CN114715264B - Vehicle auxiliary steering control method and related equipment thereof - Google Patents
Vehicle auxiliary steering control method and related equipment thereof Download PDFInfo
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- CN114715264B CN114715264B CN202210285233.5A CN202210285233A CN114715264B CN 114715264 B CN114715264 B CN 114715264B CN 202210285233 A CN202210285233 A CN 202210285233A CN 114715264 B CN114715264 B CN 114715264B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
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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 application discloses a vehicle auxiliary steering control method, a device, equipment and a storage medium, wherein the method comprises the following steps: when the vehicle needs to turn, acquiring first input parameters of the vehicle, including vehicle speed information, torque information and corner information, for the front wheels, and acquiring second input parameters of the vehicle, including vehicle speed information and corner information, for the rear wheels; determining a first target instruction for controlling the front wheels based on the first input parameter, and determining a second target instruction for controlling the rear wheels based on the second input parameter; the first target instruction is sent to a first steering motor corresponding to the front wheel so that the first steering motor outputs corresponding first power-assisted current to push the front wheel to steer; and sending a second target instruction to a second steering motor corresponding to the rear wheels so that the second steering motor outputs corresponding second power-assisted current to push the rear wheels to steer. In this application, the vehicle is assisted in achieving a large steering angle by a second steering motor attached to the rear wheels.
Description
Technical Field
The present disclosure relates to the field of vehicle control technologies, and in particular, to a method, an apparatus, a device, and a storage medium for controlling steering assistance of a vehicle.
Background
With the continuous development of technology, more and more technologies are applied to the technical field of vehicle control, but the technical field of vehicle control also puts forward higher requirements on the auxiliary steering control technology.
In the current vehicle steering system design, a front wheel active steering system is usually adopted, and in order to meet the requirements of various wheelbases of different vehicle types, a rear wheel auxiliary steering device is often required to be added.
Conventional rear-wheel assisted steering is generally achieved through deformation of the suspension bushing, however, rear-wheel assistance is achieved through deformation of the suspension bushing, and the achievable steering angle is small, so that high-order intelligent driving requirements are difficult to meet.
Disclosure of Invention
The main aim of the application is to provide a vehicle auxiliary steering control method, device, equipment and storage medium, which aim to solve the technical problems that the prior art realizes rear wheel auxiliary through deformation of a suspension bushing, so that the achievable steering angle is smaller, and the high-order intelligent driving requirement is difficult to meet.
In order to achieve the above object, the present application provides a vehicle assisted steering control method including:
when a vehicle needs to turn, acquiring first input parameters of the vehicle, including speed information, torque information and corner information of the vehicle, for front wheels, and acquiring second input parameters of the vehicle, including the speed information and the corner information, for rear wheels;
Determining a first target instruction for controlling the front wheels based on the first input parameter, and determining a second target instruction for controlling the rear wheels based on the second input parameter;
the first target instruction is sent to a first steering motor corresponding to the front wheel so that the first steering motor outputs corresponding first power-assisted current to push the front wheel to steer;
and sending the second target instruction to a second steering motor corresponding to the rear wheels so that the second steering motor outputs corresponding second power-assisted current to push the rear wheels to steer.
Optionally, the step of determining a first target instruction for controlling the front wheel based on the first input parameter and determining a second target instruction for controlling the rear wheel based on the second input parameter includes:
determining a target control strategy for the vehicle based on the first input parameter and the second input parameter;
determining a front wheel angle and a compensation yaw moment for controlling front wheels based on the target control strategy and the first input parameter, and generating the first target command based on the front wheel angle and the compensation yaw moment;
and determining a rear wheel rotation angle and a rear wheel yaw moment for controlling rear wheels based on the target control strategy and the second input parameter, and generating a second target instruction based on the rear wheel rotation angle and the rear wheel yaw moment.
Optionally, the step of determining a target control strategy of the vehicle based on the first input parameter and the second input parameter includes:
determining a driving scene where the vehicle is currently located based on the first input parameter and the second input parameter;
and determining a target control strategy based on the current driving scene.
Optionally, the step of determining the target control strategy based on the current driving scenario includes:
and when the driving scene is a preset high-speed driving scene, determining the target control strategy as a strategy for controlling the front wheels and the rear wheels to rotate in the same direction.
Optionally, the step of determining the target control strategy based on the current driving scenario includes:
and when the driving scene is a preset low-speed driving scene, determining a target control strategy as a strategy for controlling the front wheels and the rear wheels to rotate in different directions.
Optionally, the method is applied to a vehicle assisted steering control device, the vehicle assisted steering control device includes a front wheel steering execution device and a rear wheel steering execution device, the step of determining a first target instruction for controlling the front wheel based on the first input parameter, and determining a second target instruction for controlling the rear wheel based on the second input parameter, including:
Determining a first target instruction for controlling a front wheel based on the first input parameter by the front wheel steering execution device;
determining a second target instruction for controlling the front wheels based on the second input parameter by the rear wheel steering execution device.
Optionally, the method is applied to a vehicle auxiliary steering control device, the vehicle auxiliary steering control device includes a front wheel steering execution device and a rear wheel steering execution device, the step of sending the first target instruction to a first steering motor corresponding to the front wheel so that the first steering motor outputs a corresponding first power-assisted current to push the front wheel to steer, and the method includes:
transmitting the front wheel rotation angle and the compensation yaw moment to the rear wheel steering execution device so as to enable the rear wheel steering execution device to carry out steering control of the next wheel;
after the step of sending the second target instruction to a second steering motor corresponding to the rear wheel so that the second steering motor outputs a corresponding second power-assisted current to push the rear wheel to steer, the method comprises the following steps:
and sending the rear wheel rotation angle and the rear wheel yaw moment to the front wheel steering execution device so that the front wheel steering execution device can carry out steering control of the next wheel.
The present application also provides a vehicle assisted steering control apparatus including:
the device comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring first input parameters of vehicle speed information, torque information and corner information of a vehicle aiming at front wheels and acquiring second input parameters of vehicle aiming at rear wheels, wherein the first input parameters comprise the vehicle speed information and the corner information;
a determining module for determining a first target instruction for controlling the front wheel based on the first input parameter, and determining a second target instruction for controlling the rear wheel based on the second input parameter;
the first sending module is used for sending the first target instruction to a first steering motor corresponding to the front wheel so that the first steering motor outputs corresponding first power-assisted current to push the front wheel to steer;
and the second sending module is used for sending the second target instruction to a second steering motor corresponding to the rear wheels so that the second steering motor outputs corresponding second power-assisted current to push the rear wheels to steer.
Optionally, the determining module includes:
a first determination unit configured to determine a target control strategy of the vehicle based on the first input parameter and the second input parameter;
A second determination unit configured to determine a front wheel rotation angle and a compensation yaw moment for controlling front wheels based on the target control strategy and the first input parameter, and generate the first target instruction based on the front wheel rotation angle and the compensation yaw moment;
and a third determining unit configured to determine a rear wheel rotation angle and a rear wheel yaw moment for controlling the rear wheels based on the target control strategy and the second input parameter, and generate a second target instruction based on the rear wheel rotation angle and the rear wheel yaw moment.
Optionally, the first determining unit includes:
a first determining subunit, configured to determine, based on the first input parameter and the second input parameter, a driving scenario in which the vehicle is currently located;
and the second determining subunit is used for determining a target control strategy based on the current driving scene.
Optionally, the second determining subunit is configured to implement:
and when the driving scene is a preset high-speed driving scene, determining the target control strategy as a strategy for controlling the front wheels and the rear wheels to rotate in the same direction.
Optionally, the second determining subunit is configured to implement:
and when the driving scene is a preset low-speed driving scene, determining a target control strategy as a strategy for controlling the front wheels and the rear wheels to rotate in different directions.
Alternatively, the present invention is applied to a vehicle assisted steering control device including a front-wheel steering execution device and a rear-wheel steering execution device, the determination module including:
a fourth determining unit configured to determine a first target instruction for controlling the front wheels based on the first input parameter by the front wheel steering performing device;
and a fifth determining unit configured to determine a second target instruction for controlling the front wheels based on the second input parameter by the rear wheel steering performing device.
Alternatively, the present invention is applied to a vehicle assisted steering control apparatus that includes a front-wheel steering performing apparatus and a rear-wheel steering performing apparatus, the apparatus further including:
the first sending module is used for sending the front wheel rotation angle and the compensation yaw moment to the rear wheel steering execution device so as to enable the rear wheel steering execution device to carry out steering control of the next wheel;
the apparatus further comprises:
and the first sending module is used for sending the rear wheel steering angle and the rear wheel yaw moment to the front wheel steering executing device so that the front wheel steering executing device can carry out steering control of the next wheel.
The application also provides a vehicle auxiliary steering control apparatus, which is a physical node apparatus, comprising: the vehicle steering control system includes a memory, a processor, and a program of the vehicle steering control method stored on the memory and executable on the processor, the program of the vehicle steering control method, when executed by the processor, implementing the steps of the vehicle steering control method as described above.
The present application also provides a storage medium having stored thereon a program for implementing the above-described vehicle assisted steering control method, which when executed by a processor implements the steps of the above-described vehicle assisted steering control method.
The present application also provides a computer program product comprising a computer program which, when executed by a processor, implements the steps of the vehicle assisted steering control method described above.
Compared with the prior art that the rear wheel is assisted through the deformation of a suspension bushing, the achievable steering angle is smaller, and the high-order intelligent driving requirement is difficult to meet, in the method, when the vehicle needs to steer, a first input parameter of the vehicle, including speed information, torque information and corner information of the vehicle, for the front wheel is acquired, and a second input parameter of the vehicle, including the speed information and the corner information, for the rear wheel is acquired; determining a first target instruction for controlling the front wheels based on the first input parameter, and determining a second target instruction for controlling the rear wheels based on the second input parameter; the first target instruction is sent to a first steering motor corresponding to the front wheel so that the first steering motor outputs corresponding first power-assisted current to push the front wheel to steer; and sending the second target instruction to a second steering motor corresponding to the rear wheels so that the second steering motor outputs corresponding second power-assisted current to push the rear wheels to steer. In this application, when the vehicle needs to turn to, be used for confirming the first target instruction of controlling the front wheel through acquireing first input parameter, and be used for confirming the second target instruction of controlling the rear wheel through acquireing the second input parameter, and then, send first target instruction to first steering motor, send second target instruction to second steering motor, with promote front wheel and rear wheel respectively to turn to, namely, in this application, turn to the executive device through electric power assisted front wheel and electric rear wheel and turn to the executive device and carry out the steering of front wheel and rear wheel respectively independently, namely, assist the vehicle through the second steering motor that installs additional on the rear wheel and realize great steering angle, and then, realize reducing vehicle turning diameter, realize the rear wheel is supplementary through the deformation of suspension bush among the solution prior art, lead to the steering angle that can be realized to be slightly, be difficult to satisfy the technical problem of high-order intelligent driving demand.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required to be used in the description of the embodiments or the prior art will be briefly described below, and it will be obvious to those skilled in the art that other drawings can be obtained from these drawings without inventive effort.
FIG. 1 is a flow chart of a first embodiment of a vehicle assisted steering control method according to the present disclosure;
FIG. 2 is a schematic diagram of a refinement step flow of step S20 in the vehicle assisted steering control method of the present application;
FIG. 3 is a schematic diagram of a device architecture of a hardware operating environment according to an embodiment of the present application;
FIG. 4 is a schematic flow chart of the control of the vehicle auxiliary steering control system of the present application;
FIG. 5 is a schematic diagram of a vehicle assisted steering control system of the present application.
The implementation, functional features and advantages of the present application will be further described with reference to the accompanying drawings in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
An embodiment of the present application provides a vehicle assisted steering control method, in a first embodiment of the vehicle assisted steering control method of the present application, referring to fig. 1, the vehicle assisted steering control method includes:
step S10, when a vehicle needs to turn, acquiring first input parameters of the vehicle, including speed information, torque information and corner information of the vehicle, aiming at front wheels, and acquiring second input parameters of the vehicle, including the speed information and the corner information, aiming at rear wheels;
step S20 of determining a first target instruction for controlling the front wheels based on the first input parameter, and determining a second target instruction for controlling the rear wheels based on the second input parameter;
step S30, the first target instruction is sent to a first steering motor corresponding to the front wheels so that the first steering motor outputs corresponding first power-assisted current to push the front wheels to steer;
and step S40, the second target instruction is sent to a second steering motor corresponding to the rear wheels so that the second steering motor outputs corresponding second power-assisted current to push the rear wheels to steer.
In this embodiment, a specific application scenario may be:
Scene one: in the current vehicle steering system design, only a front wheel active steering system is adopted, so that the requirements of various wheelbases of different vehicle types are met, and the requirements of turning radius are often met by readjusting the stroke of a rack.
In this embodiment, steering of front wheels and steering of rear wheels are independently carried out through electric power-assisted front wheel steering actuating device and electric rear wheel steering actuating device respectively, that is, the second steering motor additionally arranged on the rear wheels is used for assisting the vehicle to realize a larger steering angle, and then, the turning diameter of the vehicle is reduced, the technical problem that in the prior art, only a front wheel active steering system is needed to readjust the rack stroke to meet the turning radius is solved, and the high-order intelligent driving requirement is difficult to meet is solved.
Scene II: in the current vehicle steering system design, a front wheel active steering system is usually adopted, and in order to meet the requirements of various wheelbases of different vehicle types, a rear wheel auxiliary steering device is often required to be added. Conventional rear-wheel assisted steering is generally achieved through deformation of the suspension bushing, however, rear-wheel assistance is achieved through deformation of the suspension bushing, and the achievable steering angle is small, so that high-order intelligent driving requirements are difficult to meet.
In this embodiment, steering of front wheels and steering of rear wheels are performed independently through the electric power-assisted front wheel steering performing device and the electric rear wheel steering performing device respectively, that is, the vehicle is assisted by the second steering motor additionally arranged on the rear wheels to achieve a larger steering angle, and further, the turning diameter of the vehicle is reduced, the technical problem that the achievable steering angle is smaller and the high-order intelligent driving requirement is difficult to meet due to the fact that the rear wheel is assisted through deformation of the suspension bushing in the prior art is solved.
The method comprises the following specific steps:
step S10, when a vehicle needs to turn, acquiring first input parameters of the vehicle, including speed information, torque information and corner information of the vehicle, aiming at front wheels, and acquiring second input parameters of the vehicle, including the speed information and the corner information, aiming at rear wheels;
in the present embodiment, it is to be noted that the vehicle assisted steering control method may be applied to a vehicle assisted steering control device (including a front-wheel steering performing device and a rear-wheel steering performing device) that is part of a vehicle assisted steering control apparatus that belongs to a vehicle assisted steering control system.
In this embodiment, when a steering command is detected (the vehicle owner is triggered by the steering wheel and detected by the sensor), it is determined that the vehicle needs to be steered.
In this embodiment, the first input parameter is for the front wheel and the second input parameter is for the rear wheel.
In this embodiment, the first input parameter and the second input parameter are different in that: the first input parameter includes steering wheel input parameter information (steering wheel input torque information).
In the present embodiment, the rotation angle information common to the first input parameter and the second input parameter includes the yaw rate and the centroid slip angle.
As shown in fig. 4, the first input parameters include a steering wheel input δf, a yaw rate Φ, and a centroid slip angle β.
The second input parameters include yaw rate phi and centroid slip angle beta.
In this embodiment, the first input parameter and the second input parameter further include vehicle speed information, where the vehicle speed information includes displacement information, a vehicle speed, and the like, and the vehicle speed may be determined based on the displacement information.
Step S20 of determining a first target instruction for controlling the front wheels based on the first input parameter, and determining a second target instruction for controlling the rear wheels based on the second input parameter;
In this embodiment, as shown in fig. 5, the vehicle assisted steering control system (vehicle four-wheel steering system) is composed of components such as a 1-steering wheel, a 2-steering column, a 3-front-wheel steering, a 4-steering rod, a 5-front-wheel steering controller, a 6-steering motor, a 7-rear-wheel steering, an 8-steering rod, a 9-rear-wheel steering controller, and a 10-steering motor.
In the present embodiment, since the second steering motor (one second steering motor, which may be referred to as a first steering motor) in conformity with the first steering motor is additionally installed to the vehicle-assisted steering control apparatus, the structural arrangement is made simple.
Wherein the step of determining a first target instruction for controlling the front wheels based on the first input parameter and determining a second target instruction for controlling the rear wheels based on the second input parameter comprises:
step S21, determining a first target instruction for controlling the front wheels based on the first input parameter through the front wheel steering executing device;
step S22, determining a second target instruction for controlling the front wheels based on the second input parameter through the rear wheel steering execution device.
In the present embodiment, a front wheel steering execution device (rack-type electric assist) (specifically, a front wheel steering controller) in a vehicle assisted steering control device determines a first target instruction for controlling front wheels based on the first input parameter. A rear wheel steering performing device (rack-type electric assist) (specifically, a rear wheel steering controller) determines a second target instruction for controlling the front wheels based on the second input parameter.
In this embodiment, the vehicle auxiliary steering control device and the rear wheel steering execution device are independent mechanical execution modules, so that development of multi-platform vehicle type architectures with different requirements can be realized, and the degree of generalization is higher.
The vehicle steering assist control device and the rear wheel steering actuator each further include a torque sensor, a steering angle sensor, a displacement sensor, and the like.
The torque sensor is used for acquiring torque information;
the rotation angle sensor is used for acquiring rotation angle information;
the displacement sensor is used for acquiring speed information of the vehicle.
In this embodiment, when the vehicle turns, the driver intention information is identified by the sensors such as the torque sensor and the corner sensor, and the driver intention information (including the torque signal and the corner signal generated based on the vehicle speed information, the torque information, the corner information, and the like, more specifically, the yaw rate sensor signal, the lateral acceleration sensor signal, and the vehicle speed signal) is transmitted to the steering controller through the CAN network, the steering controller receives the whole signal and calculates according to the corresponding control strategy and logic, and obtains the target command to be sent, the target command to be sent is sent to the corresponding steering motor, and the steering motor (including the first steering motor and the second steering motor) is used as a power source, namely, the motor is used as an actuating mechanism to output the corresponding power assisting current, so as to generate steering assistance, push the steering rack and the steering tie rod to move, thereby pushing the wheels to turn.
Wherein referring to fig. 2, the step of determining a first target command for controlling the front wheel based on the first input parameter and determining a second target command for controlling the rear wheel based on the second input parameter includes:
step S23 of determining a target control strategy of the vehicle based on the first input parameter and the second input parameter;
in this embodiment, a target control strategy of the vehicle is determined based on the first input parameter and the second input parameter.
Specifically, based on the first input parameter and the second input parameter, the target control strategy of the vehicle is determined by comparing the first input parameter and the second input parameter with a preset control rule or a preset control table.
In this embodiment, the first input parameter and the second input parameter may also be input into a preset strategy generation model, and the target control strategy of the vehicle may be determined based on the preset strategy generation model.
The preset strategy generation model is a trained model.
Step S24 of determining a front wheel rotation angle and a compensation yaw moment for controlling front wheels based on the target control strategy and the first input parameter, and generating the first target command based on the front wheel rotation angle and the compensation yaw moment;
After determining the target control strategy, the front wheel turning angle δr1 and the compensation yaw moment δm for controlling the front wheels may be determined by the target control strategy (including a generation rule or a generation formula of the front wheel turning angle δr1 and the compensation yaw moment δm), and the first target command may be generated based on the front wheel turning angle and the compensation yaw moment.
And step S25, determining a rear wheel rotation angle and a rear wheel yaw moment for controlling rear wheels based on the target control strategy and the second input parameter, and generating a second target instruction based on the rear wheel rotation angle and the rear wheel yaw moment.
Based on the target control strategy (including a generation rule or a generation formula of the rear wheel steering angle δr2 and the rear wheel yaw moment Mz) and the second input parameter, a rear wheel steering angle δr2 and a rear wheel yaw moment Mz for controlling the rear wheels are determined, and a second target instruction is generated based on the rear wheel steering angle and the rear wheel yaw moment.
Step S30, the first target instruction is sent to a first steering motor corresponding to the front wheels so that the first steering motor outputs corresponding first power-assisted current to push the front wheels to steer;
and step S40, the second target instruction is sent to a second steering motor corresponding to the rear wheels so that the second steering motor outputs corresponding second power-assisted current to push the rear wheels to steer.
After receiving the first target instruction, the front wheel steering controller converts the first target instruction into the voltage of a front wheel steering motor (a first steering motor), so that the front wheel steering motor generates torque, and the torque passes through a gear rack and a steering pull rod to reach front wheel tires to generate front wheel corners so as to push the front wheels to steer.
After receiving the signal, the rear wheel controller converts the signal into the voltage of the rear wheel steering motor, so that the rear wheel steering motor generates torque, and the torque passes through the rack and pinion and the steering pull rod to reach the rear wheel tires to generate the rear wheel corner so as to push the rear wheel to steer. .
Compared with the prior art that the rear wheel is assisted through the deformation of a suspension bushing, the achievable steering angle is smaller, and the high-order intelligent driving requirement is difficult to meet, in the method, when the vehicle needs to steer, a first input parameter of the vehicle, including speed information, torque information and corner information of the vehicle, for the front wheel is acquired, and a second input parameter of the vehicle, including the speed information and the corner information, for the rear wheel is acquired; determining a first target instruction for controlling the front wheels based on the first input parameter, and determining a second target instruction for controlling the rear wheels based on the second input parameter; the first target instruction is sent to a first steering motor corresponding to the front wheel so that the first steering motor outputs corresponding first power-assisted current to push the front wheel to steer; and sending the second target instruction to a second steering motor corresponding to the rear wheels so that the second steering motor outputs corresponding second power-assisted current to push the rear wheels to steer. In this application, when the vehicle needs to turn to, be used for confirming the first target instruction of controlling the front wheel through acquireing first input parameter, and be used for confirming the second target instruction of controlling the rear wheel through acquireing the second input parameter, and then, send first target instruction to first steering motor, send second target instruction to second steering motor, with promote front wheel and rear wheel respectively to turn to, namely, in this application, turn to the executive device through electric power assisted front wheel and electric rear wheel and turn to the executive device and carry out the steering of front wheel and rear wheel respectively independently, namely, assist the vehicle through the second steering motor that installs additional on the rear wheel and realize great steering angle, and then, realize reducing vehicle turning diameter, realize the rear wheel is supplementary through the deformation of suspension bush among the solution prior art, lead to the steering angle that can be realized to be slightly, be difficult to satisfy the technical problem of high-order intelligent driving demand.
Further, based on the first embodiment in the present application, another embodiment in the present application is provided, in which the step of determining the target control strategy of the vehicle based on the first input parameter and the second input parameter includes:
step S24, determining a driving scene where the vehicle is currently located based on the first input parameter and the second input parameter;
and step S25, determining a target control strategy based on the current driving scene.
In this embodiment, the driving scenario where the vehicle is currently located is determined based on the first input parameter and the second input parameter, for example, the driving scenario where the vehicle is currently located is determined by a vehicle speed, and the driving scenario where the vehicle is currently located may be a preset high-speed driving scenario (when the vehicle speed is greater than a first preset vehicle speed) or a preset low-speed driving scenario (when the vehicle speed is less than a second preset vehicle speed, where the second preset vehicle speed is less than the first preset vehicle speed).
The step of determining the target control strategy based on the current driving scene comprises the following steps:
and A1, when the driving scene is a preset high-speed driving scene, determining the target control strategy as a strategy for controlling the front wheels and the rear wheels to rotate in the same direction.
When the driving scene is a preset high-speed driving scene, the target control strategy is determined to be a strategy for controlling the front wheels and the rear wheels to rotate in the same direction, and in the embodiment, the front wheels and the rear wheels rotate in the same direction under the high-speed scene, so that the running stability of the vehicle is improved.
The step of determining a target control strategy based on the current driving scene comprises the following steps:
and step A2, determining a target control strategy as a strategy for controlling the front wheels and the rear wheels to rotate in different directions when the driving scene is a preset low-speed driving scene.
When the driving scene is a preset low-speed driving scene, determining that a target control strategy is a strategy for controlling the front wheels and the rear wheels to rotate in different directions, and in the embodiment, under the low-speed scene, a second steering motor additionally arranged on the rear wheels is used for assisting the vehicle to realize a larger steering angle, so that the turning diameter of the vehicle is reduced.
In this embodiment, different target control strategies are adopted in different scenes, so as to realize control requirements in different scenes.
Further, based on the first embodiment and the second embodiment in the present application, there is provided another embodiment in the present application, in which the embodiment is applied to a vehicle assisted steering control device, the vehicle assisted steering control device includes a front wheel steering execution device and a rear wheel steering execution device, the step of sending the first target instruction to a first steering motor corresponding to the front wheel so that the first steering motor outputs a corresponding first assistance current to push the front wheel to steer, and the method includes:
Step B1, the front wheel turning angle and the compensation yaw moment are sent to the rear wheel steering executing device so that the rear wheel steering executing device can carry out steering control of the next wheel;
after the step of sending the second target instruction to a second steering motor corresponding to the rear wheel so that the second steering motor outputs a corresponding second power-assisted current to push the rear wheel to steer, the method comprises the following steps:
and step C1, transmitting the rear wheel rotation angle and the rear wheel yaw moment to the front wheel steering execution device so that the front wheel steering execution device can carry out steering control of the next wheel.
In this embodiment, the front-wheel steering actuator and the rear-wheel steering actuator share information such as the steering angle and the yaw moment with each other, so that the subsequent analysis or the steering control of the next wheel is facilitated.
Referring to fig. 3, fig. 3 is a schematic device structure diagram of a hardware running environment according to an embodiment of the present application.
As shown in fig. 3, the vehicle auxiliary steering control apparatus may include: a processor 1001, such as a CPU, memory 1005, and a communication bus 1002. Wherein a communication bus 1002 is used to enable connected communication between the processor 1001 and a memory 1005. The memory 1005 may be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may also optionally be a storage device separate from the processor 1001 described above.
Optionally, the vehicle assisted steering control device may further include a rectangular user interface, a network interface, a camera, an RF (Radio Frequency) circuit, a sensor, an audio circuit, a WiFi module, and the like. The rectangular user interface may include a Display screen (Display), an input sub-module such as a Keyboard (Keyboard), and the optional rectangular user interface may also include a standard wired interface, a wireless interface. The network interface may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface).
It will be appreciated by those skilled in the art that the vehicle assisted steering control arrangement shown in fig. 3 does not constitute a limitation of the vehicle assisted steering control arrangement, and may include more or fewer components than shown, or may combine certain components, or a different arrangement of components.
As shown in fig. 3, an operating system, a network communication module, and a vehicle-assisted steering control program may be included in the memory 1005 as one type of storage medium. The operating system is a program that manages and controls the hardware and software resources of the vehicle assisted steering control apparatus, supporting the operation of the vehicle assisted steering control program and other software and/or programs. The network communication module is used to enable communication between components within the memory 1005 and other hardware and software in the vehicle assisted steering control system.
In the vehicle assisted steering control apparatus shown in fig. 3, a processor 1001 is configured to execute a vehicle assisted steering control program stored in a memory 1005, implementing the steps of the vehicle assisted steering control method described in any one of the above.
The specific implementation manner of the vehicle auxiliary steering control device is basically the same as that of each embodiment of the vehicle auxiliary steering control method, and is not repeated here.
The present application also provides a vehicle assisted steering control apparatus including:
the device comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring first input parameters of vehicle speed information, torque information and corner information of a vehicle aiming at front wheels and acquiring second input parameters of vehicle aiming at rear wheels, wherein the first input parameters comprise the vehicle speed information and the corner information;
a determining module for determining a first target instruction for controlling the front wheel based on the first input parameter, and determining a second target instruction for controlling the rear wheel based on the second input parameter;
the first sending module is used for sending the first target instruction to a first steering motor corresponding to the front wheel so that the first steering motor outputs corresponding first power-assisted current to push the front wheel to steer;
And the second sending module is used for sending the second target instruction to a second steering motor corresponding to the rear wheels so that the second steering motor outputs corresponding second power-assisted current to push the rear wheels to steer.
Optionally, the determining module includes:
a first determination unit configured to determine a target control strategy of the vehicle based on the first input parameter and the second input parameter;
a second determination unit configured to determine a front wheel rotation angle and a compensation yaw moment for controlling front wheels based on the target control strategy and the first input parameter, and generate the first target instruction based on the front wheel rotation angle and the compensation yaw moment;
and a third determining unit configured to determine a rear wheel rotation angle and a rear wheel yaw moment for controlling the rear wheels based on the target control strategy and the second input parameter, and generate a second target instruction based on the rear wheel rotation angle and the rear wheel yaw moment.
Optionally, the first determining unit includes:
a first determining subunit, configured to determine, based on the first input parameter and the second input parameter, a driving scenario in which the vehicle is currently located;
and the second determining subunit is used for determining a target control strategy based on the current driving scene.
Optionally, the second determining subunit is configured to implement:
and when the driving scene is a preset high-speed driving scene, determining the target control strategy as a strategy for controlling the front wheels and the rear wheels to rotate in the same direction.
Optionally, the second determining subunit is configured to implement:
and when the driving scene is a preset low-speed driving scene, determining a target control strategy as a strategy for controlling the front wheels and the rear wheels to rotate in different directions.
Alternatively, the present invention is applied to a vehicle assisted steering control device including a front-wheel steering execution device and a rear-wheel steering execution device, the determination module including:
a fourth determining unit configured to determine a first target instruction for controlling the front wheels based on the first input parameter by the front wheel steering performing device;
and a fifth determining unit configured to determine a second target instruction for controlling the front wheels based on the second input parameter by the rear wheel steering performing device.
Alternatively, the present invention is applied to a vehicle assisted steering control apparatus that includes a front-wheel steering performing apparatus and a rear-wheel steering performing apparatus, the apparatus further including:
The first sending module is used for sending the front wheel rotation angle and the compensation yaw moment to the rear wheel steering execution device so as to enable the rear wheel steering execution device to carry out steering control of the next wheel;
the apparatus further comprises:
and the first sending module is used for sending the rear wheel steering angle and the rear wheel yaw moment to the front wheel steering executing device so that the front wheel steering executing device can carry out steering control of the next wheel.
The specific implementation manner of the vehicle auxiliary steering control device is basically the same as the above embodiments of the vehicle auxiliary steering control method, and will not be repeated here.
The embodiment of the application provides a storage medium, and the storage medium stores one or more programs, and the one or more programs are further executable by one or more processors to implement the steps of the vehicle auxiliary steering control method according to any one of the above.
The specific implementation manner of the storage medium is basically the same as that of each embodiment of the vehicle auxiliary steering control method, and is not repeated here.
The present application also provides a computer program product comprising a computer program which, when executed by a processor, implements the steps of the vehicle assisted steering control method described above.
The specific implementation manner of the computer program product of the present application is substantially the same as the above embodiments of the vehicle auxiliary steering control method, and will not be described herein.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) comprising instructions for causing a terminal device (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to perform the method according to the embodiments of the present invention.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (9)
1. A vehicle assisted steering control method, characterized by being applied to a vehicle assisted steering control apparatus that includes a front-wheel steering execution apparatus and a rear-wheel steering execution apparatus, the vehicle assisted steering control method comprising:
when a vehicle needs to turn, acquiring first input parameters of the vehicle, including speed information, torque information and corner information of the vehicle, for front wheels, and acquiring second input parameters of the vehicle, including the speed information and the corner information, for rear wheels;
determining a target control strategy for the vehicle based on the first input parameter and the second input parameter;
determining a first target instruction for controlling the front wheels based on the first input parameter, and determining a second target instruction for controlling the rear wheels based on the second input parameter;
The first target instruction is sent to a first steering motor corresponding to the front wheel so that the first steering motor outputs corresponding first power-assisted current to push the front wheel to steer;
transmitting the front wheel rotation angle and the compensation yaw moment to the rear wheel steering execution device so as to enable the rear wheel steering execution device to carry out steering control of the next wheel;
the front wheel turning angle and the compensation yaw moment are obtained based on a generation rule or a generation formula of the front wheel turning angle and the compensation yaw moment in the target control strategy;
the second target instruction is sent to a second steering motor corresponding to the rear wheel so that the second steering motor outputs corresponding second power-assisted current to push the rear wheel to steer;
transmitting the rear wheel turning angle and the rear wheel yaw moment to the front wheel steering execution device so that the front wheel steering execution device can perform steering control of the next wheel;
the rear wheel turning angle and the rear wheel yaw moment are obtained based on a generation rule or a generation formula of the rear wheel turning angle and the rear wheel yaw moment in the target control strategy.
2. The vehicle assist steering control method according to claim 1, characterized in that the step of determining a first target instruction for controlling the front wheels based on the first input parameter, and determining a second target instruction for controlling the rear wheels based on the second input parameter, includes:
Determining a target control strategy for the vehicle based on the first input parameter and the second input parameter;
determining a front wheel angle and a compensation yaw moment for controlling front wheels based on the target control strategy and the first input parameter, and generating the first target command based on the front wheel angle and the compensation yaw moment;
and determining a rear wheel rotation angle and a rear wheel yaw moment for controlling rear wheels based on the target control strategy and the second input parameter, and generating a second target instruction based on the rear wheel rotation angle and the rear wheel yaw moment.
3. The vehicle assist steering control method according to claim 2, characterized in that the step of determining a target control strategy of the vehicle based on the first input parameter and the second input parameter includes:
determining a driving scene where the vehicle is currently located based on the first input parameter and the second input parameter;
and determining a target control strategy based on the current driving scene.
4. The vehicle assisted steering control method according to claim 3, characterized in that the step of determining a target control strategy based on the current driving scenario includes:
And when the driving scene is a preset high-speed driving scene, determining the target control strategy as a strategy for controlling the front wheels and the rear wheels to rotate in the same direction.
5. The vehicle assisted steering control method according to claim 3, characterized in that the step of determining a target control strategy based on the current driving scenario includes:
and when the driving scene is a preset low-speed driving scene, determining a target control strategy as a strategy for controlling the front wheels and the rear wheels to rotate in different directions.
6. The vehicle assisted steering control method according to claim 1, characterized in that it is applied to a vehicle assisted steering control apparatus including a front-wheel steering execution apparatus and a rear-wheel steering execution apparatus, the step of determining a first target instruction for controlling front wheels based on the first input parameter, and determining a second target instruction for controlling rear wheels based on the second input parameter, comprising:
determining a first target instruction for controlling a front wheel based on the first input parameter by the front wheel steering execution device;
determining a second target instruction for controlling the front wheels based on the second input parameter by the rear wheel steering execution device.
7. A vehicle assisted steering control apparatus including a front-wheel steering execution apparatus and a rear-wheel steering execution apparatus, the vehicle assisted steering control apparatus comprising:
the device comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring first input parameters of vehicle speed information, torque information and corner information of a vehicle aiming at front wheels and acquiring second input parameters of vehicle aiming at rear wheels, wherein the first input parameters comprise the vehicle speed information and the corner information;
a first determination module configured to determine a target control strategy of the vehicle based on the first input parameter and the second input parameter;
a second determining module for determining a first target instruction for controlling the front wheel based on the first input parameter, and determining a second target instruction for controlling the rear wheel based on the second input parameter;
the first sending module is used for sending the first target instruction to a first steering motor corresponding to the front wheel so that the first steering motor outputs corresponding first power-assisted current to push the front wheel to steer;
the first transmission submodule is used for transmitting the front wheel rotation angle and the compensation yaw moment to the rear wheel steering execution device so as to enable the rear wheel steering execution device to carry out steering control of the next wheel;
The front wheel turning angle and the compensation yaw moment are obtained based on a generation rule or a generation formula of the front wheel turning angle and the compensation yaw moment in the target control strategy;
the second sending module is used for sending the second target instruction to a second steering motor corresponding to the rear wheel so that the second steering motor outputs corresponding second power-assisted current to push the rear wheel to steer;
the second transmitting sub-module is used for transmitting the rear wheel rotation angle and the rear wheel yaw moment to the front wheel steering executing device so as to enable the front wheel steering executing device to carry out steering control of the next wheel;
the rear wheel turning angle and the rear wheel yaw moment are obtained based on a generation rule or a generation formula of the rear wheel turning angle and the rear wheel yaw moment in the target control strategy.
8. A vehicle assisted steering control apparatus characterized by comprising: a memory, a processor, and a program stored on the memory for implementing the vehicle assisted steering control method, the memory for storing the program for implementing the vehicle assisted steering control method:
the processor is configured to execute a program for implementing the vehicle assisted steering control method to implement the steps of the vehicle assisted steering control method according to any one of claims 1 to 6.
9. A storage medium having stored thereon a program for realizing the vehicle assisted steering control method, the program for realizing the vehicle assisted steering control method being executed by a processor to realize the steps of the vehicle assisted steering control method according to any one of claims 1 to 6.
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| CN202210285233.5A CN114715264B (en) | 2022-03-22 | 2022-03-22 | Vehicle auxiliary steering control method and related equipment thereof |
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| CN202210285233.5A CN114715264B (en) | 2022-03-22 | 2022-03-22 | Vehicle auxiliary steering control method and related equipment thereof |
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| CN105129004B (en) * | 2015-07-29 | 2017-10-20 | 小米科技有限责任公司 | Balance car staying method and device |
| CN109164814B (en) * | 2018-11-21 | 2020-11-17 | 安徽江淮汽车集团股份有限公司 | Automatic driving control system facing expressway scene |
| CN111226103A (en) * | 2019-03-28 | 2020-06-02 | 深圳市大疆创新科技有限公司 | Control method and control device of movable platform and storage medium |
| CN112172795B (en) * | 2020-09-16 | 2022-05-17 | 华人运通(上海)自动驾驶科技有限公司 | Vehicle parking control method, device, equipment and storage medium |
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