CN115158459B - Rear wheel steering angle control method, apparatus, device and computer readable storage medium - Google Patents
Rear wheel steering angle control method, apparatus, device and computer readable storage medium Download PDFInfo
- Publication number
- CN115158459B CN115158459B CN202210815647.4A CN202210815647A CN115158459B CN 115158459 B CN115158459 B CN 115158459B CN 202210815647 A CN202210815647 A CN 202210815647A CN 115158459 B CN115158459 B CN 115158459B
- Authority
- CN
- China
- Prior art keywords
- rear wheel
- control mode
- steering angle
- vehicle speed
- wheel steering
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 41
- 230000001133 acceleration Effects 0.000 claims description 3
- 239000000758 substrate Substances 0.000 claims 1
- 230000002411 adverse Effects 0.000 abstract description 3
- 230000000694 effects Effects 0.000 abstract description 2
- 238000004891 communication Methods 0.000 description 8
- 238000004590 computer program Methods 0.000 description 8
- 238000012545 processing Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000003491 array Methods 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000001413 cellular effect Effects 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000009931 harmful effect Effects 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000010801 machine learning Methods 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 230000001953 sensory effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- 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
-
- 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
- B62D15/021—Determination of steering angle
- B62D15/024—Other means for determination of steering angle without directly measuring it, e.g. deriving from wheel speeds on different sides of the car
Abstract
Embodiments of the present disclosure provide a rear wheel steering angle control method, apparatus, device, and computer-readable storage medium. The method comprises the following steps: acquiring the current vehicle speed; acquiring a vehicle speed threshold; judging whether to switch the current rear wheel steering angle control mode according to the current vehicle speed and the vehicle speed threshold; wherein, the rear wheel steering angle control mode includes: the current rear wheel steering angle control mode is one of an open-loop control mode and a closed-loop control mode. In this way, the proper rear wheel steering angle control mode can be selected under different vehicle speeds, and then the rear wheel steering angle under the current vehicle speed is accurately calculated according to the proper rear wheel steering angle control mode, so that the phenomenon that the vehicle is greatly swung to influence the vehicle performance and cause adverse effects to passengers due to inaccurate rear wheel steering angle when the vehicle speed changes is avoided.
Description
Technical Field
The present disclosure relates to the field of vehicles, and in particular, to the field of rear wheel control techniques.
Background
In the running process of the vehicle, the rear wheel steering angle is often closely related to the vehicle speed, and after the vehicle speed is changed, the rear wheel steering angle may also need to be adaptively changed, but in the process, the rear wheel steering angle is often suddenly changed too much due to inaccurate calculation, so that the vehicle swings greatly, the performance of the vehicle is influenced, the passengers are also adversely affected, and no effective solution exists at present about the defect.
Disclosure of Invention
The present disclosure provides a rear wheel steering angle control method, apparatus, device, and storage medium.
According to a first aspect of the present disclosure, there is provided a rear wheel steering angle control method. The method comprises the following steps:
acquiring the current vehicle speed;
acquiring a vehicle speed threshold;
judging whether to switch the current rear wheel steering angle control mode according to the current vehicle speed and the vehicle speed threshold; wherein, the rear wheel steering angle control mode includes: the current rear wheel steering angle control mode is one of an open-loop control mode and a closed-loop control mode.
In the foregoing aspect and any possible implementation manner, there is further provided an implementation manner, where the determining whether to switch the current rear wheel steering angle control manner according to the current vehicle speed and the vehicle speed threshold includes:
when the current vehicle speed is smaller than or equal to the vehicle speed threshold value, if the current rear wheel steering angle control mode is a closed-loop control mode, switching the current rear wheel steering angle control mode into an open-loop control mode; and if the current rear wheel steering angle control mode is an open loop control mode, not switching.
When the current vehicle speed is greater than the vehicle speed threshold, if the current rear wheel steering angle control mode is an open loop control mode, switching the current rear wheel steering angle control mode into a closed loop control mode; and if the current rear wheel steering angle control mode is a closed-loop control mode, not switching.
