the operation mode;
and calculating the running data matched with the operation mode by using a target rear wheel steering angle calculation rule matched with the operation mode to obtain a target rear wheel steering angle.
5. The method of claim 4, further comprising:
and adjusting the target rear wheel steering angle within the steering angle amplitude limit according to the preset steering angle amplitude limit.
6. The method of claim 5, wherein said controlling an actual rear wheel steering angle of the vehicle based on the target rear wheel steering angle comprises:
determining a steering angle range formed by the actual rear wheel steering angle and the target rear wheel steering angle;
determining a target steering angle from the steering angle range, wherein the currently determined target steering angle is closer to the target rear wheel steering angle than the target steering angle determined last time in history;
adjusting the actual rear wheel corner of the vehicle to be the current target corner;
judging whether the current target corner is the target rear wheel corner or not;
and if the current target turning angle is not the target rear wheel turning angle, returning to execute the step of determining the target turning angle from the turning angle range.
7. The method according to claim 6, wherein in the case where the operation mode is the hands-free control steering wheel mode, if the target steered angle is the target rear wheel steered angle, the method further comprises:
and performing closed-loop control on the actual rear wheel steering angle of the vehicle by using the yaw rate of the vehicle based on a target rear wheel steering angle calculation rule matched with the hands-free control steering wheel mode.
8. A rear wheel steering angle control device characterized by comprising:
the system comprises an information acquisition unit, a data processing unit and a data processing unit, wherein the information acquisition unit is used for acquiring basic running information of a vehicle, and the basic running information is related to the current running condition of the vehicle;
an operation mode determination unit, configured to determine, according to the basic driving information, an operation mode currently applied to a steering wheel of the vehicle, where the operation mode represents hand force control of the steering wheel/hand force absence control of the steering wheel;
a target rear wheel steering angle determining unit, configured to generate a target rear wheel steering angle that matches the operation mode by using the basic travel information, where the target rear wheel steering angle is a rear wheel steering angle that is required to currently control the steering wheel without depending on hand force and keep the vehicle from deviating;
a rear wheel steering angle control unit for controlling an actual rear wheel steering angle of the vehicle based on the target rear wheel steering angle.
9. An apparatus, comprising: the system comprises a processor and a memory, wherein the processor and the memory are connected through a communication bus; the processor is used for calling and executing the program stored in the memory; the memory stores a program for implementing the rear wheel steering angle control method according to any one of claims 1 to 7.
10. A computer-readable storage medium having stored thereon computer-executable instructions for performing the method of controlling a rear wheel steering angle of any of claims 1-7.
CN202010579597.5A 2020-06-23 2020-06-23 Rear wheel steering angle control method, device, equipment and storage medium Active CN113830089B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010579597.5A CN113830089B (en) 2020-06-23 2020-06-23 Rear wheel steering angle control method, device, equipment and storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010579597.5A CN113830089B (en) 2020-06-23 2020-06-23 Rear wheel steering angle control method, device, equipment and storage medium

Publications (2)

Publication Number Publication Date
CN113830089A true CN113830089A (en) 2021-12-24
CN113830089B CN113830089B (en) 2022-07-26

Family

ID=78963896

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010579597.5A Active CN113830089B (en) 2020-06-23 2020-06-23 Rear wheel steering angle control method, device, equipment and storage medium

Country Status (1)

Country Link
CN (1) CN113830089B (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114179905A (en) * 2021-12-29 2022-03-15 吉林大学 Control method of dual-mode rear wheel active steering system

Citations (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08119130A (en) * 1994-10-26 1996-05-14 Matsushita Electric Ind Co Ltd Rear wheel steering angle control device for four-wheel drive vehicle
JPH1191607A (en) * 1997-09-24 1999-04-06 Fuji Heavy Ind Ltd Vehicle rear wheel steering controller
JP2005306284A (en) * 2004-04-23 2005-11-04 Nissan Motor Co Ltd Deceleration control device
CN101746407A (en) * 2008-12-12 2010-06-23 上海格尔汽车附件有限公司 Electronic power steering system with active aligning control function
CN103003135A (en) * 2010-12-20 2013-03-27 丰田自动车株式会社 Vehicular steering control device
CN103112367A (en) * 2013-03-01 2013-05-22 西南大学 Driving control system of electric automobile with rear wheels driven by independent motors
CN104477237A (en) * 2014-11-11 2015-04-01 深圳职业技术学院 Four wheel independent steering electric car steering control method and system
CN106740869A (en) * 2017-02-06 2017-05-31 福建省汽车工业集团云度新能源汽车股份有限公司 A kind of anti-deviation method and system of automobile
CN109515517A (en) * 2018-12-11 2019-03-26 芜湖伯特利汽车安全系统股份有限公司 A kind of running out the way identifying system and method
CN109693663A (en) * 2017-10-24 2019-04-30 上汽通用汽车有限公司 Vehicle stability controlled system based on pro-active intervention steering system
CN110654244A (en) * 2019-10-10 2020-01-07 厦门理工学院 System and method for decentralized driving of hub motor
CN110949495A (en) * 2019-10-25 2020-04-03 浙江吉利汽车研究院有限公司 Steering wheel angle correction method and device
CN111216733A (en) * 2020-02-25 2020-06-02 中国第一汽车股份有限公司 Vehicle control method and device, vehicle and storage medium

