CN115583287A - Rear wheel steering control method, rear wheel steering control device, vehicle, equipment and storage medium - Google Patents
Rear wheel steering control method, rear wheel steering control device, vehicle, equipment and storage medium Download PDFInfo
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Abstract
The embodiment of the application discloses a rear wheel steering control method, a rear wheel steering control device, a vehicle, equipment and a storage medium. The method comprises the following steps: acquiring real-time vehicle state information, wherein the vehicle state information comprises a real-time vehicle speed of a vehicle, a vehicle front axle steering angle and a vehicle rear axle steering angle; calculating to obtain a vehicle steering signal based on the steering logic of the vehicle front axle steering angle and the vehicle rear axle steering angle; and controlling the vehicle to enter a corresponding rear wheel steering mode based on the vehicle steering signal and the real-time vehicle speed of the vehicle. The embodiment of the application can operate different working modes according to the vehicle operation condition, and solves the problems that the turning radius is large, the operation stability is poor and tires are easy to wear in the conventional rear wheel steering process.
Description
Technical Field
The present application relates to the field of vehicle steering technologies, and in particular, to a method and an apparatus for controlling rear wheel steering, a vehicle, an electronic device, a computer-readable storage medium, and a computer program product.
Background
With the development of modern automobile technology and the improvement of road conditions, the requirements on the comfort, the controllability and the safety of an automobile are higher and higher, and in the prior art, in order to improve the turning flexibility, the stability of straight running of the automobile, the comfort of the automobile and the like, a rear wheel follow-up steering technology is added in the automobile steering technology. That is, according to the rear wheel steering technology, the rear wheels and the front wheels rotate in opposite phases when the vehicle is at a low speed or under-steering occurs, so that the turning radius is reduced and the flexibility of the vehicle is improved. When the vehicle has the tendency of oversteering, particularly high-speed tail flicking, the rear wheels and the front wheels rotate in the same phase so as to reduce the mass center slip angle of the vehicle, reduce the steady overshoot of the yaw rate of the vehicle and realize the effect of stable lane changing. However, the conventional rear wheel steering has the problems of large turning radius, poor steering stability and easy severe tire wear.
Disclosure of Invention
To solve the above technical problem, embodiments of the present application provide a rear wheel steering control method and apparatus, a vehicle, an electronic device, a computer-readable storage medium, and a computer program product.
According to an aspect of an embodiment of the present application, there is provided a rear wheel steering control method including: acquiring real-time vehicle state information, wherein the vehicle state information comprises a real-time vehicle speed, a vehicle front axle steering angle and a vehicle rear axle steering angle of a vehicle; calculating to obtain a vehicle steering signal based on the steering logic of the vehicle front axle steering angle and the vehicle rear axle steering angle; and controlling the vehicle to enter a corresponding rear wheel steering mode based on the vehicle steering signal and the real-time vehicle speed of the vehicle.
According to an aspect of an embodiment of the present application, the controlling the vehicle to enter the corresponding rear wheel steering mode based on the vehicle steering signal and the real-time vehicle speed of the vehicle includes: judging whether the real-time speed of the vehicle is lower than a preset speed or not; if the steering signal of the vehicle is the same steering signal, judging whether the steering signal of the vehicle is the same steering signal; if the judgment result is yes, the vehicle is controlled to enter the crab running mode.
According to an aspect of an embodiment of the present application, the controlling the vehicle to enter the crab running mode includes: and controlling a steering actuator of the vehicle to start to act and pushing the rear wheel of the vehicle to steer to the bottom so as to achieve the effect of crab running.
According to an aspect of the embodiment of the present application, if it is determined that the vehicle speed of the vehicle is greater than a preset vehicle speed; adjusting the vehicle front axle steering angle of the vehicle into a corner signal which is in the same direction or opposite direction with the rear axle steering angle of the vehicle; calculating a rear wheel steering signal of the vehicle based on the turn angle signal; and adjusting the steering angle of the rear axle of the vehicle according to the rear wheel steering signal.
According to an aspect of the embodiment of the present application, if the steering signal of the vehicle is determined to be a reverse steering signal; the rear wheel steering of the vehicle is controlled to push to the bottom to achieve the effect of minimum radius steering.