Aspects and any one of the possible implementations as described above, further providing an implementation, the method further including:
and determining the vehicle speed threshold according to the current vehicle type.
In the foregoing aspect and any possible implementation manner, there is further provided an implementation manner, where the determining whether to switch the current rear wheel steering angle control manner according to the current vehicle speed and the vehicle speed threshold includes:
if the difference value between the current vehicle speed and the vehicle speed threshold value is smaller than a preset vehicle speed difference, determining a current rear wheel corner in the current rear wheel corner control mode;
calculating a preset rear wheel rotation angle in another rear wheel rotation angle control mode;
and judging whether to switch the current rear wheel steering angle control mode according to the current rear wheel steering angle and the preset rear wheel steering angle.
The foregoing aspects and any one of possible implementation manners, further provides an implementation manner, where the determining, according to the current rear wheel angle and the preset rear wheel angle, whether to switch the current rear wheel angle control manner includes:
and if the difference value between the preset rear wheel steering angle and the current rear wheel steering angle is smaller than a preset angle threshold value, switching the current rear wheel steering angle control mode, otherwise, maintaining the current rear wheel steering angle control mode.
In the aspect and any possible implementation manner described above, there is further provided an implementation manner, wherein the preset angle threshold is adjusted according to the current vehicle speed.
The aspects and any possible implementation manner as described above further provide an implementation manner, in which the rear wheel rotation angle is calculated according to the current vehicle speed and the front wheel rotation angle in the open loop control manner;
and calculating the rear wheel rotation angle according to the current vehicle speed, the front wheel rotation angle, the yaw rate and the lateral acceleration in the closed-loop control mode.
According to a second aspect of the present disclosure, there is provided a rear wheel steering angle control apparatus. The device comprises:
the first acquisition module is used for acquiring the current vehicle speed;
the second acquisition module is used for acquiring a vehicle speed threshold value;
the judging module is used for judging whether to switch the current rear wheel steering angle control mode according to the current vehicle speed and the vehicle speed threshold value; wherein, the rear wheel steering angle control mode includes: the current rear wheel steering angle control mode is one of an open-loop control mode and a closed-loop control mode.
According to a third aspect of the present disclosure, an electronic device is provided. The electronic device includes: a memory and a processor, the memory having stored thereon a computer program, the processor implementing the method as described above when executing the program.
According to a fourth aspect of the present disclosure, there is provided a computer readable storage medium having stored thereon a computer program which when executed by a processor implements a method according to the first and/or second aspects of the present disclosure.
In the method, whether the current rear wheel steering angle control mode is switched or not can be automatically judged according to the current vehicle speed and the vehicle speed threshold value by acquiring the current vehicle speed and the vehicle speed threshold value, so that proper rear wheel steering angle control modes can be selected under different vehicle speeds, the rear wheel steering angle under the current vehicle speed is accurately calculated according to the proper rear wheel steering angle control modes, and the problem that the vehicle performance is greatly influenced by the fact that the vehicle swings due to inaccurate rear wheel steering angle when the vehicle speed changes and the adverse effect is caused to passengers is avoided.
It should be understood that what is described in this summary is not intended to limit the critical or essential features of the embodiments of the disclosure nor to limit the scope of the disclosure. Other features of the present disclosure will become apparent from the following description.
Drawings
The above and other features, advantages and aspects of embodiments of the present disclosure will become more apparent by reference to the following detailed description when taken in conjunction with the accompanying drawings. For a better understanding of the present disclosure, and without limiting the disclosure thereto, the same or similar reference numerals denote the same or similar elements, wherein:
FIG. 1 illustrates a flow chart of a rear wheel steering control method according to an embodiment of the present disclosure;
FIG. 2 illustrates a block diagram of a rear wheel steering control apparatus according to an embodiment of the present disclosure;
fig. 3 illustrates a block diagram of an exemplary electronic device capable of implementing embodiments of the present disclosure.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present disclosure more apparent, the technical solutions of the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present disclosure, and it is apparent that the described embodiments are some embodiments of the present disclosure, but not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments in this disclosure without inventive faculty, are intended to be within the scope of this disclosure.
In addition, the term "and/or" herein is merely an association relationship describing an association object, and means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.
Fig. 1 shows a flowchart of a rear wheel steering control method 100 according to an embodiment of the present disclosure. The method 100 may include:
step 110, obtaining the current vehicle speed;
step 120, obtaining a vehicle speed threshold; the vehicle speed threshold is a vehicle speed that is comfortable for the user.
Step 130, judging whether to switch the current rear wheel steering angle control mode according to the current vehicle speed and the vehicle speed threshold; wherein, the rear wheel steering angle control mode includes: the current rear wheel steering angle control mode is one of an open-loop control mode and a closed-loop control mode.
Through obtaining current speed and speed threshold, can judge automatically whether switch current rear wheel steering angle control mode according to current speed and speed threshold to ensure that all can select suitable rear wheel steering angle control mode under different speeds, and then accurately calculate the rear wheel steering angle under the current speed according to suitable rear wheel steering angle control mode, the rear wheel steering angle is inaccurate when avoiding the speed to change and leads to the vehicle to appear rocking by a wide margin and influence vehicle performance, cause the harmful effect for the passenger.
In some embodiments, the determining whether to switch the current rear wheel steering angle control mode according to the current vehicle speed and the vehicle speed threshold includes:
when the current vehicle speed is smaller than or equal to the vehicle speed threshold value, if the current rear wheel steering angle control mode is a closed-loop control mode, switching the current rear wheel steering angle control mode into an open-loop control mode; and if the current rear wheel steering angle control mode is an open loop control mode, not switching.
When the current vehicle speed is greater than the vehicle speed threshold, if the current rear wheel steering angle control mode is an open loop control mode, switching the current rear wheel steering angle control mode into a closed loop control mode; and if the current rear wheel steering angle control mode is a closed-loop control mode, not switching.
The closed-loop control mode is more accurate than the open-loop control mode in calculating the rear wheel rotation angle, and obviously needs the closed-loop control mode when the vehicle speed is high in order to avoid the vehicle swinging, and the open-loop control mode is needed when the vehicle speed is low, so that if the current vehicle speed is smaller than or equal to the vehicle speed threshold value, and the current rear wheel rotation angle control mode is the closed-loop control mode, the current rear wheel rotation angle control mode is automatically switched into the open-loop control mode, otherwise, the switching is not needed; in the same way as described above,
if the current vehicle speed is larger than the vehicle speed threshold value, the current vehicle speed is larger, and the rear wheel rotation angle is required to be calculated more accurately by using a closed-loop control mode, so that if the current rear wheel rotation angle control mode is an open-loop control mode, the current rear wheel rotation angle control mode is automatically switched to the closed-loop control mode; otherwise, no handover is required.
In some embodiments, the method further comprises:
and determining the vehicle speed threshold according to the current vehicle type.
Because the suitable vehicle speeds of users under different vehicle types are different, the vehicle speed threshold value can be automatically and accurately determined according to the current vehicle type, thereby improving the selection accuracy of the rear wheel steering angle control mode.
In some embodiments, the determining whether to switch the current rear wheel steering angle control mode according to the current vehicle speed and the vehicle speed threshold includes:
if the difference value between the current vehicle speed and the vehicle speed threshold value is smaller than a preset vehicle speed difference, determining a current rear wheel corner in the current rear wheel corner control mode;
calculating a preset rear wheel rotation angle in another rear wheel rotation angle control mode;
and judging whether to switch the current rear wheel steering angle control mode according to the current rear wheel steering angle and the preset rear wheel steering angle.
If the difference between the current vehicle speed and the vehicle speed threshold is smaller than the preset vehicle speed difference, the current vehicle speed is close to the vehicle speed for enabling the user to feel comfortable, so that the current rear wheel corner in the current rear wheel corner control mode can be determined first, then the preset rear wheel corner in the other rear wheel corner control mode is calculated, and then the current rear wheel corner is compared with the preset rear wheel corner, and whether the current rear wheel corner control mode needs to be switched or not is accurately judged according to the comparison result, and the proper rear wheel corner control mode is ensured to be selected.
In some embodiments, the determining whether to switch the current rear wheel steering angle control mode according to the current rear wheel steering angle and the preset rear wheel steering angle includes:
and if the difference value between the preset rear wheel steering angle and the current rear wheel steering angle is smaller than a preset angle threshold value, switching the current rear wheel steering angle control mode, otherwise, maintaining the current rear wheel steering angle control mode.
If the difference between the preset rear wheel steering angle and the current rear wheel steering angle is smaller than the preset angle threshold, it is indicated that the calculated rear wheel steering angle difference is not large in different rear wheel steering angle control modes, and when the vehicle speed is changed, the rear wheel steering angle control mode is switched, too large rear wheel steering angle change is not caused, so that the vehicle swings, and the current rear wheel steering angle control mode can be automatically switched, otherwise, it is indicated that the rear wheel steering angle control mode is changed, too large rear wheel steering angle change is caused, so that the current rear wheel steering angle control mode can be maintained, and the vehicle is temporarily unchanged.
In some embodiments, the preset angle threshold is adjusted according to the current vehicle speed.
The preset angle threshold can be dynamically adjusted according to the current vehicle speed, when the current vehicle speed is changed to be higher, the rear wheel is expected to swing slightly less, so that the vehicle is prevented from swinging greatly, and therefore the preset angle threshold needs to be set slightly less, and a proper rear wheel steering angle control mode can be selected more sensitively.
In some embodiments, calculating a rear wheel rotation angle according to the current vehicle speed and a front wheel rotation angle in the open loop control mode;
and calculating the rear wheel rotation angle according to the current vehicle speed, the front wheel rotation angle, the yaw rate and the lateral acceleration in the closed-loop control mode.
Compared with an open-loop control mode, the closed-loop control mode is more accurate in calculation of the rear wheel rotation angle, and different rear wheel rotation angle control modes can be adopted to adapt to vehicle control under complex working conditions, so that excellent low-speed maneuverability and high-speed performance are obtained, the complementary advantages of different rear wheel rotation angle control modes are realized, and the influence on vehicle performance and user experience caused by overlarge vehicle swing when the vehicle speed changes is avoided.
It should be noted that, for simplicity of description, the foregoing method embodiments are all described as a series of acts, but it should be understood by those skilled in the art that the present disclosure is not limited by the order of acts described, as some steps may be performed in other orders or concurrently in accordance with the present disclosure. Further, those skilled in the art will also appreciate that the embodiments described in the specification are all alternative embodiments, and that the acts and modules referred to are not necessarily required by the present disclosure.
The foregoing is a description of embodiments of the method, and the following further describes embodiments of the present disclosure through examples of apparatus.
Fig. 2 shows a block diagram of a rear wheel steering control apparatus 200 according to an embodiment of the present disclosure. As shown in fig. 2, the apparatus 200 includes:
a first obtaining module 210, configured to obtain a current vehicle speed;
a second obtaining module 220, configured to obtain a vehicle speed threshold;
a judging module 230, configured to judge whether to switch the current rear wheel steering angle control mode according to the current vehicle speed and the vehicle speed threshold; wherein, the rear wheel steering angle control mode includes: the current rear wheel steering angle control mode is one of an open-loop control mode and a closed-loop control mode.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the described modules may refer to corresponding procedures in the foregoing method embodiments, which are not described herein again.
The present disclosure also provides, in accordance with embodiments of the present disclosure, an electronic device and a non-transitory computer-readable storage medium storing computer instructions.
Fig. 3 shows a schematic block diagram of an electronic device 300 that may be used to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the disclosure described and/or claimed herein.
The device 300 comprises a computing unit 301 that may perform various suitable actions and processes in accordance with a computer program stored in a Read Only Memory (ROM) 302 or loaded from a storage unit 308 into a Random Access Memory (RAM) 303. In the RAM 303, various programs and data required for the operation of the device 300 may also be stored. The computing unit 301, the ROM 302, and the RAM 303 are connected to each other by a bus 304. An input/output (I/O) interface 305 is also connected to bus 304.
Various components in device 300 are connected to I/O interface 305, including: an input unit 306 such as a keyboard, a mouse, etc.; an output unit 307 such as various types of displays, speakers, and the like; a storage unit 308 such as a magnetic disk, an optical disk, or the like; and a communication unit 309 such as a network card, modem, wireless communication transceiver, etc. The communication unit 309 allows the device 300 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.
The computing unit 301 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of computing unit 301 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 301 performs the various methods and processes described above, such as method 100. For example, in some embodiments, the method 100 may be implemented as a computer software program tangibly embodied on a machine-readable medium, such as the storage unit 308. In some embodiments, part or all of the computer program may be loaded and/or installed onto the device 300 via the ROM 302 and/or the communication unit 309. One or more of the steps of the method 100 described above may be performed when the computer program is loaded into RAM 303 and executed by the computing unit 301. Alternatively, in other embodiments, the computing unit 301 may be configured to perform the method 100 by any other suitable means (e.g. by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
Program code for carrying out methods of the present disclosure may be written in any combination of one or more programming languages. These program code may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus such that the program code, when executed by the processor or controller, causes the functions/operations specified in the flowchart and/or block diagram to be implemented. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. The machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and pointing device (e.g., a mouse or trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), and the internet.
The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server may be a cloud server, a server of a distributed system, or a server incorporating a blockchain.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps recited in the present disclosure may be performed in parallel or sequentially or in a different order, provided that the desired results of the technical solutions of the present disclosure are achieved, and are not limited herein.
The above detailed description should not be taken as limiting the scope of the present disclosure. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present disclosure are intended to be included within the scope of the present disclosure.
Claims (7)
1. A rear wheel steering angle control method, characterized by comprising:
acquiring the current vehicle speed;
acquiring a vehicle speed threshold;
judging whether to switch the current rear wheel steering angle control mode according to the current vehicle speed and the vehicle speed threshold; wherein, the rear wheel steering angle control mode includes: an open loop control mode or a closed loop control mode, wherein the current rear wheel steering angle control mode is one of the control modes;
the step of judging whether to switch the current rear wheel steering angle control mode according to the current vehicle speed and the vehicle speed threshold value comprises the following steps:
when the current vehicle speed is smaller than or equal to the vehicle speed threshold value, if the current rear wheel steering angle control mode is a closed-loop control mode, switching the current rear wheel steering angle control mode into an open-loop control mode; if the current rear wheel steering angle control mode is an open loop control mode, not switching;
when the current vehicle speed is greater than the vehicle speed threshold, if the current rear wheel steering angle control mode is an open loop control mode, switching the current rear wheel steering angle control mode into a closed loop control mode; if the current rear wheel steering angle control mode is a closed-loop control mode, not switching;
the step of judging whether to switch the current rear wheel steering angle control mode according to the current vehicle speed and the vehicle speed threshold value comprises the following steps:
if the difference value between the current vehicle speed and the vehicle speed threshold value is smaller than a preset vehicle speed difference, determining a current rear wheel corner in the current rear wheel corner control mode;
calculating a preset rear wheel rotation angle in another rear wheel rotation angle control mode;
and if the difference value between the preset rear wheel steering angle and the current rear wheel steering angle is smaller than a preset angle threshold value, switching the current rear wheel steering angle control mode, otherwise, maintaining the current rear wheel steering angle control mode.
2. The method according to claim 1, wherein the method further comprises:
and determining the vehicle speed threshold according to the current vehicle type.
3. The method of claim 1, wherein the step of determining the position of the substrate comprises,
and adjusting the preset angle threshold according to the current vehicle speed.
4. A method according to any one of claim 1 to 3, wherein,
calculating a rear wheel corner according to the current vehicle speed and the front wheel corner in the open loop control mode;
and calculating the rear wheel rotation angle according to the current vehicle speed, the front wheel rotation angle, the yaw rate and the lateral acceleration in the closed-loop control mode.
5. A rear wheel steering angle control device, characterized by comprising:
the first acquisition module is used for acquiring the current vehicle speed;
the second acquisition module is used for acquiring a vehicle speed threshold value;
the judging module is used for judging whether to switch the current rear wheel steering angle control mode according to the current vehicle speed and the vehicle speed threshold value; wherein, the rear wheel steering angle control mode includes: an open loop control mode or a closed loop control mode, wherein the current rear wheel steering angle control mode is one of the control modes;
the judging module is specifically configured to:
when the current vehicle speed is smaller than or equal to the vehicle speed threshold value, if the current rear wheel steering angle control mode is a closed-loop control mode, switching the current rear wheel steering angle control mode into an open-loop control mode; if the current rear wheel steering angle control mode is an open loop control mode, not switching;
when the current vehicle speed is greater than the vehicle speed threshold, if the current rear wheel steering angle control mode is an open loop control mode, switching the current rear wheel steering angle control mode into a closed loop control mode; if the current rear wheel steering angle control mode is a closed-loop control mode, not switching;
the judging module is specifically further configured to:
if the difference value between the current vehicle speed and the vehicle speed threshold value is smaller than a preset vehicle speed difference, determining a current rear wheel corner in the current rear wheel corner control mode;
calculating a preset rear wheel rotation angle in another rear wheel rotation angle control mode;
and if the difference value between the preset rear wheel steering angle and the current rear wheel steering angle is smaller than a preset angle threshold value, switching the current rear wheel steering angle control mode, otherwise, maintaining the current rear wheel steering angle control mode.
6. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-4.
7. A non-transitory computer readable storage medium storing computer instructions for causing a computer to perform the method of any one of claims 1-4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210815647.4A CN115158459B (en) | 2022-07-11 | 2022-07-11 | Rear wheel steering angle control method, apparatus, device and computer readable storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210815647.4A CN115158459B (en) | 2022-07-11 | 2022-07-11 | Rear wheel steering angle control method, apparatus, device and computer readable storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115158459A CN115158459A (en) | 2022-10-11 |
| CN115158459B true CN115158459B (en) | 2024-01-16 |
Family
ID=83492730
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210815647.4A Active CN115158459B (en) | 2022-07-11 | 2022-07-11 | Rear wheel steering angle control method, apparatus, device and computer readable storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115158459B (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05105099A (en) * | 1991-10-16 | 1993-04-27 | Nippondenso Co Ltd | Vehicle steering controller |
| JPH06239256A (en) * | 1993-02-16 | 1994-08-30 | Nippondenso Co Ltd | Front and rear wheel steering device for vehicle |
| JPH06298112A (en) * | 1993-04-15 | 1994-10-25 | Nippondenso Co Ltd | Rear wheel steering device for vehicle |
| JPH0885470A (en) * | 1994-09-19 | 1996-04-02 | Nissan Motor Co Ltd | Auxiliary steering angle control device for vehicle |
| US5615117A (en) * | 1993-12-01 | 1997-03-25 | Honda Giken Kogyo Kabushiki Kaisha | Method for controlling a front and rear wheel steering system |
| US5890082A (en) * | 1995-10-04 | 1999-03-30 | Honda Giken Kogyo Kabushiki Kaisha | Adaptive front and rear wheel steering system |
| JP2000238653A (en) * | 1999-02-22 | 2000-09-05 | Toyota Motor Corp | Rear wheel steering controller |
| CN103978971A (en) * | 2013-02-13 | 2014-08-13 | 本田技研工业株式会社 | Methods of controlling four-wheel steered vehicles |
| CN114179905A (en) * | 2021-12-29 | 2022-03-15 | 吉林大学 | Control method of dual-mode rear wheel active steering system |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7130729B2 (en) * | 2004-07-26 | 2006-10-31 | General Motors Corporation | Adaptive compensation of rear-wheel steering control using vehicle dynamics parameter estimation |
| WO2008047481A1 (en) * | 2006-10-20 | 2008-04-24 | Honda Motor Co., Ltd. | Vehicle rear wheel steered angle controller |
| US9469339B2 (en) * | 2014-12-12 | 2016-10-18 | Hyundai Motor Company | Apparatus for controlling rear wheel steering using driving behavior signal feedback and method for the same |
-
2022
- 2022-07-11 CN CN202210815647.4A patent/CN115158459B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05105099A (en) * | 1991-10-16 | 1993-04-27 | Nippondenso Co Ltd | Vehicle steering controller |
| JPH06239256A (en) * | 1993-02-16 | 1994-08-30 | Nippondenso Co Ltd | Front and rear wheel steering device for vehicle |
| JPH06298112A (en) * | 1993-04-15 | 1994-10-25 | Nippondenso Co Ltd | Rear wheel steering device for vehicle |
| US5615117A (en) * | 1993-12-01 | 1997-03-25 | Honda Giken Kogyo Kabushiki Kaisha | Method for controlling a front and rear wheel steering system |
| JPH0885470A (en) * | 1994-09-19 | 1996-04-02 | Nissan Motor Co Ltd | Auxiliary steering angle control device for vehicle |
| US5890082A (en) * | 1995-10-04 | 1999-03-30 | Honda Giken Kogyo Kabushiki Kaisha | Adaptive front and rear wheel steering system |
| JP2000238653A (en) * | 1999-02-22 | 2000-09-05 | Toyota Motor Corp | Rear wheel steering controller |
| CN103978971A (en) * | 2013-02-13 | 2014-08-13 | 本田技研工业株式会社 | Methods of controlling four-wheel steered vehicles |
| CN114179905A (en) * | 2021-12-29 | 2022-03-15 | 吉林大学 | Control method of dual-mode rear wheel active steering system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115158459A (en) | 2022-10-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113642711A (en) | Network model processing method, device, equipment and storage medium | |
| CN114312843B (en) | Method and device for determining information | |
| CN115158459B (en) | Rear wheel steering angle control method, apparatus, device and computer readable storage medium | |
| CN111737636B (en) | Path curve generation method, device, computer equipment and storage medium | |
| CN116628997A (en) | Method, device, equipment, medium and system for determining damping value of shock absorber | |
| CN114834529B (en) | Vehicle control method, device, equipment and medium | |
| CN116243978A (en) | Data protocol method, device, medium and training system in distributed training | |
| CN113570727B (en) | Scene file generation method and device, electronic equipment and storage medium | |
| CN114769817A (en) | Submerged arc welding control method, device, equipment and storage medium | |
| CN114620074A (en) | Vehicle control method, device, electronic device and storage medium | |
| CN110780597B (en) | Control method, device, equipment and medium for preventing steering engine from oscillating | |
| CN111829540B (en) | Driving track generation method and device, electronic equipment and storage medium | |
| CN114954654B (en) | Calculation method, control method and device for zero offset compensation angle of steering wheel of vehicle | |
| CN116198596A (en) | Curve driving control method, device, equipment and medium for steer-by-wire vehicle | |
| CN117631666A (en) | Vehicle speed control method, device, equipment and storage medium | |
| US10339679B2 (en) | Dynamic path modification and extension | |
| CN114486282A (en) | Detection method and device for steering wheel rotation data and electronic equipment | |
| CN116679573B (en) | Consistency tracking control method and device, electronic equipment and storage medium | |
| CN115056847B (en) | Calculation method, control method and device for zero offset compensation angle of steering wheel of vehicle | |
| US20220222868A1 (en) | Method for processing point cloud data, electronic device and storage medium | |
| CN113487694B (en) | Electronic map rendering method, device, equipment and automatic driving vehicle | |
| CN117674330A (en) | Charging and discharging current information adjustment method, device and equipment | |
| CN116476839A (en) | Vehicle starting control method and device, electronic equipment and storage medium | |
| CN115145316A (en) | Method for determining posture of spray gun based on vector and angle | |
| CN116486831A (en) | Data processing method, device, electronic equipment and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |