CN114426061B - 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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- CN114426061B CN114426061B CN202210167165.2A CN202210167165A CN114426061B CN 114426061 B CN114426061 B CN 114426061B CN 202210167165 A CN202210167165 A CN 202210167165A CN 114426061 B CN114426061 B CN 114426061B
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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 device and a computer readable storage medium thereof, comprising the following steps: when the speed of the vehicle is smaller than or equal to a preset speed, acquiring wheel wheelbase between front wheels and rear wheels on the same side of the vehicle, corner values of the front wheels and the rear wheels on the same side of the vehicle and obstacle information around the vehicle; the rotation angle value of the front wheel is the rotation angle value of the front wheel, and the rotation angle value of the rear wheel is the predicted rotation angle value of the rear wheel; determining the predicted turning radius of the rear wheel of the vehicle according to the front wheel turning value, the predicted turning value of the rear wheel and the wheel base; determining a safe distance between the vehicle and the obstacle in the transverse direction of the vehicle according to the information of the obstacle around the vehicle, the predicted turning radius of the rear wheel and the predicted turning angle value of the rear wheel; the actual turning angle of the rear wheels of the vehicle is determined based on the predicted turning radius of the rear wheels and the safety distance, so that the steering of the rear wheels of the vehicle is controlled, obstacles can be prevented from being collided in the steering process of the vehicle, the operation of the vehicle is simplified, and the user experience is improved.
Description
Technical Field
Embodiments of the present invention relate to steering control technologies, and in particular, to a vehicle, a method and an apparatus for controlling steering of a rear wheel of the vehicle, and a computer readable storage medium.
Background
Currently, in a vehicle type with only front wheels steering, a motion track of the rear part of the vehicle body is within a motion track of the front part of the vehicle body when the vehicle is in forward steering, and in recent years, in order to reduce a turning radius, improve driving flexibility, driving stability and the like, more and more high-end vehicle type rear wheel steering systems are configured, namely, on the basis of front wheel steering, rear wheels are matched with the front wheels to perform specific steering actions.
However, when the vehicle is running at a low speed, the steering direction of the rear wheels and the steering direction of the front wheels are opposite, and at this time, although the turning radius is greatly reduced, the running track of the rear wheels is beyond the running track of the front wheels, and if an obstacle is present on the side of the vehicle, collision accidents are easy to occur, so that the obstacle avoidance performance of the vehicle is deteriorated.
Disclosure of Invention
The invention provides a vehicle, a rear wheel steering control method, a rear wheel steering control device and a computer readable storage medium thereof, so as to avoid collision with obstacles during steering 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 speed of the vehicle is smaller than or equal to a preset speed, acquiring wheel wheelbase between front wheels and rear wheels on the same side of the vehicle, corner values of the front wheels and the rear wheels on the same side of the vehicle and obstacle information around the vehicle; the rotation angle value of the front wheel is a front wheel rotation angle value, and the rotation angle value of the rear wheel is a rear wheel predicted rotation angle value;
determining a predicted turning radius of a rear wheel of the vehicle according to the front wheel turning value, the predicted turning 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 based on the obstacle information around the vehicle, the rear wheel estimated turning radius, and the rear wheel estimated turning angle value;
an actual rear wheel steering angle of the vehicle is determined based on the rear wheel predicted turning radius and the safe distance to control rear wheel steering of the vehicle.
Optionally, acquiring a wheel base between front wheels and rear wheels on the same side of 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 front wheel center and the rear wheel center on the same side of the vehicle as the wheel base; acquiring a steering angle value of a front wheel and a rear wheel which are positioned on the same side of the vehicle based on a steering wheel steering angle signal of the vehicle; and acquiring obstacle information around the vehicle based on the obstacle detection device on the vehicle.
Optionally, determining the predicted turning radius of the rear wheel of the vehicle according to the front wheel rotation angle value, the predicted rear wheel rotation angle value and the wheel base comprises:
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 turning angle value of the rear wheel and the wheel base; the first calculation formula is as follows:
R1＝L/(sinβ+cosβ*tanα)
wherein R1 is the predicted turning radius of the rear wheel, L is the wheel base, alpha is the front wheel corner value, and beta is the predicted turning angle value of the rear wheel.
Optionally, determining the safe distance between the vehicle and the obstacle in the transverse direction of the vehicle according to the obstacle information around the vehicle, the expected turning radius of the rear wheels and the expected turning angle value of the rear wheels includes:
acquiring a vertical distance between a first vertical plane and a second vertical plane as a first distance; the first vertical plane is a plane which comprises a front wheel center and a rear wheel center which are positioned on the same side of the vehicle and is perpendicular 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, which is 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 the obstacle in the vehicle body lateral direction;
determining a 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;
calculating the vertical distance between the turning center of the rear wheel of the vehicle and the connecting line of the front wheel center and the rear wheel center on the same side by adopting a second calculation formula based on the rear wheel predicted turning radius and the rear wheel predicted turning angle value; the second calculation formula is as follows:
H＝R1 cosβ
wherein H is the vertical distance, R1 is the predicted turning radius of the rear wheel, and beta is the predicted turning angle value of the rear wheel;
and determining the safety distance according to the first distance, the second distance and the vertical distance.
Optionally, determining the safety distance according to the first distance, the second distance and the vertical distance includes:
acquiring an experience allowance distance when the vehicle turns;
and determining the sum of the first distance, the second distance, the vertical distance and the experience margin distance as the safety distance.
Optionally, determining an actual rear wheel steering angle of the vehicle based on the predicted rear wheel turning radius and the safety distance to control rear wheel steering of the vehicle, including:
judging whether the predicted turning radius of the rear wheel of the vehicle is larger than the safety distance;
if yes, the actual rotation angle value of the rear wheels of the vehicle is adjusted to be 0 degrees, so that the rear wheel steering of the vehicle is controlled;
if not, determining the predicted rotation angle value of the rear wheel as the actual rotation angle value of the rear wheel of the vehicle so as to control the rear wheel steering of the vehicle.
Optionally, the rear wheel steering control method of the vehicle further includes:
and controlling the steering of the vehicle based on the predicted rotation angle value of the rear wheels when the speed of the vehicle is greater than the preset speed.
In a second aspect, an embodiment of the present invention further provides a rear wheel steering control apparatus of a vehicle, including:
the information acquisition module is used for acquiring wheel wheelbase between front wheels and rear wheels on the same side of the vehicle, corner values of the front wheels and the rear wheels on the same side and obstacle information around the vehicle when the speed of the vehicle is smaller than or equal to a preset speed; the rotation angle value of the front wheel is a front wheel rotation angle value, and the rotation angle value of the rear wheel is a rear wheel predicted rotation angle value;
the rear wheel estimated turning radius acquisition module is used for determining the rear wheel estimated turning radius of the vehicle according to the front wheel corner value, the rear wheel estimated corner value and the wheel base;
a safe distance acquisition module configured to determine a safe distance between the vehicle and an obstacle in a lateral direction of the vehicle based on obstacle information around the vehicle, the rear wheel estimated turning radius, and the rear wheel estimated turning angle value;
and the rear wheel steering control module is used for determining the actual turning angle of the rear wheels of the vehicle based on the predicted turning radius of the rear wheels and the safety 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 having stored thereon a computer program which, when executed by a steering controller, implements the 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: steering wheel, wheels and steering controller; the wheels include front wheels and rear wheels, and the steering controller is configured to execute the rear wheel steering control method of the vehicle according to any one of the above.
According to the rear wheel steering control method provided by the embodiment of the invention, the wheel wheelbase between the front wheel and the rear wheel on the same side, the corner value of the front wheel and the rear wheel on the same side and the obstacle information around the vehicle are obtained to determine the predicted turning radius of the rear wheel of the vehicle, and then the safety distance between the vehicle and the obstacle in the transverse direction of the vehicle is determined according to the obstacle information around the vehicle, the predicted turning radius of the rear wheel and the predicted corner value of the rear wheel, so that the driver does not need to extra effort to correct the rear wheel corner 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 of a vehicle according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a vehicle steering when the vehicle speed does not exceed a preset vehicle speed according to an embodiment of the present invention;
FIG. 4 is a flowchart of a rear wheel steering control method of a further vehicle provided by an embodiment of the present invention;
FIG. 5 is a flowchart of a rear wheel steering control method of a further vehicle provided by an embodiment of the present invention;
fig. 6 is a schematic structural view of a rear wheel steering control apparatus of a vehicle according to an embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
The rear-wheel steering control method of the vehicle can effectively avoid collision with an obstacle in the steering process of the vehicle, the rear-wheel steering control method of the vehicle can be implemented by adopting the rear-wheel steering control device of the vehicle, the rear-wheel steering control device of the vehicle is realized by software and/or hardware, and the rear-wheel steering control device of the vehicle can be integrated in a steering controller of the vehicle.
Fig. 1 is a flowchart of a rear-wheel steering control method of a vehicle according to an embodiment of the present invention, as shown in fig. 1, including:
s110, when the speed of the vehicle is smaller than or equal to a preset speed, acquiring wheel wheelbase between front wheels and rear wheels on the same side of the vehicle, corner values of the front wheels and the rear wheels on the same side of the vehicle and obstacle information around the vehicle; the rotation angle value of the front wheel is the rotation angle value of the front wheel, and the rotation angle value of the rear wheel is the predicted rotation angle value of the rear wheel.
Specifically, when the vehicle equipped with the rear wheel steering system is at a low running speed, the steering direction of the rear wheel is opposite to the steering direction of the front wheel, so that the running track of the rear wheel is possibly beyond the range of the running track of the front wheel, the running track of the rear wheel is shown to be on the outer side of the running track of the front wheel by taking the turning center as a reference point, and the larger the steering angle of the rear wheel is, the larger the running track of the rear wheel is beyond the range of the running track of the front wheel, so that in order to avoid collision of the rear wheel with an obstacle when steering, the wheel wheelbase between the front wheel and the rear wheel on the same side, the corner values (namely the front wheel corner value and the rear wheel predicted corner value) of the front wheel and the rear wheel on the same side, obstacle information around the vehicle and the like need to be acquired to calculate whether the predicted running track of the rear wheel collides with the obstacle or not, so as to correct the corner value of the rear wheel and avoid collision of the vehicle with the obstacle in the steering process.
For example, the length of the line between the front wheel center and the rear wheel center on the same side of the vehicle may be determined as the wheel base; acquiring a steering angle value of a front wheel and a rear wheel which are positioned on the same side of the vehicle based on a steering wheel steering angle signal of the vehicle; and acquiring obstacle information around the vehicle based on the obstacle detection device on the vehicle; the rotation angle value of the front wheel is the rotation angle value of the front wheel, and the rotation angle value of the rear wheel is the predicted rotation angle value of the rear wheel; a front wheel rotation angle value may be calculated from a rotation angle signal of a current steering wheel, and a rear wheel predicted rotation angle value of a rear wheel is calculated based on the rotation angle signal of the steering wheel without considering an obstacle; taking the example that the vehicle comprises two front wheels and two rear wheels, in general, the rotation angle values of the two front wheels are the same, and the rotation angle values of the two front wheels and the rotation angle values of the rear wheels are the same, so that the front wheel rotation angle value and the predicted rear wheel rotation angle value can be directly obtained; or, in order to more accurately judge whether the predicted running track of the rear wheel can collide with an obstacle, the front wheel rotation angle value of the front wheel and the predicted rear wheel rotation angle value of the rear wheel at one side far away from the turning center 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 from the vehicle body in a lateral direction of the vehicle body on a side away from the center of turning.
S120, determining the predicted turning radius of the rear wheels of the vehicle according to the front wheel turning angle value, the predicted turning angle value of the rear wheels and the wheel base.
Specifically, the predicted turning radius of the rear wheel of the vehicle can be determined according to the geometric relationship between the predicted turning radius of the rear wheel and the wheel base and by combining the front wheel turning angle value and the predicted turning angle value of the rear wheel.
In addition, since the rear wheel on the side far from the turning center belongs to the outer side with respect to the turning center during steering, there is a risk of collision against an obstacle, and therefore, under the condition that no special explanation is provided, the predicted turning radius and the wheel wheelbase of the rear wheel in the embodiment of the invention are the predicted turning radius and the wheel wheelbase of the rear wheel on the side far from the turning center.
S130, determining a safe distance between the vehicle and the obstacle in the transverse direction of the vehicle according to the information of the obstacle around the vehicle, the expected turning radius of the rear wheels and the expected turning angle value of the rear wheels.
Specifically, the safety distance between the vehicle and the obstacle in the lateral direction of the vehicle can be determined in accordance with the geometric relationship among the predicted turning radius of the rear wheel, the minimum distance between the obstacle and the vehicle body in the lateral direction of the vehicle, and the safety distance between the vehicle and the obstacle in combination with the predicted turning angle value of the rear wheel.
And S140, determining the actual turning angle of the rear wheels of the vehicle based on the predicted turning radius of the rear wheels and the safety distance so as to control the steering of the rear wheels of the vehicle.
Specifically, whether the rear wheel collides with the obstacle according to the running track of the rear wheel steering according to the predicted turning angle value of the rear wheel can be judged 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, and the actual turning angle of the rear wheel of the vehicle is determined according to the judging result, so that the rear wheel steering 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.