Patent Citations (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08119130A (en) * 1994-10-26 1996-05-14 Matsushita Electric Ind Co Ltd Rear wheel steering angle control device for four-wheel drive vehicle
JPH1191607A (en) * 1997-09-24 1999-04-06 Fuji Heavy Ind Ltd Vehicle rear wheel steering controller
JP2005306284A (en) * 2004-04-23 2005-11-04 Nissan Motor Co Ltd Deceleration control device
CN101746407A (en) * 2008-12-12 2010-06-23 上海格尔汽车附件有限公司 Electronic power steering system with active aligning control function
CN103003135A (en) * 2010-12-20 2013-03-27 丰田自动车株式会社 Vehicular steering control device
CN103112367A (en) * 2013-03-01 2013-05-22 西南大学 Driving control system of electric automobile with rear wheels driven by independent motors
CN104477237A (en) * 2014-11-11 2015-04-01 深圳职业技术学院 Four wheel independent steering electric car steering control method and system
CN106740869A (en) * 2017-02-06 2017-05-31 福建省汽车工业集团云度新能源汽车股份有限公司 A kind of anti-deviation method and system of automobile
CN109693663A (en) * 2017-10-24 2019-04-30 上汽通用汽车有限公司 Vehicle stability controlled system based on pro-active intervention steering system
CN109515517A (en) * 2018-12-11 2019-03-26 芜湖伯特利汽车安全系统股份有限公司 A kind of running out the way identifying system and method
CN110654244A (en) * 2019-10-10 2020-01-07 厦门理工学院 System and method for decentralized driving of hub motor
CN110949495A (en) * 2019-10-25 2020-04-03 浙江吉利汽车研究院有限公司 Steering wheel angle correction method and device
CN111216733A (en) * 2020-02-25 2020-06-02 中国第一汽车股份有限公司 Vehicle control method and device, vehicle and storage medium

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114179905A (en) * 2021-12-29 2022-03-15 吉林大学 Control method of dual-mode rear wheel active steering system
CN114179905B (en) * 2021-12-29 2023-09-08 吉林大学 Control method of double-mode rear wheel active steering system

Also Published As

Publication number Publication date
CN113830089B (en) 2022-07-26

Similar Documents

Publication Publication Date Title
US10300942B2 (en) Electric power steering apparatus
US10144416B2 (en) Apparatus and method for controlling vehicle
JP4281828B2 (en) Electric power steering device
US8977433B2 (en) Electric power steering apparatus
JP4556775B2 (en) Vehicle steering system
US10272943B2 (en) Control unit for vehicle and control method for vehicle
JP5261962B2 (en) Turning behavior control device, automobile, and turning behavior control method
JP4293021B2 (en) Vehicle steering system
US10377411B2 (en) Steering control apparatus
JP4835189B2 (en) Turning behavior control device, automobile, and turning behavior control method
CN111645755B (en) Control method and device
CN112918464B (en) Vehicle steady-state steering control method and device
US20220009546A1 (en) Vehicle steering device
US11964713B2 (en) Vehicle steering device
CN108216210B (en) Vehicle stability control device
JP3637801B2 (en) Vehicle steering control device
CN113830089B (en) Rear wheel steering angle control method, device, equipment and storage medium
JP2003081119A (en) Motor-driven power steering device for automobile
JP4956782B2 (en) Vehicle steering control device
JP4613668B2 (en) Vehicle behavior control apparatus and vehicle behavior control method
US20220097760A1 (en) Vehicle steering device
JP2010149637A (en) Vehicle
JP4792709B2 (en) Vehicle steering control device
JP3166388B2 (en) Steering force control device
JP2003081118A (en) Motor-driven power steering device for automobile

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant