CN114426061A - Vehicle, rear wheel steering control method and device thereof, and computer-readable storage medium - Google Patents
Vehicle, rear wheel steering control method and device thereof, and computer-readable storage medium Download PDFInfo
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- CN114426061A CN114426061A CN202210167165.2A CN202210167165A CN114426061A CN 114426061 A CN114426061 A CN 114426061A CN 202210167165 A CN202210167165 A CN 202210167165A CN 114426061 A CN114426061 A CN 114426061A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
- B62D15/0265—Automatic obstacle avoidance by steering
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The invention discloses a vehicle and a rear wheel steering control method, a rear wheel steering control device and a computer readable storage medium thereof, wherein the method comprises the following steps: when the vehicle speed of the vehicle is less than or equal to a preset vehicle speed, acquiring the wheel wheelbase between the front wheel and the rear wheel on the same side in the vehicle, the turning angle value of the front wheel and the rear wheel on the same side and the obstacle information around the vehicle; the turning angle value of the front wheel is a front wheel turning angle value, and the turning angle value of the rear wheel is a rear wheel predicted turning angle value; determining the predicted turning radius of the rear wheel of the vehicle according to the front wheel turning angle value, the predicted turning angle value of the rear wheel and the wheel base; determining a safe distance between the vehicle and an obstacle in the lateral direction of the vehicle according to obstacle information around the vehicle, a predicted turning radius of a rear wheel and a predicted turning angle value of the rear wheel; the actual turning angle of the rear wheel of the vehicle is determined based on the predicted turning radius and the safe distance of the rear wheel so as to control the steering of the rear wheel of the vehicle, so that the vehicle can be prevented from colliding with an obstacle in the steering process, the operation of the vehicle is simplified, and the user experience is improved.
Description
Technical Field
The embodiment of the invention relates to a steering control technology, in particular to a vehicle, a rear wheel steering control method and device thereof, and a computer readable storage medium.
Background
At present, only the motorcycle type that the front wheel turned to, the motion trail at automobile body rear portion was within the anterior motion trail of automobile body when the vehicle gos forward to turn to, in recent years, in order to reduce turning radius, promote driving flexibility and driving stability etc. more and more high-end motorcycle types dispose rear wheel steering system, on the basis that the front wheel turned to promptly, the rear wheel also cooperated the front wheel to make specific action of turning to.
However, in a vehicle equipped with a rear wheel steering system, when the vehicle is running at a low speed, the steering directions of the rear wheel and the front wheel are opposite, and at this time, although the turning radius is greatly reduced, the running locus of the rear wheel is made to exceed the running locus of the front wheel, and if there is an obstacle on the side of the vehicle, a collision accident is likely to occur, and the obstacle avoidance performance of the vehicle is deteriorated.
Disclosure of Invention
The invention provides a vehicle and a rear wheel steering control method, a rear wheel steering control device and a computer readable storage medium thereof, which are used for avoiding collision with an obstacle in the steering process of the vehicle.
In a first aspect, an embodiment of the present invention provides a rear wheel steering control method for a vehicle, including: when the vehicle speed of the vehicle is less than or equal to a preset vehicle speed, acquiring the wheel wheelbase between the front wheel and the rear wheel on the same side in the vehicle, the turning angle value of the front wheel and the rear wheel on the same side and the obstacle information around the vehicle; the turning angle value of the front wheel is a front wheel turning angle value, and the turning angle value of the rear wheel is a rear wheel predicted turning angle value;
determining a rear wheel predicted turning radius of the vehicle according to the front wheel turning angle value, the rear wheel predicted turning angle value and the wheel base;
determining a safe distance between the vehicle and an obstacle in the lateral direction of the vehicle according to obstacle information around the vehicle, the predicted turning radius of the rear wheel and the predicted turning angle value of the rear wheel;
determining a rear wheel actual turning angle of the vehicle based on the rear wheel predicted turning radius and the safety distance to control rear wheel steering of the vehicle.
Optionally, the obtaining a wheel base between the front wheel and the rear wheel on the same side in the vehicle, a turning angle value of the front wheel and the rear wheel on the same side, and obstacle information around the vehicle includes:
determining the length of a connecting line between the centers of the front wheels and the centers of the rear wheels which are positioned on the same side in the vehicle as the wheel base; acquiring the rotation angle values of the front wheels and the rear wheels which are positioned on the same side in the vehicle based on the steering wheel rotation angle signal of the vehicle; and acquiring obstacle information around the vehicle based on an obstacle detection device on the vehicle.
Optionally, determining a predicted turning radius of a rear wheel of the vehicle according to the front wheel steering angle value, the predicted rear wheel steering angle value, and the wheel base includes:
calculating a predicted turning radius of the rear wheel by adopting a first calculation formula based on the front wheel steering angle value, the predicted rear wheel steering angle value and the wheel wheelbase; the first calculation formula is:
R1＝L/(sinβ+cosβ*tanα)
wherein R1 is the rear wheel predicted turning radius, L is the wheel base, α is the front wheel steering angle value, and β is the rear wheel predicted turning angle value.
Optionally, determining a safe distance between the vehicle and an obstacle in the lateral direction of the vehicle according to the obstacle information around the vehicle, the predicted turning radius of the rear wheel, and the predicted turning angle value of the rear wheel, includes:
acquiring a vertical distance between the first vertical surface and the second vertical surface as a first distance; the first vertical plane is a plane which comprises the centers of the front wheels and the rear wheels which are positioned on the same side in the vehicle and is vertical to the ground; the second vertical surface is a plane which comprises the outermost point of the vehicle body and is parallel to the first vertical surface; the front wheel center and the rear wheel center are wheel centers on one side of the vehicle close to an obstacle in the transverse direction of the vehicle body; the vehicle body outermost point is a vehicle body outermost point on a side of the vehicle that is close to an obstacle in the vehicle body lateral direction;
determining a minimum distance between the second vertical plane and an obstacle in the vehicle body transverse direction as a second distance according to obstacle information around the vehicle;
calculating the vertical distance between the turning center of the rear wheel of the vehicle and a connecting line of the center of the front wheel and the center of the rear wheel positioned on the same side by adopting a second calculation formula on the basis of the predicted turning radius of the rear wheel and the predicted turning angle value of the rear wheel; the second calculation formula is:
H＝R1 cosβ
wherein H is the vertical distance, R1 is the predicted turning radius of the rear wheel, and β is the predicted turning angle value of the rear wheel;
and determining the safe distance according to the first distance, the second distance and the vertical distance.
Optionally, determining the safe distance according to the first distance, the second distance, and the vertical distance includes:
acquiring an experience margin distance when the vehicle turns;
and determining the sum of the first distance, the second distance, the vertical distance and the empirical margin distance as the safe distance.
Optionally, determining an actual turning angle of the rear wheel of the vehicle based on the predicted turning radius of the rear wheel and the safety distance to control the rear wheel steering of the vehicle, includes:
judging whether the predicted turning radius of the rear wheel of the vehicle is larger than the safe distance or not;
if so, adjusting the actual turning angle value of the rear wheel of the vehicle to 0 degree so as to control the steering of the rear wheel of the vehicle;
and if not, determining the predicted rear wheel rotation angle value as the actual rear wheel rotation angle value of the vehicle so as to control the rear wheel steering of the vehicle.
Optionally, the method for controlling rear wheel steering of a vehicle further includes:
and when the vehicle speed of the vehicle is greater than the preset vehicle speed, controlling the vehicle to steer based on the predicted rear wheel turning angle value.
In a second aspect, an embodiment of the present invention further provides a rear wheel steering control apparatus for a vehicle, including:
the information acquisition module is used for acquiring the wheel base between the front wheels and the rear wheels on the same side in the vehicle, the turning angle values of the front wheels and the rear wheels on the same side and the obstacle information around the vehicle when the vehicle speed of the vehicle is less than or equal to a preset vehicle speed; the turning angle value of the front wheel is a front wheel turning angle value, and the turning angle value of the rear wheel is a rear wheel predicted turning angle value;
the rear wheel predicted turning radius obtaining module is used for determining the predicted turning radius of the rear wheel of the vehicle according to the front wheel turning angle value, the rear wheel predicted turning angle value and the wheel wheelbase;
a safe distance obtaining module, configured to determine a safe distance between the vehicle and an obstacle in the lateral direction of the vehicle according to obstacle information around the vehicle, the predicted turning radius of the rear wheel, and the predicted turning angle value of the rear wheel;
and the rear wheel steering control module is used for determining the actual steering angle of the rear wheels of the vehicle based on the predicted turning radius of the rear wheels and the safe distance so as to control the rear wheel steering of the vehicle.
In a third aspect, an embodiment of the present invention also provides a computer-readable storage medium, on which a computer program is stored, which, when executed by a steering controller, implements a rear wheel steering control method of a vehicle as set forth in any one of the above.
In a fourth aspect, an embodiment of the present invention further provides a vehicle, including: a steering wheel, wheels, and a steering controller; the wheels include front wheels and rear wheels, and the steering controller is configured to execute a rear wheel steering control method of the vehicle according to any one of the above.
The rear wheel steering control method provided by the embodiment of the invention obtains the wheel base between the front wheel and the rear wheel on the same side in the vehicle, the turning angle value of the front wheel and the rear wheel on the same side and the obstacle information around the vehicle to determine the predicted turning radius of the rear wheel of the vehicle, determines the safety distance between the vehicle and the obstacle in the transverse direction of the vehicle according to the obstacle information around the vehicle, the predicted turning radius of the rear wheel and the predicted turning angle value of the rear wheel, determines whether the predicted driving track of the rear wheel for steering according to the predicted turning angle value of the rear wheel collides with the obstacle according to the predicted turning radius of the rear wheel and the safety distance between the vehicle and the obstacle in the transverse direction of the vehicle, determines the actual turning angle of the rear wheel of the vehicle according to the predicted driving track of the rear wheel, and controls the rear wheel steering of the vehicle according to the actual turning angle of the rear wheel, the collision between the vehicle and the obstacle in the steering process is avoided, so that a driver does not need extra energy to correct the rear wheel steering angle value to avoid the obstacle, the operation of the vehicle is simplified, and the user experience is improved.
Drawings
Fig. 1 is a flowchart of a rear wheel steering control method of a vehicle according to an embodiment of the present invention;
FIG. 2 is a flow chart of another method for controlling rear wheel steering in a vehicle according to an embodiment of the present invention;
FIG. 3 is a schematic steering diagram of a vehicle with a vehicle speed not exceeding a preset vehicle speed according to an embodiment of the present invention;
FIG. 4 is a flowchart of a method for controlling the rear wheel steering of a vehicle according to another embodiment of the present invention;
FIG. 5 is a flowchart of a method for controlling the rear wheel steering of a vehicle according to another embodiment of the present invention;
fig. 6 is a schematic structural diagram of a rear wheel steering control device of a vehicle according to an 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.
Embodiments of the present invention provide a rear wheel steering control method for a vehicle, which is capable of effectively avoiding collision with an obstacle during steering of the vehicle, and the rear wheel steering control method for the vehicle can be implemented by using the rear wheel steering control device for the vehicle provided by the embodiments of the present invention, the rear wheel steering control device for the vehicle is implemented by software and/or hardware, and the rear wheel steering control device for the vehicle can be integrated into a steering controller for the vehicle.
Fig. 1 is a flowchart of a rear wheel steering control method for a vehicle according to an embodiment of the present invention, and as shown in fig. 1, the rear wheel steering control method for a vehicle includes:
s110, when the vehicle speed of the vehicle is less than or equal to a preset vehicle speed, obtaining the wheel base between the front wheel and the rear wheel on the same side in the vehicle, the turning angle value of the front wheel and the rear wheel on the same side and the obstacle information around the vehicle; the turning angle value of the front wheel is a front wheel turning angle value, and the turning angle value of the rear wheel is a rear wheel predicted turning angle value.
Specifically, when the traveling speed of the vehicle equipped with the rear wheel steering system is low, the steering direction of the rear wheels is opposite to the steering direction of the front wheels, so that the traveling locus of the rear wheels may exceed the traveling locus of the front wheels, and the traveling locus of the rear wheels is shown to be outside the traveling locus of the front wheels with the turning center as a reference point, and the steering angle of the rear wheels is larger as the traveling locus of the rear wheels exceeds the traveling locus of the front wheels, and in order to avoid collision of the rear wheels having a large traveling locus range against an obstacle during steering, it is necessary to acquire related information such as the wheel axial distance between the front wheels and the rear wheels on the same side in the vehicle, the turning angle values (i.e., the front wheel turning angle value and the rear wheel predicted turning angle value) of the front wheels and the rear wheels on the same side, and obstacle information around the vehicle to measure whether the predicted traveling locus of the rear wheels will collide with the obstacle, and correct the turning angle value of the rear wheels, the vehicle is prevented from colliding with the obstacle during steering.
For example, the length of a line connecting the centers of the front and rear wheels on the same side in the vehicle may be determined as the wheel base; acquiring the rotation angle values of the front wheels and the rear wheels which are positioned on the same side in the vehicle based on the steering wheel rotation angle signal of the vehicle; acquiring obstacle information around the vehicle based on an obstacle detection device on the vehicle; the turning angle value of the front wheel is a front wheel turning angle value, and the turning angle value of the rear wheel is a rear wheel predicted turning angle value; a front wheel steering angle value may be calculated from a steering angle signal of a current steering wheel, and a rear wheel predicted steering angle value of a rear wheel may be calculated based on the steering angle signal of the steering wheel without considering an obstacle; taking the example that the vehicle comprises two front wheels and two rear wheels, generally, the turning angle values of the two front wheels are the same, and the turning angle values of the two front wheels and the rear wheels are the same, so that the front wheel turning angle value and the predicted rear wheel turning angle value can be directly obtained; or, in order to more accurately judge whether the predicted travel track of the rear wheel can collide with the obstacle, the front wheel steering angle value of the front wheel far away from the turning center and the predicted rear wheel steering angle value of the rear wheel can be directly obtained; in addition, the obstacle detection device may be a device capable of acquiring distance information or position information, such as a radar, a camera, or the like; the obstacle information may include a minimum distance of the obstacle to the vehicle body in the lateral direction of the vehicle body on the side away from the turning center.
And S120, determining the predicted turning radius of the rear wheel of the vehicle according to the front wheel turning angle value, the predicted turning angle value of the rear wheel and the wheel wheelbase.
Specifically, the predicted turning radius of the rear wheel of the vehicle may be determined based on the geometrical relationship between the predicted turning radius of the rear wheel and the wheel base, in combination with the front wheel turning angle value and the rear wheel turning angle value.
It should be noted that since the rear wheel on the side away from the turning center is on the outer side with respect to the turning center during steering and there is a risk of collision with an obstacle, the predicted turning radius and the wheel axial distance of the rear wheel in the embodiment of the present invention are both the predicted turning radius and the wheel axial distance of the rear wheel on the side away from the turning center, unless otherwise specified.
And S130, determining a safe distance between the vehicle and the obstacle in the transverse direction of the vehicle according to the obstacle information around the vehicle, the predicted turning radius of the rear wheel and the predicted turning angle value of the rear wheel.
Specifically, the safe distance between the vehicle and the obstacle in the lateral direction of the vehicle may be determined in association with the predicted turning angle value of the rear wheels, based on the geometrical relationship among the predicted turning radius of the rear wheels, the minimum distance between the obstacle and the vehicle body in the lateral direction of the vehicle, and the safe distance between the vehicle and the obstacle.
And S140, determining the actual turning angle of the rear wheel of the vehicle based on the predicted turning radius and the safe distance of the rear wheel so as to control the rear wheel steering of the vehicle.
Specifically, whether the running track of the rear wheel steered according to the predicted turning radius of the rear wheel collides with the obstacle or not can be judged according to the safe distance between the vehicle and the obstacle in the transverse direction of the vehicle, and the actual turning angle of the rear wheel of the vehicle is determined according to the judgment result, so that the steering of the rear wheel of the vehicle is controlled according to the actual turning angle of the rear wheel, and the obstacle is prevented from being collided in the steering process of the vehicle.
The rear wheel steering control method provided by the embodiment of the invention obtains the wheel base between the front wheel and the rear wheel on the same side in the vehicle, the turning angle value of the front wheel and the rear wheel on the same side and the information of obstacles around the vehicle to determine the predicted turning radius of the rear wheel of the vehicle, then determines the safe distance between the vehicle and the obstacle in the transverse direction of the vehicle according to the information of the obstacles around the vehicle, the predicted turning radius of the rear wheel and the predicted turning angle value of the rear wheel, determines whether the predicted driving track of the rear wheel steering according to the predicted turning angle value of the rear wheel can collide with the obstacle according to the predicted turning radius of the rear wheel and the safe distance between the vehicle and the obstacle in the transverse direction of the vehicle, determines the actual turning angle of the rear wheel of the vehicle according to the predicted driving track of the rear wheel, and controls the rear wheel steering of the vehicle according to the actual turning angle of the rear wheel, the collision between the vehicle and the obstacle in the steering process is avoided, so that a driver does not need extra energy to correct the rear wheel steering angle value to avoid the obstacle, the operation of the vehicle is simplified, and the user experience is improved.
It is to be understood that the above-described embodiment is implemented on the premise that the vehicle speed of the vehicle is less than or equal to the preset vehicle speed, and when the vehicle speed of the vehicle is greater than the preset vehicle speed, the rear wheel steering direction of the vehicle is no longer the opposite of the steering direction of the front wheels, and the vehicle steering is directly controlled based on the predicted rear wheel turning angle value. For example, the preset vehicle speed may be 10 km/h.
Optionally, fig. 2 is a flowchart of another method for controlling rear wheel steering of a vehicle according to an embodiment of the present invention, and as shown in fig. 2, the method for controlling rear wheel steering of a vehicle includes:
s210, when the vehicle speed of the vehicle is less than or equal to a preset vehicle speed, obtaining the wheel base between the front wheel and the rear wheel on the same side in the vehicle, the turning angle value of the front wheel and the rear wheel on the same side and the obstacle information around the vehicle; the turning angle value of the front wheel is a front wheel turning angle value, and the turning angle value of the rear wheel is a rear wheel predicted turning angle value.
And S220, calculating the predicted turning radius of the rear wheel by adopting a first calculation formula based on the front wheel turning angle value, the predicted rear wheel turning angle value and the wheel base.
The first calculation formula is: r1 ═ L/(sin β + cos β tan α); where R1 is the rear wheel predicted turning radius, L is the wheel base, α is the front wheel steering angle value, and β is the rear wheel predicted turning angle value.
For example, fig. 3 is a schematic steering diagram of a vehicle according to an embodiment of the present invention, and as shown in fig. 3, assuming that a straight line connecting centers of front wheels and rear wheels on the same side of the vehicle 10 is a wheel axis, a front wheel steering angle value α is an angle of the front wheel 20 from the wheel axis, and a rear wheel predicted steering angle value β is an angle of the rear wheel 30 from the wheel axis; assuming that the turning radius of the front wheel 20 is R2, the wheel axle distance L is known as follows according to the pythagorean theorem: l ═ R2 ═ sin α + R1 ═ sin β, and R1 ═ cos β ═ R2 ═ cos α, so that R1 ═ L/(sin β + cos β tan α) can be obtained by substituting R2 ═ R1 ═ cos β/cos α into L ═ R2 ═ sin α + R1 ═ sin β.
And S230, acquiring a vertical distance between the first vertical surface and the second vertical surface as a first distance.
The first vertical plane is a plane which comprises the centers of the front wheels and the rear wheels which are positioned on the same side in the vehicle and is vertical to the ground; the second vertical surface is a plane which comprises the outermost point of the vehicle body and is parallel to the first vertical surface; the centers of the front wheels and the rear wheels are the centers of the wheels on one side of the vehicle close to the obstacle in the transverse direction of the vehicle body; the vehicle body outermost point is a vehicle body outermost point on a side of the vehicle closer to an obstacle in the vehicle body lateral direction.
And S240, determining the minimum distance between the second vertical plane and the obstacle in the transverse direction of the vehicle body as a second distance according to the obstacle information around the vehicle.