According to the rear wheel steering control method provided by the embodiment of the invention, the wheel wheelbase between the front wheel and the rear wheel on the same side, the corner value of the front wheel and the rear wheel on the same side and the obstacle information around the vehicle are obtained to determine the predicted turning radius of the rear wheel of the vehicle, and then the safety distance between the vehicle and the obstacle in the transverse direction of the vehicle is determined according to the obstacle information around the vehicle, the predicted turning radius of the rear wheel and the predicted corner value of the rear wheel, so that the driver does not need to extra effort to correct the rear wheel corner value to avoid the obstacle, the operation of the vehicle is simplified, and the user experience is improved.
It will be appreciated that the above-described embodiments are implemented on the premise that the vehicle speed of the vehicle is less than or equal to the preset vehicle speed, and that 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 condition to the front wheel steering, and the vehicle steering is directly controlled based on the rear wheel predicted turning angle value. The preset vehicle speed may be 10km/h, for example.
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, as shown in fig. 2, where the method for controlling rear-wheel steering of a vehicle includes:
s210, when the speed of the vehicle is smaller than or equal to a preset speed, acquiring wheel wheelbase between front wheels and rear wheels on the same side of the vehicle, corner values of the front wheels and the rear wheels on the same side of the vehicle and obstacle information around the vehicle; the rotation angle value of the front wheel is the rotation angle value of the front wheel, and the rotation angle value of the rear wheel is the predicted rotation angle value of the rear wheel.
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 turning angle value of the rear wheel and the wheel base.
The first calculation formula is: r1=l/(sinβ+cos β×tanα); wherein R1 is the predicted turning radius of the rear wheel, L is the wheel base, alpha is the angle value of the front wheel, and beta is the predicted angle value of the rear wheel.
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 on which a center line of front wheels and rear wheels located on the same side of the vehicle 10 is located is a wheel axis, a front wheel rotation angle value α is an angle of the front wheels 20 deviating from the wheel axis, and a rear wheel predicted rotation angle value β is an angle of the rear wheels 30 deviating from the wheel axis; assuming that the turning radius of the front wheel 20 is R2, the wheel base L is known according to the pythagorean theorem as: l=r2+r1×sinβ, and r1×cosβ=r2×cosα, and thus, r2=r1×cosβ/cosα is brought into l=r2×sinα+r1×sinβ to obtain r1=l/(sinβ+cosβ×tanα).
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 front wheel center and the rear wheel center which are positioned on the same side of the vehicle and is perpendicular 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, which is 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 closer to the obstacle in the vehicle body lateral direction.
S240, determining the minimum distance between the second vertical surface 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 the vehicle type parameters of the vehicle, and can be directly obtained in the parameter storage module of the vehicle, and the vertical distance is taken as the first distance D1, 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 can be a point at the outermost side 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 can be a point at the outermost side of an area of the vehicle body outside the vehicle door between the vehicle door and 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 the radar, and the minimum distance is taken as the second distance D2, and it can be understood that the obstacle 40 is an obstacle on the vehicle-body outer side from the turning center O side.
S250, calculating the vertical distance between the turning center of the rear wheel of the vehicle and the connecting line of the front wheel center and the rear wheel center on the same side by adopting a second calculation formula based on the rear wheel predicted turning radius and the rear wheel predicted turning angle value.
The second calculation formula is: h=r1cos β; wherein H is the vertical distance, R1 is the predicted turning radius of the rear wheel, and beta is the predicted turning angle value of the rear wheel.
Specifically, when the vertical distance between the turning center O of the vehicle 10 and the line connecting 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=r1cos β, and thus, the vertical distance H can be obtained from the rear wheel estimated turning radius R1 and the rear wheel estimated turning angle value. It is to be understood that the vertical distance H should be the vertical distance of the turning center O of the vehicle 10 from the line connecting the front wheel center and the rear wheel center on the side away from the turning center O.
S260, determining the safety distance according to the first distance, the second distance and the vertical distance.
Specifically, the safety distance D0 may be the sum of the first distance D1, the second distance D2, and the vertical distance H, that is, d0=d1+d2+h, and it may be determined, according to the predicted turning radius R1 of the rear wheel and the safety distance D0 between the vehicle 10 and the obstacle 40 in the lateral direction of the vehicle 10, whether the driving track of the rear wheel 30 steering according to the predicted turning angle β of the rear wheel collides with the obstacle 40, and the actual turning angle of the rear wheel of the vehicle 10 is determined according to the determination result, so as to control the steering of the rear wheel of the vehicle according to the actual turning angle of the rear wheel, so as to avoid collision with the obstacle during the steering process of the vehicle.
S270, determining the actual turning angle of the rear wheels of the vehicle based on the predicted turning radius of the rear wheels and the safety distance so as to control the steering of the rear wheels of the vehicle.
Optionally, fig. 4 is a flowchart of a rear wheel steering control method of a vehicle according to an embodiment of the present invention, and as shown in fig. 4, the rear wheel steering control method of a vehicle includes:
s310, when the speed of the vehicle is smaller than or equal to a preset speed, acquiring wheel wheelbase between front wheels and rear wheels on the same side of the vehicle, corner values of the front wheels and the rear wheels on the same side of the vehicle and obstacle information around the vehicle; the rotation angle value of the front wheel is the rotation angle value of the front wheel, and the rotation angle value of the rear wheel is the predicted rotation angle value of the rear wheel.
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 turning angle value of the rear wheel and the wheel base.
The first calculation formula is: r1=l/(sinβ+cos β×tanα); wherein R1 is the predicted turning radius of the rear wheel, L is the wheel base, alpha is the angle value of the front wheel, and beta is the predicted angle value of the rear wheel.
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 front wheel center and the rear wheel center which are positioned on the same side of the vehicle and is perpendicular 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, which is 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 closer to the obstacle in the vehicle body lateral direction.
S340, determining the minimum distance between the second vertical surface and the obstacle in the transverse direction of the vehicle body as the second distance according to the obstacle information around the vehicle.
S350, calculating the vertical distance between the turning center of the rear wheel of the vehicle and the connecting line of the front wheel center and the rear wheel center on the same side by adopting a second calculation formula based on the rear wheel predicted turning radius and the rear wheel predicted turning angle value.
The second calculation formula is: h=r1cos β; wherein H is the vertical distance, R1 is the predicted turning radius of the rear wheel, and beta is the predicted turning angle value of the rear wheel.
S360, acquiring an experience margin distance when the vehicle turns.
S370, determining the sum of the first distance, the second distance, the vertical distance and the experience margin distance as a safety distance.
Specifically, during steering, the steering operation of the driver may further increase the turning radius of the rear wheels, and therefore, in order to ensure that no obstacle is hit during steering, an empirical margin distance D3 should be set when the vehicle is steering, where 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.
S380, determining the actual turning angle of the rear wheels of the vehicle based on the predicted turning radius of the rear wheels and the safety distance so as to control the steering of the rear wheels of the vehicle.
Optionally, fig. 5 is a flowchart of a rear wheel steering control method of a vehicle according to an embodiment of the present invention, and as shown in fig. 5, the rear wheel steering control method of a vehicle includes:
s410, when the speed of the vehicle is smaller than or equal to a preset speed, acquiring wheel wheelbase between front wheels and rear wheels on the same side of the vehicle, corner values of the front wheels and the rear wheels on the same side of the vehicle and obstacle information around the vehicle; the rotation angle value of the front wheel is the rotation angle value of the front wheel, and the rotation angle value of the rear wheel is the predicted rotation angle value of the rear wheel.
S420, determining the predicted turning radius of the rear wheels of the vehicle according to the front wheel turning angle value, the predicted turning angle value of the rear wheels and the wheel base.
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 expected turning radius of the rear wheels and the expected turning angle value of the rear wheels.
S440, judging whether the predicted turning radius of the rear wheels of the vehicle is larger than a safe distance; if yes, then execute S450; if not, S460 is performed.
S450, the actual rotation angle value of the rear wheels of the vehicle is adjusted to be 0 degrees so as to control the steering of the rear wheels of the vehicle.
S460, determining the predicted turning angle value of the rear wheel as the actual turning angle value of the rear wheel of the vehicle to control the steering of the rear wheel 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, the fact that the rear wheel collides with an obstacle in the steering process of the vehicle according to the predicted turning angle value of the rear wheel is indicated, and the actual turning angle value of the rear wheel of the vehicle is adjusted to be 0 DEG at the moment, so that the running track of the rear wheel of the vehicle is identical with the running track of the front wheel, and collision with the obstacle is avoided; if the predicted turning radius of the rear wheels of the vehicle is smaller than or equal to the safe distance, the method indicates that the rear wheels cannot collide with obstacles in the steering process of the vehicle according to the predicted turning angle value of the rear wheels, so that the predicted turning angle value of the rear wheels can be directly determined as the actual turning angle value of the rear wheels of the vehicle at the moment, and the vehicle is controlled to steer.