Specifically, the vertical distance between the first vertical plane and the second vertical plane is one of vehicle type parameters of the vehicle, and may be directly obtained in the parameter storage module of the vehicle and is used as the first distance D1, and when the obstacle is an object (such as a wall) higher than the vehicle body or the vehicle rearview mirror, the outermost point of the vehicle body may be an outermost point of the vehicle rearview mirror, or when the obstacle is an object lower than the vehicle rearview mirror, the outermost point of the vehicle body may be an outermost point of an area where the vehicle body is located, except for the vehicle door, between the vehicle door; the minimum distance between the second vertical plane and the obstacle 40 in the vehicle body lateral direction can be obtained by radar and taken as the second distance D2, and it is understood that the obstacle 40 is an obstacle on the vehicle body outer side on the side away from the turning center O.
And S250, calculating the vertical distance between the turning center of the rear wheel of the vehicle and a connecting line of the center of the front wheel and the center of the rear wheel positioned on the same side by adopting a second calculation formula based on the predicted turning radius of the rear wheel and the predicted turning angle value of the rear wheel.
The second calculation formula is: h ═ R1 cos β; where H is the vertical distance, R1 is the rear wheel predicted turning radius, and β is the rear wheel predicted turning angle value.
Specifically, if the vertical distance between the turning center O of the vehicle 10 and the connecting line between the front wheel center and the rear wheel center on the same side is H, the relationship between the vertical distance H and the predicted turning radius R1 of the rear wheel according to the pythagorean theorem is: h — R1 cos β, so that the vertical distance H can be obtained from the rear wheel predicted turning radius R1 and the rear wheel predicted turning angle value. It is understood that the vertical distance H should be a vertical distance of the turning center O of the vehicle 10 from a line connecting the centers of the front and rear wheels on the side away from the turning center O.
And S260, determining a safe distance according to the first distance, the second distance and the vertical distance.
Specifically, the safe distance D0 may be the sum of the first distance D1, the second distance D2 and the vertical distance H, that is, D0 is D1+ D2+ H, and it may be determined whether a driving track of the rear wheel 30 steered according to the rear wheel predicted turning angle value β may collide with the obstacle 40 according to the safe distance D0 between the vehicle 10 and the obstacle 40 in the lateral direction of the vehicle 10 based on the rear wheel predicted turning radius R1, and determine the actual turning angle of the rear wheel of the vehicle 10 according to the determination result, so as to control the turning of the rear wheel of the vehicle according to the actual turning angle of the rear wheel, thereby preventing the vehicle from colliding with the obstacle during the turning process.
And S270, determining the actual turning angle of the rear wheel of the vehicle based on the predicted turning radius and the safe distance of the rear wheel so as to control the rear wheel steering of the vehicle.
Optionally, fig. 4 is a flowchart of a rear wheel steering control method for a vehicle according to another embodiment of the present invention, and as shown in fig. 4, the rear wheel steering control method for a vehicle includes:
s310, when the vehicle speed of the vehicle is less than or equal to a preset vehicle speed, obtaining the wheel base between the front wheel and the rear wheel on the same side in the vehicle, the turning angle value of the front wheel and the rear wheel on the same side and the obstacle information around the vehicle; the turning angle value of the front wheel is a front wheel turning angle value, and the turning angle value of the rear wheel is a rear wheel predicted turning angle value.
And S320, calculating the predicted turning radius of the rear wheel by adopting a first calculation formula based on the front wheel turning angle value, the predicted rear wheel turning angle value and the wheel base.
The first calculation formula is: r1 ═ L/(sin β + cos β × tan α); where R1 is the rear wheel predicted turning radius, L is the wheel base, α is the front wheel steering angle value, and β is the rear wheel predicted turning angle value.
S330, acquiring a vertical distance between the first vertical surface and the second vertical surface as a first distance.
The first vertical plane is a plane which comprises the centers of the front wheels and the rear wheels which are positioned on the same side in the vehicle and is vertical to the ground; the second vertical surface is a plane which comprises the outermost point of the vehicle body and is parallel to the first vertical surface; the centers of the front wheels and the rear wheels are the centers of the wheels on one side of the vehicle close to the obstacle in the transverse direction of the vehicle body; the vehicle body outermost point is a vehicle body outermost point on a side of the vehicle closer to an obstacle in the vehicle body lateral direction.
And S340, determining the minimum distance between the second vertical plane and the obstacle in the transverse direction of the vehicle body as a second distance according to the obstacle information around the vehicle.
And S350, based on the predicted turning radius of the rear wheel and the predicted turning angle value of the rear wheel, calculating the vertical distance between the turning center of the rear wheel of the vehicle and the connecting line of the center of the front wheel and the center of the rear wheel which are positioned on the same side by adopting a second calculation formula.
The second calculation formula is: h ═ R1 cos β; where H is the vertical distance, R1 is the rear wheel predicted turning radius, and β is the rear wheel predicted turning angle value.
And S360, acquiring an experience margin distance when the vehicle turns.
And S370, determining the sum of the first distance, the second distance, the vertical distance and the empirical margin distance as a safe distance.
Specifically, the turning radius of the rear wheel may be further increased by the driving operation of the driver during the steering, and therefore, in order to ensure that the vehicle does not collide with an obstacle during the steering, an empirical margin distance D3 should be set during the steering of the vehicle, and the safety distance should be the sum of the first distance, the second distance, the vertical distance, and the empirical margin distance, that is, D0 — D1+ D2+ H + D3.
And S380, determining the actual turning angle of the rear wheel of the vehicle based on the predicted turning radius and the safe distance of the rear wheel so as to control the rear wheel steering of the vehicle.
Optionally, fig. 5 is a flowchart of a rear wheel steering control method for a vehicle according to another embodiment of the present invention, and as shown in fig. 5, the rear wheel steering control method for a vehicle includes:
s410, when the vehicle speed of the vehicle is less than or equal to a preset vehicle speed, obtaining the wheel base between the front wheel and the rear wheel on the same side in the vehicle, the turning angle value of the front wheel and the rear wheel on the same side and the obstacle information around the vehicle; the turning angle value of the front wheel is a front wheel turning angle value, and the turning angle value of the rear wheel is a rear wheel predicted turning angle value.
And S420, determining the predicted turning radius of the rear wheel of the vehicle according to the front wheel turning angle value, the predicted turning angle value of the rear wheel and the wheel base.
And S430, determining a safe distance between the vehicle and the obstacle in the transverse direction of the vehicle according to the obstacle information around the vehicle, the predicted turning radius of the rear wheel and the predicted turning angle value of the rear wheel.
S440, judging whether the predicted turning radius of the rear wheel of the vehicle is larger than a safe distance; if yes, go to S450; if not, go to S460.
And S450, adjusting the actual turning angle value of the rear wheel of the vehicle to 0 degree so as to control the turning of the rear wheel of the vehicle.
And S460, determining the predicted rear wheel rotation angle value as the actual rear wheel rotation angle value of the vehicle so as to control the rear wheel steering of the vehicle.
Specifically, the predicted turning radius of the rear wheel of the vehicle can be compared with the safe distance, if the predicted turning radius of the rear wheel of the vehicle is larger than the safe distance, it is indicated that the rear wheel will collide with the obstacle in the process of controlling the vehicle to turn according to the predicted turning angle value of the rear wheel, and at the moment, the actual turning angle value of the rear wheel of the vehicle is adjusted to 0 degree, so that the driving track of the rear wheel of the vehicle is the same as the driving track of the front wheel, and the collision with the obstacle is avoided; if the predicted turning radius of the rear wheel of the vehicle is smaller than or equal to the safe distance, the fact that the rear wheel does not collide with an obstacle in the process of controlling the vehicle to turn according to the predicted turning angle value of the rear wheel is shown, so that the predicted turning angle value of the rear wheel can be directly determined as the actual turning angle value of the rear wheel of the vehicle at the moment, and the vehicle is controlled to turn.
Based on the same inventive concept, embodiments of the present invention also provide a rear wheel steering control device for a vehicle, which can effectively avoid collision with an obstacle during steering of the vehicle, and which can be used to execute the rear wheel steering control method for a vehicle provided by embodiments of the present invention, and which can be implemented by software and/or hardware, and which can be integrated into a steering controller for a vehicle.
Alternatively, fig. 6 is a schematic structural diagram of a rear wheel steering control device of a vehicle according to an embodiment of the present invention, and as shown in fig. 6, the rear wheel steering control device of the vehicle includes: the information acquisition module 100 is configured to acquire a wheel base between front wheels and rear wheels on the same side in a vehicle, a rotation angle value of the front wheels and the rear wheels on the same side, and obstacle information around the vehicle, when a vehicle speed of the vehicle is less than or equal to a preset vehicle speed; the turning angle value of the front wheel is a front wheel turning angle value, and the turning angle value of the rear wheel is a rear wheel predicted turning angle value; a rear wheel predicted turning radius determination module 200 for determining a rear wheel predicted turning radius of the vehicle according to the front wheel turning angle value, the rear wheel predicted turning angle value, and the wheel base; a safe distance determination module 300 for determining a safe distance between the vehicle and an obstacle in a lateral direction of the vehicle based on obstacle information around the vehicle, a predicted turning radius of a rear wheel, and a predicted turning angle value of the rear wheel; and a rear wheel steering control module 400 for determining an actual turning angle of the rear wheels of the vehicle based on the predicted turning radius of the rear wheels and the safety distance to control the rear wheel steering of the vehicle.
The rear wheel steering control device of the vehicle provided by the embodiment of the invention can effectively avoid collision with the obstacle in the vehicle steering process, so that a driver does not need extra effort to correct the rear wheel steering angle value to avoid the obstacle, the operation of the vehicle is simplified, and the user experience is improved.
Optionally, the information obtaining module includes a wheel-axle-distance determining unit, configured to determine a length of a connection line between centers of front wheels and centers of rear wheels located on the same side in the vehicle as a wheel-axle distance; a rear wheel predicted rotation angle value acquisition unit for acquiring rotation angle values of a front wheel and a rear wheel located on the same side in a vehicle based on a steering wheel rotation angle signal of the vehicle; and an obstacle information acquisition unit for acquiring obstacle information around the vehicle based on an obstacle detection device on the vehicle.
Optionally, the rear wheel predicted turning radius determination module includes a rear wheel predicted turning radius calculation unit, configured to calculate a rear wheel predicted turning radius by using a first calculation formula based on the front wheel steering angle value, the rear wheel predicted turning angle value, and the wheel wheelbase; the first calculation formula is: r1 ═ L/(sin β + cos β tan α); where R1 is the rear wheel predicted turning radius, L is the wheel base, α is the front wheel steering angle value, and β is the rear wheel predicted turning angle value.
Optionally, the safety distance determining module includes a first distance obtaining unit, configured to obtain a vertical distance between the first vertical plane and the second vertical plane as a first distance; the first vertical plane is a plane which comprises the centers of the front wheels and the rear wheels which are positioned on the same side in the vehicle and is vertical to the ground; the second vertical surface is a plane which comprises the outermost point of the vehicle body and is parallel to the first vertical surface; the centers of the front wheels and the rear wheels are the centers of the wheels on one side of the vehicle close to the obstacle in the transverse direction of the vehicle body; the vehicle body outermost point is a vehicle body outermost point on a side of the vehicle close to an obstacle in the vehicle body transverse direction; a second distance determination unit configured to determine, as a second distance, a minimum distance between a second vertical plane and an obstacle in the vehicle body lateral direction, based on obstacle information around the vehicle; a vertical distance calculation unit for calculating a vertical distance between a turning center of a rear wheel of the vehicle and a connecting line between the center of the front wheel and the center of the rear wheel on the same side, based on a predicted turning radius of the rear wheel and a predicted turning angle value of the rear wheel, using a second calculation formula; the second calculation formula is: h ═ R1 cos β; wherein H is a vertical distance, R1 is a predicted turning radius of the rear wheel, and beta is a predicted turning angle value of the rear wheel; and the first safe distance determining unit is used for determining the safe distance according to the first distance, the second distance and the vertical distance.
Optionally, the safety distance determining module further includes an empirical margin distance obtaining module, configured to obtain an empirical margin distance when the vehicle is steered; and the second safety distance determining unit is used for determining the sum of the first distance, the second distance, the vertical distance and the experience margin distance as the safety distance.
Optionally, the rear wheel steering control module includes a determining unit, configured to determine whether a predicted turning radius of a rear wheel of the vehicle is greater than a safe distance; a rear wheel steering control unit for adjusting an actual turning angle value of the rear wheel of the vehicle to 0 ° to control the rear wheel of the vehicle to steer when it is determined that a predicted turning radius of the rear wheel of the vehicle is greater than a safe distance; alternatively, when it is determined that the predicted turning radius of the rear wheel of the vehicle is less than or equal to the safe distance, the predicted turning angle value of the rear wheel is determined as an actual turning angle value of the rear wheel of the vehicle to control the rear wheel of the vehicle to turn.
Optionally, the rear wheel steering control device of the vehicle further includes a speed determination module, configured to determine whether a vehicle speed of the vehicle is greater than a preset vehicle speed, and control steering of the vehicle based on a predicted turning angle value of the rear wheel when the vehicle speed of the vehicle is greater than the preset vehicle speed.
Based on the same inventive concept, embodiments of the present invention also provide a computer-readable storage medium on which a computer program is stored, which, when executed by a steering controller, implements the rear wheel steering control method of a vehicle provided in any of the embodiments of the present invention.
Optionally, an embodiment of the present invention further provides a vehicle, including: a steering wheel, wheels, and a steering controller; the vehicle provided by the embodiment of the present invention includes technical features of the rear wheel steering control method provided by any embodiment of the present invention, and can achieve beneficial effects of the rear wheel steering control method provided by the embodiment 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. Those skilled in the art will appreciate that the present invention is not limited to the particular embodiments described herein, and that various obvious changes, rearrangements and substitutions will now be 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 (10)
1. A rear wheel steering control method of a vehicle, characterized by comprising:
when the vehicle speed of the vehicle is less than or equal to a preset vehicle speed, acquiring the wheel wheelbase between the front wheel and the rear wheel on the same side in the vehicle, the turning angle value of the front wheel and the rear wheel on the same side and the obstacle information around the vehicle; the turning angle value of the front wheel is a front wheel turning angle value, and the turning angle value of the rear wheel is a rear wheel predicted turning angle value;
determining a rear wheel predicted turning radius of the vehicle according to the front wheel turning angle value, the rear wheel predicted turning angle value and the wheel base;
determining a safe distance between the vehicle and an obstacle in the lateral direction of the vehicle according to obstacle information around the vehicle, the predicted turning radius of the rear wheel and the predicted turning angle value of the rear wheel;
determining a rear wheel actual turning angle of the vehicle based on the rear wheel predicted turning radius and the safety distance to control rear wheel steering of the vehicle.