Based on the same inventive concept, the embodiment of the invention also provides a rear-wheel steering control device of a vehicle, which can effectively avoid collision with an obstacle in the steering process of the vehicle, and the rear-wheel steering control device of the vehicle can be used for executing the rear-wheel steering control method of the vehicle, which can be realized by software and/or hardware, and can be integrated in a steering controller of the vehicle.
Alternatively, fig. 6 is a schematic structural diagram of a rear-wheel steering control device for a vehicle according to an embodiment of the present invention, as shown in fig. 6, where the rear-wheel steering control device for a vehicle includes: an information acquisition module 100 for acquiring wheel base between front wheels and rear wheels on the same side, corner values 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 rotation angle value of the front wheel is the rotation angle value of the front wheel, and the rotation angle value of the rear wheel is the predicted rotation angle value of the rear wheel; a rear wheel estimated turning radius determination module 200 for determining a rear wheel estimated turning radius of the vehicle based on the front wheel turning angle value, the rear wheel estimated turning angle value, and the wheel base; a safety distance determining module 300 for determining a safety distance between the vehicle and an obstacle in a lateral direction of the vehicle based on information of the obstacle around the vehicle, an estimated turning radius of the rear wheel, and an estimated turning angle value of the rear wheel; the rear wheel steering control module 400 is configured to determine an actual steering angle of the rear wheels of the vehicle based on the predicted turning radius and the safe distance of the rear wheels 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 steering process of the vehicle, so that a driver does not need to 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 acquisition module includes a wheel-axle-distance determining unit configured to determine, as the wheel-axle distance, a length of a line between a front wheel center and a rear wheel center on the same side of the vehicle; the device comprises a rear wheel predicted corner value acquisition unit, a front wheel detection unit and a rear wheel detection unit, wherein the rear wheel predicted corner value acquisition unit is used for acquiring corner values of front wheels and rear wheels which are positioned on the same side of a vehicle based on a steering wheel corner signal of the vehicle; and an obstacle information acquisition unit configured to acquire obstacle information around the vehicle based on the obstacle detection device on the vehicle.
Optionally, the rear wheel estimated turning radius determining module includes a rear wheel estimated turning radius calculating unit configured to calculate the rear wheel estimated turning radius by using a first calculation formula based on the front wheel turning angle value, the rear wheel estimated turning angle value, and the wheel base; the first calculation formula is: r1=l/(sinβ+cos β×tanα); wherein R1 is the predicted turning radius of the rear wheel, L is the wheel base, alpha is the angle value of the front wheel, and beta is the predicted angle value of the rear wheel.
Optionally, the safety distance determining module includes a first distance acquiring unit, configured to acquire, as the first distance, a vertical distance between the first vertical plane and the second vertical plane; the first vertical plane is a plane which comprises the front wheel center and the rear wheel center which are positioned on the same side of the vehicle and is perpendicular 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, which is 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 the obstacle in the vehicle body lateral direction; a second distance determining unit configured to determine, as a second distance, a minimum distance between a second vertical surface and an obstacle in a vehicle-body lateral direction, based on obstacle information around the vehicle; a vertical distance calculating unit for calculating a vertical distance of a line connecting a turning center of a rear wheel of the vehicle with a front wheel center and a rear wheel center located on the same side using a second calculation formula based on the rear wheel estimated turning radius and the rear wheel estimated turning angle value; the second calculation formula is: h=r1cos 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; the first safety distance determining unit is used for determining the safety distance according to the first distance, the second distance and the vertical distance.
Optionally, the safety distance determining module further comprises an experience allowance distance obtaining module, which is used for obtaining the experience allowance distance when the vehicle turns; and a second safety distance determining unit for determining a sum of the first distance, the second distance, the vertical distance, and the experience margin distance as a safety distance.
Optionally, the rear wheel steering control module includes a judging unit for judging whether the predicted turning radius of the rear wheel of the vehicle is greater than the safety distance; a rear wheel steering control unit for adjusting an actual rear wheel turning angle value of the vehicle to 0 ° to control rear wheel steering of the vehicle when it is determined that the predicted turning radius of the rear wheel of the vehicle is greater than the safe distance; alternatively, when it is determined that the predicted turning radius of the rear wheels of the vehicle is less than or equal to the safe distance, the predicted turning angle value of the rear wheels is determined as the actual turning angle value of the rear wheels of the vehicle to control the rear wheel steering of the vehicle.
Optionally, the rear wheel steering control device of the vehicle further comprises a speed judging module, which is used for judging whether the speed of the vehicle is greater than a preset speed, and controlling the steering of the vehicle based on the predicted steering angle value of the rear wheel when the speed of the vehicle is greater than the preset speed.
Based on the same inventive concept, the embodiments of the present invention also provide a computer-readable storage medium having stored thereon a computer program which, when executed by a steering controller, implements the rear wheel steering control method of the vehicle provided by any of the embodiments of the present invention.
Optionally, an embodiment of the present invention further provides a vehicle, including: steering wheel, wheels and steering controller; the wheels include front wheels and rear wheels, and the steering controller is used for executing the rear wheel steering control method of the vehicle provided by any embodiment of the present invention, so that the vehicle provided by the embodiment of the present invention includes the technical features of the rear wheel steering control method of the vehicle provided by any embodiment of the present invention, and can achieve the beneficial effects of the rear wheel steering control method of the vehicle provided by the embodiment of the present invention, and the same features can be referred to the description of the rear wheel steering control method of the vehicle provided by the embodiment of the present invention, and are not repeated herein.
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (9)
1. A rear wheel steering control method of a vehicle, characterized by comprising:
when the speed of the vehicle is smaller than or equal to a preset speed, acquiring wheel wheelbase between front wheels and rear wheels on the same side of the vehicle, corner values of the front wheels and the rear wheels on the same side of the vehicle and obstacle information around the vehicle; the rotation angle value of the front wheel is a front wheel rotation angle value, and the rotation angle value of the rear wheel is a rear wheel predicted rotation angle value;
determining a predicted turning radius of a rear wheel of the vehicle according to the front wheel turning value, the predicted turning 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 based on the obstacle information around the vehicle, the rear wheel estimated turning radius, and the rear wheel estimated turning angle value;
determining an actual rear wheel 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;
determining a safe distance between the vehicle and an obstacle in the vehicle lateral direction based on the obstacle information around the vehicle, the rear wheel estimated turning radius, and the rear wheel estimated turning angle value, comprising:
acquiring a vertical distance between a first vertical plane and a second vertical plane as a first distance; the first vertical plane is a plane which comprises a front wheel center and a rear wheel center which are positioned on the same side of the vehicle and is perpendicular 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, which is 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 the obstacle in the vehicle body lateral direction;
determining a 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;
calculating the vertical distance between the turning center of the rear wheel of the vehicle and the connecting line of the front wheel center and the rear wheel center on the same side by adopting a second calculation formula based on the rear wheel predicted turning radius and the rear wheel predicted turning angle value; the second calculation formula is as follows:
H＝R1 cosβ
wherein H is the vertical distance, R1 is the predicted turning radius of the rear wheel, and beta is the predicted turning angle value of the rear wheel;
and determining the safety distance according to the first distance, the second distance and the vertical distance.
2. The rear wheel steering control method of a vehicle according to claim 1, characterized by obtaining wheel base between front wheels and rear wheels on the same side of the vehicle, a rotation angle value of the front wheels and rear wheels on the same side, and obstacle information around the vehicle, comprising:
determining the length of a connecting line between the front wheel center and the rear wheel center on the same side of the vehicle as the wheel base; acquiring a steering angle value of a front wheel and a rear wheel which are positioned on the same side of the vehicle based on a steering wheel steering angle signal of the vehicle; and acquiring obstacle information around the vehicle based on the obstacle detection device on the vehicle.
3. The rear wheel steering control method of a vehicle according to claim 1, characterized in that determining a rear wheel estimated turning radius of the vehicle from the front wheel turning angle value, the rear wheel estimated 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 turning angle value of the rear wheel and the wheel base; the first calculation formula is as follows:
R1＝L/(sinβ+cosβ*tanα)
wherein R1 is the predicted turning radius of the rear wheel, L is the wheel base, alpha is the front wheel corner value, and beta is the predicted turning angle value of the rear wheel.
4. The rear wheel steering control method of the vehicle according to claim 1, characterized in that determining the safety distance from the first distance, the second distance, and the vertical distance includes:
acquiring an experience allowance distance when the vehicle turns;
and determining the sum of the first distance, the second distance, the vertical distance and the experience margin distance as the safety distance.
5. The rear wheel steering control method of a vehicle according to claim 1, characterized in that determining a rear wheel actual turning angle of the vehicle based on the rear wheel estimated 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 safety distance;
if yes, the actual rotation angle value of the rear wheels of the vehicle is adjusted to be 0 degrees, so that the rear wheel steering of the vehicle is controlled;
if not, determining the predicted rotation angle value of the rear wheel as the actual rotation angle value of the rear wheel of the vehicle so as to control the rear wheel steering of the vehicle.
6. The rear wheel steering control method of a vehicle according to claim 1, characterized by further comprising:
and controlling the steering of the vehicle based on the predicted rotation angle value of the rear wheels when the speed of the vehicle is greater than the preset speed.
7. A rear wheel steering control device of a vehicle, characterized by comprising:
the information acquisition module is used for acquiring wheel wheelbase between front wheels and rear wheels on the same side of the vehicle, corner values of the front wheels and the rear wheels on the same side and obstacle information around the vehicle when the speed of the vehicle is smaller than or equal to a preset speed; the rotation angle value of the front wheel is a front wheel rotation angle value, and the rotation angle value of the rear wheel is a rear wheel predicted rotation angle value;
the rear wheel estimated turning radius acquisition module is used for determining the rear wheel estimated turning radius of the vehicle according to the front wheel corner value, the rear wheel estimated corner value and the wheel base;
a safe distance acquisition module configured to determine a safe distance between the vehicle and an obstacle in a lateral direction of the vehicle based on obstacle information around the vehicle, the rear wheel estimated turning radius, and the rear wheel estimated turning angle value;
a rear wheel steering control module for determining an actual rear wheel steering angle of the vehicle based on the predicted rear wheel turning radius and the safe distance to control rear wheel steering of the vehicle;
the safety distance determining module comprises a first distance obtaining unit, a second distance obtaining unit and a third distance obtaining unit, wherein the first distance obtaining unit is used for obtaining the 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 front wheel center and the rear wheel center which are positioned on the same side of the vehicle and is perpendicular 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, which is 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 the obstacle in the vehicle body lateral direction;
a second distance determining unit configured to determine, as a second distance, a minimum distance between a second vertical surface and an obstacle in a vehicle-body lateral direction, based on obstacle information around the vehicle;
a vertical distance calculating unit for calculating a vertical distance of a line connecting a turning center of a rear wheel of the vehicle with a front wheel center and a rear wheel center located on the same side using a second calculation formula based on the rear wheel estimated turning radius and the rear wheel estimated turning angle value; the second calculation formula is:
H＝R1 cosβ；
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;
the first safety distance determining unit is used for determining the safety distance according to the first distance, the second distance and the vertical distance.
8. A computer-readable storage medium having stored thereon a computer program, characterized in that the program, when executed by a steering controller, implements the rear wheel steering control method of a vehicle according to any one of claims 1 to 6.
9. A vehicle, characterized by comprising: steering wheel, wheels and steering controller; the wheel includes a front wheel and a rear wheel, and the steering controller is configured to execute the rear wheel steering control method of the vehicle according to any one of claims 1 to 6.
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| CN202210167165.2A CN114426061B (en) | 2022-02-23 | 2022-02-23 | Vehicle, rear wheel steering control method and device thereof, and computer readable storage medium |
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| CN202210167165.2A CN114426061B (en) | 2022-02-23 | 2022-02-23 | Vehicle, rear wheel steering control method and device thereof, and computer readable storage medium |
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| KR101480647B1 (en) * | 2013-11-15 | 2015-01-09 | 현대자동차주식회사 | Steering risk decision system for driving narrow road and method of the same |
| CN103661599B (en) * | 2013-12-04 | 2016-01-06 | 奇瑞汽车股份有限公司 | A kind of turn inside diameter trajectory predictions system and method |
| FR3041590B1 (en) * | 2015-09-30 | 2018-08-17 | Renault S.A.S | SYSTEM FOR CONTROLLING THE DIRECTION OF A MOTOR VEHICLE IN THE EVENT OF AN IMMINENT COLLISION WITH AN OBSTACLE |
| JP7077739B2 (en) * | 2018-04-11 | 2022-05-31 | 株式会社ジェイテクト | Four-wheel steering device |
| CN111439198B (en) * | 2020-03-25 | 2023-02-17 | 江苏大学 | Turning early warning method and system for large vehicle |
| CN112158256A (en) * | 2020-09-17 | 2021-01-01 | 中国第一汽车股份有限公司 | Control method for rear wheel steering during low-speed running of vehicle |
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