2. The rear-wheel steering control method for a vehicle according to claim 1, wherein acquiring a wheel base between front wheels and rear wheels on the same side in the vehicle, a rotation angle value of the front wheels and the rear wheels on the same side, and obstacle information around the vehicle includes:
determining the length of a connecting line between the centers of the front wheels and the centers of the rear wheels which are positioned on the same side in the vehicle as the wheel base; acquiring the rotation angle values of the front wheels and the rear wheels which are positioned on the same side in the vehicle based on the steering wheel rotation angle signal of the vehicle; and acquiring obstacle information around the vehicle based on an obstacle detection device on the vehicle.
3. The rear-wheel steering control method of a vehicle according to claim 1, wherein determining a rear-wheel predicted turning radius of the vehicle based on the front-wheel steering angle value, the rear-wheel predicted turning angle value, and the wheel base includes:
calculating the predicted turning radius of the rear wheel by adopting a first calculation formula based on the front wheel turning angle value, the predicted rear wheel turning angle value and the wheel base; the first calculation formula is:
R1＝L/(sinβ+cosβ*tanα)
wherein R1 is the rear wheel predicted turning radius, L is the wheel base, α is the front wheel steering angle value, and β is the rear wheel predicted turning angle value.
4. The rear-wheel steering control method of a vehicle according to claim 1, wherein determining a safe distance between the vehicle and an obstacle in the lateral direction of the vehicle based on the obstacle information around the vehicle, the rear-wheel predicted turning radius, and the rear-wheel predicted turning angle value includes:
acquiring a vertical distance between the first vertical surface and the second vertical surface as a first distance; the first vertical plane is a plane which comprises the centers of the front wheels and the rear wheels which are positioned on the same side in the vehicle and is vertical to the ground; the second vertical surface is a plane which comprises the outermost point of the vehicle body and is parallel to the first vertical surface; the front wheel center and the rear wheel center are wheel centers on one side of the vehicle close to an obstacle in the transverse direction of the vehicle body; the vehicle body outermost point is a vehicle body outermost point on a side of the vehicle that is close to an obstacle in the vehicle body lateral direction;
determining a minimum distance between the second vertical plane and an obstacle in the vehicle body transverse direction as a second distance according to obstacle information around the vehicle;
calculating the vertical distance between the turning center of the rear wheel of the vehicle and a connecting line of the center of the front wheel and the center of the rear wheel positioned on the same side by adopting a second calculation formula on the basis of the predicted turning radius of the rear wheel and the predicted turning angle value of the rear wheel; the second calculation formula is:
H＝R1 cosβ
wherein H is the vertical distance, R1 is the predicted turning radius of the rear wheel, and β is the predicted turning angle value of the rear wheel;
and determining the safe distance according to the first distance, the second distance and the vertical distance.
5. The rear wheel steering control method of a vehicle according to claim 4, wherein determining the safe distance based on the first distance, the second distance, and the vertical distance includes:
acquiring an experience margin distance when the vehicle turns;
and determining the sum of the first distance, the second distance, the vertical distance and the empirical margin distance as the safe distance.
6. The rear wheel steering control method of a vehicle according to claim 1, wherein determining a rear wheel actual turning angle of the vehicle based on the rear wheel predicted turning radius and the safe distance to control rear wheel steering of the vehicle includes:
judging whether the predicted turning radius of the rear wheel of the vehicle is larger than the safe distance or not;
if so, adjusting the actual turning angle value of the rear wheel of the vehicle to 0 degree so as to control the rear wheel steering of the vehicle;
and if not, determining the predicted rear wheel rotation angle value as the actual rear wheel rotation angle value of the vehicle so as to control the rear wheel steering of the vehicle.
7. The rear wheel steering control method of a vehicle according to claim 1, characterized by further comprising:
and when the vehicle speed of the vehicle is greater than the preset vehicle speed, controlling the vehicle to steer based on the predicted rear wheel turning angle value.
8. A rear wheel steering control apparatus for a vehicle, characterized by comprising:
the information acquisition module is used for acquiring the wheel base between the front wheels and the rear wheels on the same side in the vehicle, the turning angle values of the front wheels and the rear wheels on the same side and the obstacle information around the vehicle when the vehicle speed of the vehicle is less than or equal to a preset vehicle speed; the turning angle value of the front wheel is a front wheel turning angle value, and the turning angle value of the rear wheel is a rear wheel predicted turning angle value;
the rear wheel predicted turning radius obtaining module is used for determining the predicted turning radius of the rear wheel of the vehicle according to the front wheel turning angle value, the rear wheel predicted turning angle value and the wheel wheelbase;
a safe distance obtaining module, configured to determine a safe distance between the vehicle and an obstacle in the lateral direction of the vehicle according to obstacle information around the vehicle, the predicted turning radius of the rear wheel, and the predicted turning angle value of the rear wheel;
and the rear wheel steering control module is used for determining the actual steering angle of the rear wheels of the vehicle based on the predicted turning radius of the rear wheels and the safe distance so as to control the rear wheel steering of the vehicle.
9. A computer-readable storage medium on which a computer program is stored, characterized in that the program realizes a rear wheel steering control method of a vehicle according to any one of claims 1 to 7 when executed by a steering controller.
10. A vehicle, characterized by comprising: a steering wheel, wheels, and a steering controller; the wheels include front wheels and rear wheels, and the steering controller is configured to execute a rear wheel steering control method of the vehicle according to any one of claims 1 to 7.
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