According to an aspect of an embodiment of the present application, the method further comprises: and if the rear wheel steering device of the vehicle is detected to be damaged, locking the rear wheel steering of the vehicle, and controlling the vehicle to enter a front wheel steering mode.
According to an aspect of an embodiment of the present application, there is provided a rear-wheel steering control apparatus that controls rear-wheel steering, including: the system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring real-time vehicle state information, and the vehicle state information comprises the real-time vehicle speed of a vehicle, the steering angle of a front axle of the vehicle and the steering angle of a rear axle of the vehicle; the calculation module is used for calculating to obtain a vehicle steering signal based on the steering logic of the vehicle front axle steering angle and the vehicle rear axle steering angle; and the control module is used for controlling the vehicle to enter a corresponding rear wheel steering mode based on the vehicle steering signal and the real-time speed of the vehicle.
According to an aspect of an embodiment of the present application, there is provided a vehicle including the rear-wheel steering control apparatus as described above and capable of implementing the rear-wheel steering control method as described above.
According to an aspect of an embodiment of the present application, there is provided an electronic device including: one or more processors; a storage device for storing one or more programs that, when executed by the one or more processors, cause the electronic equipment to implement the rear-wheel steering control method as described above.
According to an aspect of embodiments of the present application, there is provided a computer-readable storage medium having stored thereon computer-readable instructions which, when executed by a processor of a computer, cause the computer to execute the rear-wheel steering control method as described above.
According to an aspect of an embodiment of the present application, there is also provided a computer program product including a computer program, which when executed by a processor, implements the steps in the rear-wheel steering control method as described above.
In the technical scheme provided by the embodiment of the application, the front wheel steering angle, the rear wheel steering angle and the current vehicle speed are respectively acquired by the front wheel steering unit, the rear wheel steering unit and the vehicle speed sensor, then the signals are transmitted to the micro-control unit through the vehicle communication bus, and then the micro-control unit judges the current working mode of the vehicle according to the transmitted front wheel steering angle, the rear wheel steering angle and the current vehicle speed information, so that different working modes can be operated according to the running working conditions of the vehicle, and the problems that the turning radius is large, the operation stability is poor and the tire is easy to wear in the conventional rear wheel steering are solved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
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The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application. It is obvious that the drawings in the following description are only some embodiments of the application, and that for a person skilled in the art, other drawings can be derived from them without inventive effort. In the drawings:
FIG. 1 is a schematic diagram illustrating an exemplary embodiment of an implementation environment for rear wheel steering control during navigation;
FIG. 2 illustrates a flow diagram of a rear wheel steering control method in accordance with an exemplary embodiment of the present application;
FIG. 3 is a flow diagram illustrating a rear wheel steering control method according to an exemplary embodiment;
FIG. 4 is a flow diagram illustrating a rear wheel steering control method according to an exemplary embodiment;
FIG. 5 is a schematic illustration of a rear wheel steering control system according to another exemplary embodiment of the present application;
FIG. 6 is a block diagram of a rear wheel steering control apparatus shown in an exemplary embodiment of the present application;
FIG. 7 illustrates a schematic structural diagram of a computer system suitable for use in implementing the electronic device of an embodiment of the present application.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.
The block diagrams shown in the figures are functional entities only and do not necessarily correspond to physically separate entities. I.e. these functional entities may be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor means and/or microcontroller means.
The flow charts shown in the drawings are merely illustrative and do not necessarily include all of the contents and operations/steps, nor do they necessarily have to be performed in the order described. For example, some operations/steps may be decomposed, and some operations/steps may be combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.
Reference to "a plurality" in this application means two or more. "and/or" describe the association relationship of the associated objects, meaning that there may be three relationships, e.g., A and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship.
It should be noted that with the continuous development of modern control theory and advanced automobile technology, the active chassis technology of the automobile has been increasingly emphasized. With the rapid development of the industry, vehicles with high horsepower and high bearing capacity are used more; large vehicles mainly used for transporting goods have complex running conditions, and require high maneuvering flexibility and maneuvering stability while requiring enough power. These problems can all be improved or solved by all-wheel steering techniques. The all-wheel steering technology is characterized in that a set of rear wheel steering system is added on the basis of front wheel steering, so that the rear wheels also participate in steering while the front wheels of the automobile are steered, and the steering maneuverability, the operation stability and the safety of the automobile are improved. The aim is to reduce the turning radius and the tire wear.
Referring to fig. 1, fig. 1 is a schematic diagram of an implementation environment related to the present application. The implementation environment includes a vehicle 110 and a server 120, where the vehicle 110 and the server 120 communicate via a wired or wireless network.
The server 120 obtains the real-time status information of the vehicle, which includes obtaining the current vehicle speed information of the vehicle, the front axle steering angle of the vehicle and the rear axle steering angle of the vehicle, and calculates to obtain the steering signal of the vehicle according to the steering logic of the front axle steering angle of the vehicle and the rear axle steering angle of the vehicle, and controls the vehicle 110 to enter the corresponding rear wheel steering mode according to the steering signal of the current vehicle.
The server 120 may be an independent physical server, a cluster of multiple physical servers or a distributed system, or a cloud server providing basic cloud computing services such as cloud service, a cloud database, cloud computing, a cloud function, cloud storage, web service, cloud communication, middleware service, domain name service, security service, CDN (Content Delivery Network), big data, and an artificial intelligence platform, which is not limited herein.
It should be understood that Cloud Technology refers to a hosting technique for unifying a series of resources, such as hardware, software, network, etc., together in a wide area network or a local area network to achieve calculation, storage, processing, and sharing of data. The cloud technology is also a general term of a network technology, an information technology, an integration technology, a management platform technology, an application technology and the like based on cloud computing business model application, can form a resource pool, is used as required, and is flexible and convenient.
Fig. 2 is a flowchart illustrating a rear wheel steering control method according to an exemplary embodiment of the present application. The method may be applied to the implementation environment shown in fig. 1 and is specifically performed by the server 120 in the implementation environment described in fig. 1. Of course, the method may also be applied to other implementation environments and executed by devices in other implementation environments, which is not limited by the embodiment.
The method will be described in detail below with the server 120 implementing the environment red shown in fig. 1 as a specific execution subject. As shown in fig. 2, in an exemplary embodiment, the method may include steps S210 to S230, which are described in detail as follows:
step S210, acquiring real-time vehicle state information, wherein the vehicle state information comprises the real-time speed of the vehicle, the steering angle of a front axle of the vehicle and the steering angle of a rear axle of the vehicle.
It should be noted that, when the vehicle is cornering, the steering characteristics may be changed due to changes in the wheel contact area and the wheel alignment. And the rear wheel steering technology can make up for the inherent defects of the vehicle steering mechanism caused by the use of rubber pneumatic tires. This rear wheel steering is more like the working principle of an Electronic Stability Program (ESP) system, i.e. when the vehicle is moving at high speed, the driving posture of the vehicle is kept stable by braking one or some wheels.
When the vehicle has the tendency of oversteering, particularly high-speed tail flicking, the rear wheels and the front wheels rotate in the same phase, so that the mass center slip angle of the vehicle is reduced, the steady overshoot of the yaw rate of the vehicle is reduced, and the effect of stable lane changing is realized. However, the conventional rear wheel steering has the problems of large turning radius, poor steering stability and easy severe tire wear.
The method comprises the steps of obtaining current vehicle state information, wherein the vehicle state information can comprise the current running speed of a vehicle, the steering angle of a front axle corresponding to front wheels of the vehicle and the steering angle of a rear axle corresponding to rear wheels of the vehicle, measuring the rotating angle of the front wheels during steering through a front wheel steering angle sensor and sending the rotating angle to a server, measuring the rotating angle of the rear wheels during steering through a rear wheel steering angle sensor and sending the rotating angle to the server, and the server determines the front axle steering angle of the vehicle and the rear axle steering angle of the vehicle based on the rotating angle of the front wheels of the vehicle and the rotating angle of the rear wheels during steering.
And step S220, calculating to obtain a vehicle steering signal based on the steering logic of the vehicle front axle steering angle and the vehicle rear axle steering angle.
As described above, after obtaining the front axle steering angle and the rear axle steering angle corresponding to the vehicle, the server calculates the steering logic of the vehicle based on the front axle steering angle and the rear axle steering angle of the vehicle to obtain the steering signal of the vehicle.
Illustratively, the server calculates a steering angle of a front axle of the vehicle to be 30 degrees in the left direction according to a rotated angle when the front wheel is rotated, and calculates a steering angle of a rear wheel of the vehicle to be 30 degrees in the right direction according to a rotated angle when the rear wheel is rotated, so that it can be known that the front axle and the rear axle of the vehicle are in reverse steering, and garage steering signal calculation is performed based on a logic that the front axle and the rear axle of the vehicle are in reverse steering, so as to obtain the vehicle steering signal.
And step S230, controlling the vehicle to enter a corresponding rear wheel steering mode based on the vehicle steering signal and the real-time vehicle speed of the vehicle.
And controlling the vehicle to execute corresponding actions according to the calculated vehicle steering signal and the acquired current vehicle speed of the vehicle, so that the vehicle enters a corresponding gourd steering mode.
For example, under different vehicle conditions, different front wheel steering modes can be selected, in order to fully exert the advantages of rear wheel steering, wherein the rear wheel steering mode can comprise four modes, namely a minimum turning radius mode, a crab running mode, a front wheel steering mode and an automatic mode. The rear axle and the front axle are in reverse steering in the mode of the minimum turning radius, and the steering mechanism is suitable for large-angle turning or turning of a vehicle; the rear axle and the front axle are steered in the same direction in the crab running mode, and the crab running mode is suitable for transverse displacement of vehicles or climbing of a transverse slope. The first two modes are only suitable for low speed driving, and the front wheel steering mode and the automatic mode are suitable for the whole vehicle speed range. The automatic mode can be adjusted into front-back reverse steering or front-back same-direction steering according to the vehicle speed and the vehicle state so as to achieve the purposes of improving maneuverability at low speed and operation stability at high speed.
Therefore, the vehicle is controlled to enter one mode of the vehicle rear steering modes according to the vehicle steering signal and the vehicle speed of the vehicle.
In the embodiment, the problems that the turning radius is large, the operation stability is poor and tires are easy to wear in the current rear wheel steering are solved by acquiring the state information of the vehicle, wherein the state information comprises the real-time vehicle speed, the front axle steering angle and the rear axle steering angle of the vehicle, calculating to obtain the vehicle steering signal according to the steering logic of the front axle steering angle and the rear axle steering angle of the vehicle, and controlling the vehicle to enter the corresponding rear wheel steering mode according to the steering signal of the vehicle and the real-time vehicle speed of the vehicle.
Further, referring to fig. 3, based on the above embodiment, in one exemplary embodiment provided in the present application, the implementation process for controlling the vehicle to enter the corresponding steering mode based on the vehicle steering signal and the real-time vehicle speed of the vehicle further includes steps S310 to S330, which are described in detail as follows:
step S310, judging whether the real-time speed of the vehicle is lower than a preset speed;
CAN is an abbreviation of Controller Area Network (hereinafter referred to as CAN) and is a serial communication protocol standardized by ISO international. In the automotive industry, various electronic control systems have been developed for the purpose of safety, comfort, convenience, low power consumption, and low cost. Since the types of data used for communication between these systems and the requirements for reliability are different, the number of harnesses is increased in many cases because the harnesses are formed of a plurality of buses. To meet the needs of "reducing the number of harnesses", "performing high-speed communication of a large amount of data through a plurality of LANs".
The method comprises the steps of obtaining a real-time speed corresponding to a vehicle through a CAN bus of the vehicle, judging whether the real-time speed of the vehicle is less than or equal to a preset maximum speed per hour for steering the rear wheel when the vehicle enters, and if the speed signal transmitted through the CAN bus of the vehicle is less than or equal to the preset maximum speed per hour for steering the rear wheel when the vehicle enters.
For example, if the vehicle speed signal transmitted by the CAN bus of the vehicle is 15km/h, the vehicle CAN be controlled to enter the rear wheel steering mode when the vehicle is judged to be currently under a working condition that the preset maximum speed per hour for the vehicle to enter the rear wheel steering is less than 20 km/h.
Step S320, if the judgment result is yes, judging whether the steering signal of the vehicle is a same-direction steering signal;
and step S330, if the judgment result is yes, controlling the vehicle to enter a crab running mode.
That is, when the vehicle speed signal transmitted from the CAN bus of the vehicle determines that the current speed per hour of the vehicle is less than or equal to the preset maximum speed per hour when the vehicle enters the rear wheel steering, it is determined that the vehicle satisfies the low speed mode, and then it is determined whether the front axle steering signal and the rear axle steering signal of the vehicle belong to the same-direction steering signal according to the steering signal of the vehicle, that is, whether the steering angles acquired by the front wheel steering angle sensor and the rear wheel steering angle sensor of the vehicle are the same-direction steering angles, and if it is determined that the steering angles acquired by the front wheel steering angle sensor and the rear wheel steering angle sensor of the vehicle are the same-direction steering angles, the vehicle reaches the condition of entering the crab running mode, and the vehicle is controlled to enter the crab running mode.
Further, based on the above embodiment, in one exemplary embodiment provided in the present application, the implementation process of controlling the vehicle to enter the crab running mode further specifically includes the following steps, which are described in detail as follows:
and step S331, the steering actuator of the vehicle starts to act and pushes the rear wheel of the vehicle to steer to the bottom, so as to achieve the effect of crab running.
The crab running mode is a state in which the vehicle is in a crab running state, that is, crab steering, when the front and rear wheels are turned in the same direction and the yaw angle direction is the same. In practice, however, crab steering is another form of four-wheel steering. Crab steering allows the vehicle to be steered sideways, i.e. the direction of travel is inclined at an angle to the longitudinal axis of the vehicle, to facilitate approaching or moving away from a work surface which is confined by structure or terrain.
When the real-time speed of the vehicle acquired by the server is lower than the preset maximum speed per hour when the vehicle enters the rear wheel steering, the calculation is carried out according to the logic that the rear axle and the front axle of the vehicle are in the same-direction steering, the calculated signal is sent to a rear steering actuator of the vehicle, the rear steering actuator of the vehicle starts to act and pushes the rear wheel to turn to the bottom, the crab running effect is achieved, at the moment, a crab running mode is displayed on an instrument panel, and the crab running mode is suitable for transverse displacement or cross slope climbing of the vehicle. Of course, when the real-time speed of the vehicle is higher than the preset maximum speed per hour for turning the rear wheels, the crab running mode cannot be entered.
In the embodiment, the crab running effect of the vehicle is achieved by starting the action of the vehicle rear steering actuator and pushing the rear wheels to the bottom, so that the abrasion to the tire is reduced in the process of transverse displacement or cross slope climbing of the vehicle.
Further, referring to fig. 4, based on the above embodiment, in one exemplary embodiment provided by the present invention, the method further includes the following steps S410 to S440, which are described in detail as follows:
step S410, if the vehicle speed of the vehicle is judged to be greater than a preset vehicle speed;
step S420, adjusting the vehicle front axle steering angle of the vehicle into a corner signal which is in the same direction or opposite direction with the vehicle rear axle steering angle;
step S430, calculating a rear wheel steering signal of the vehicle based on the steering angle signal;
and step S440, adjusting the steering angle of the rear axle of the vehicle according to the rear wheel steering signal.
Specifically, in this embodiment, when the real-time vehicle speed of the vehicle obtained by the server is greater than the preset maximum speed at which the vehicle enters the rear wheel steering, the vehicle may be controlled to enter the automatic mode, where the automatic mode includes adjusting the front wheel steering angle signal of the vehicle to forward and backward reverse steering or forward and backward same steering according to the real-time vehicle speed and the vehicle state of the vehicle, performing ackermann steering angle calculation, sending the calculated signal to the rear steering actuator, where the rear steering actuator starts to operate and performs proportional rear wheel steering, and at this time, the rear wheel steering angle sensor collects the rear wheel steering angle signal and sends the rear wheel steering angle signal to the vehicle micro control unit MCU through the CAN bus, so as to achieve closed-loop control, and achieve the purpose of improving maneuverability at low speed and steering stability at high speed. And the vehicle defaults to automatic mode.
In the present embodiment, the rear wheel steering mode is added to the automatic mode, so that the mobility at low speed and the steering stability at high speed are improved.
Further, based on the above embodiments, in one of the exemplary embodiments provided in the present application, the method further includes the following steps, which are described in detail as follows:
if the steering signal of the vehicle is judged to be a reverse steering signal;
the rear wheel steering of the vehicle is pushed to the bottom to achieve the effect of minimum radius steering.
Specifically, when the real-time vehicle speed of the vehicle acquired by the server is less than or equal to the preset maximum speed per hour when the vehicle enters the rear wheel steering, whether a front axle steering signal and a rear axle steering signal of the vehicle belong to a same steering signal is determined according to the steering signal of the vehicle, that is, whether steering angles acquired by a front wheel steering angle sensor and a rear wheel steering angle sensor of the vehicle are the same steering angles, and if the steering angles acquired by the front wheel steering angle sensor and the rear wheel steering angle sensor of the vehicle are determined to be reverse steering angles, the vehicle reaches the condition of entering the minimum radius driving mode, and is controlled to enter the minimum radius driving mode.
Furthermore, the calculated signal is sent to the rear steering actuator by calculating according to the logic that the rear axle and the front axle are in reverse steering, the rear steering actuator starts to act and pushes the rear wheel to steer to the bottom, the effect of the minimum turning radius is achieved, and the minimum turning mode is suitable for large-angle turning or turning around of the vehicle.
In addition, based on the above embodiments, in one of the exemplary embodiments provided in the present application, the method further includes the following steps, which are described in detail as follows:
and if the rear wheel steering device of the vehicle is damaged, locking the rear wheel steering of the vehicle, and controlling the vehicle to enter a front wheel steering mode.
That is, the device should immediately alert when any of the vehicle's components, connectors, and wiring associated with the rear steering function are damaged. When the system detects a fault, a fault signal is sent to the instrument through CAN communication, and a corresponding alarm lamp is displayed on the instrument panel. The front wheel steering mode can be mechanically jumped to and locked by the rotary switch, and the locking can be released only after the fault is repaired and the self-checking is carried out again without problems. Meanwhile, the rear wheel steering actuator receives signals and enters a front wheel steering mode, so that the rear wheels are prevented from steering, and the running safety of the vehicle is ensured. And the driver is prompted to stop nearby by outputting corresponding prompt information.
The problem of present rear wheel steering have turn radius big, the steering stability is poor, the easy wearing and tearing of tire has been solved in this embodiment.
As shown in fig. 5, to facilitate understanding of the technical solution of the present invention, the following describes specific operation modes of the low-speed steering mode and the full-speed steering mode, taking the vehicle speed less than 20km/h as the low speed and more than 20km/h as the low speed as an example, specifically as follows:
when the vehicle speed V is less than 20km/h, the front wheel steering angle omega 0 is less than omega < omega 1, and the rear wheel steering angle omega 'is more than omega 0', the steering mode of the system is the minimum turning radius mode. Namely: the micro-control unit 1 receives the signal, calculates according to the logic that the rear axle and the front axle are in reverse steering, sends the calculated signal to the rear steering actuator 6, and the rear steering actuator 6 starts to act and pushes the rear wheels to steer to the bottom, so as to achieve the effect of the minimum turning radius, and at the moment, the instrument panel displays the minimum turning mode. The minimum turn mode is suitable for a wide angle turn or a U-turn of the vehicle.
When the vehicle speed V is less than 20km/h, the front wheel steering angle omega 0 is less than omega < omega 1, and the rear wheel steering angle omega 0 ' is less than omega ' and less than omega 1 ', the steering mode of the system is the crab running mode. Namely: when the crab running mode is selected, the micro control unit 1 receives the signal, carries out calculation according to the logic that the rear axle and the front axle are in the same-direction steering, sends the calculated signal to the rear steering actuator 6, the rear steering actuator 6 starts to act and pushes the rear wheels to turn to the bottom, the crab running effect is achieved, and at the moment, the instrument panel displays the crab running mode. The crab running mode is suitable for lateral shift of the vehicle or climbing of a lateral slope.
It should be noted that the two specific modes when the vehicle speed is lower than 20km/h both belong to the low-speed steering mode, and when the vehicle speed is higher than 20km/h, the steering mode cannot be selected as the low-speed steering mode function.
When the vehicle speed V is the full vehicle speed, the front wheel steering angle omega < omega 0 and the rear wheel steering angle omega '< omega 0', the steering mode of the system is the front wheel steering mode. Namely: when the front wheel steering mode is selected, the micro-control unit 1 receives the signal, calculates according to the logic that the rear axle does not steer, sends the calculated signal to the rear steering actuator 6, and the rear steering actuator 6 starts to act and locks the rear wheel steering, so that the effect of front wheel steering is achieved. The front wheel steering mode is a safe mode, and the mode is triggered when the micro-control unit 1 is powered off or damaged, the sensor fails and the like, so that the effect of safety protection is achieved.
When the vehicle speed V is the full vehicle speed, the front wheel steering angle omega < omega 0 and the rear wheel steering angle omega '< omega 2', the steering mode of the system is the automatic mode. Namely: and selecting an automatic mode, receiving signals by micro-control, adjusting front wheel steering angle signals into forward and backward reverse steering or forward and backward same steering according to the vehicle speed and the vehicle state to calculate the Ackerman steering angle, sending the calculated signals to a rear steering actuator 6, starting the rear steering actuator 6 to act and carry out proportional rear wheel steering, and then acquiring rear wheel steering angle signals by a rear wheel steering angle sensor and sending the rear wheel steering angle signals to the micro-control unit 1 through a CAN bus to achieve closed-loop control so as to achieve the purposes of improving the maneuverability at low speed and the operation stability at high speed.
Fig. 6 is a block diagram of a rear wheel steering control apparatus shown in an exemplary embodiment of the present application. The apparatus may be applied to the implementation environment shown in fig. 1 and specifically configured in a vehicle 110. The apparatus may also be applied to other exemplary implementation environments, and is specifically configured in other devices, and the embodiment does not limit the implementation environment to which the apparatus is applied.
The rear wheel steering control device 600 includes: the acquiring module 610 is configured to acquire real-time vehicle state information, where the vehicle state information includes a real-time vehicle speed of a vehicle, a vehicle front axle steering angle, and a vehicle rear axle steering angle; a calculating module 620, configured to calculate a vehicle steering signal based on a steering logic of the vehicle front axle steering angle and the vehicle rear axle steering angle; a control module 630 for controlling the vehicle to enter a corresponding rear-wheel steering mode based on the vehicle steering signal and a real-time vehicle speed of the vehicle.
In an aspect of the embodiment of the present application, the control module 630 further includes a first determining unit, configured to determine whether a real-time vehicle speed of the vehicle is lower than a preset vehicle speed; the second judging unit is used for judging whether the steering signal of the vehicle is a same-direction steering signal or not if the judgment result is yes; and a control unit for controlling the vehicle to enter the crab running mode if the judgment result is yes.
In one aspect of the embodiment of the present application, the control unit is further configured to control the steering actuator of the vehicle to start to actuate and push the rear wheel of the vehicle to steer to the bottom, so as to achieve the crab running effect.
According to an aspect of the embodiment of the present application, the control unit is further configured to determine whether the vehicle speed is greater than a preset vehicle speed; adjusting the vehicle front axle steering angle of the vehicle into a corner signal which is in the same direction or opposite direction to the rear axle steering angle of the vehicle; calculating a rear wheel steering signal of the vehicle based on the turn angle signal; and adjusting the steering angle of the rear axle of the vehicle according to the rear wheel steering signal.
According to an aspect of the embodiment of the present application, the control unit is further configured to determine that the steering signal of the vehicle is a reverse steering signal; the rear wheel steering of the vehicle is controlled to push to the bottom to achieve the effect of minimum radius steering.
According to an aspect of the embodiment of the present application, the rear-wheel steering control device 600 further includes a detecting module, configured to lock the rear-wheel steering of the vehicle and control the vehicle to enter the front-wheel steering mode if it is detected that the rear-wheel steering of the vehicle is damaged.
It should be noted that the rear wheel steering control device provided in the foregoing embodiment and the rear wheel steering control method provided in the foregoing embodiment belong to the same concept, and specific ways for the modules and units to perform operations have been described in detail in the method embodiments, and are not described again here. In practical applications, the rear wheel steering control device provided in the above embodiment may allocate the above functions to different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the above described functions, which is not limited herein.
An embodiment of the present application further provides an electronic device, including: one or more processors; a storage device, configured to store one or more programs, which when executed by the one or more processors, cause the electronic device to implement the rear-wheel steering control method provided in each of the above embodiments.
FIG. 7 illustrates a schematic structural diagram of a computer system suitable for use to implement the electronic device of the embodiments of the subject application. It should be noted that the computer system 700 of the electronic device shown in fig. 7 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present application.
As shown in fig. 7, the computer system 700 includes a Central Processing Unit (CPU) 701, which can perform various appropriate actions and processes, such as executing the methods described in the above embodiments, according to a program stored in a Read-Only Memory (ROM) 702 or a program loaded from a storage section 708 into a Random Access Memory (RAM) 703. In the RAM703, various programs and data necessary for system operation are also stored. The CPU701, the ROM 702, and the RAM703 are connected to each other via a bus 704. An Input/Output (I/O) interface 705 is also connected to the bus 704.
The following components are connected to the I/O interface 705: an input portion 706 including a keyboard, a mouse, and the like; an output section 707 including a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and a speaker; a storage section 708 including a hard disk and the like; and a communication section 709 including a Network interface card such as a LAN (Local Area Network) card, a modem, or the like. The communication section 709 performs communication processing via a network such as the internet. A drive 710 is also connected to the I/O interface 705 as needed. A removable medium 711, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like, is mounted on the drive 710 as necessary, so that a computer program read out therefrom is mounted into the storage section 708 as necessary.
In particular, according to embodiments of the application, the processes described above with reference to the flow diagrams may be implemented as computer software programs. For example, embodiments of the present application include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising a computer program for performing the method illustrated by the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network through the communication section 709, and/or installed from the removable medium 711. When the computer program is executed by a Central Processing Unit (CPU) 701, various functions defined in the system of the present application are executed.
It should be noted that the computer readable medium shown in the embodiments of the present application may be a computer readable signal medium or a computer readable storage medium or any combination of the two. The computer readable storage medium may be, for example, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having 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), a 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. In the present application, a computer-readable signal medium may include a propagated data signal with a computer program embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. The computer program embodied on the computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the foregoing.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. Each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units described in the embodiments of the present application may be implemented by software or hardware, and the described units may also be disposed in a processor. Wherein the names of the elements do not in some way constitute a limitation on the elements themselves.
Another aspect of the present application also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the rear wheel steering control method as described above. The computer-readable storage medium may be included in the electronic device described in the above embodiment, or may exist separately without being incorporated in the electronic device.
Another aspect of the application also provides a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the rear wheel steering control method provided in the above-described embodiments.
The above description is only a preferred exemplary embodiment of the present application, and is not intended to limit the embodiments of the present application, and those skilled in the art can easily make various changes and modifications according to the main concept and spirit of the present application, so that the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A rear wheel steering control method characterized by comprising:
acquiring real-time vehicle state information, wherein the vehicle state information comprises a real-time vehicle speed, a vehicle front axle steering angle and a vehicle rear axle steering angle of a vehicle;
calculating to obtain a vehicle steering signal based on the steering logic of the vehicle front axle steering angle and the vehicle rear axle steering angle;
and controlling the vehicle to enter a corresponding rear wheel steering mode based on the vehicle steering signal and the real-time vehicle speed of the vehicle.
2. The method of claim 1, wherein said controlling the vehicle into a corresponding rear-wheel steering mode based on the vehicle steering signal and a real-time vehicle speed of the vehicle comprises:
judging whether the real-time speed of the vehicle is lower than a preset speed or not;
if yes, judging whether the steering signal of the vehicle is a same-direction steering signal;
if the judgment result is yes, controlling the vehicle to enter the crab running mode.
3. The method of claim 2, wherein the controlling the vehicle into a crab travel mode comprises:
and controlling a steering actuator of the vehicle to start acting and pushing a rear wheel of the vehicle to steer to the bottom so as to achieve the effect of crab running.
4. The method of claim 2, wherein if the vehicle speed is determined to be greater than a predetermined vehicle speed;
adjusting the vehicle front axle steering angle of the vehicle into a corner signal with the same direction and the same angle as the rear axle steering angle of the vehicle;
calculating a rear wheel steering signal of the vehicle based on the turn angle signal;
and adjusting the steering angle of the rear axle of the vehicle according to the rear wheel steering signal.
5. The method of claim 2, wherein if the turn signal of the vehicle is determined to be a reverse turn signal;
the rear wheel steering of the vehicle is controlled to push to the bottom to achieve the effect of minimum radius steering.
6. The method of claim 1, wherein the method further comprises:
and if the rear wheel steering device of the vehicle is detected to be damaged, locking the rear wheel steering of the vehicle, and controlling the vehicle to enter a front wheel steering mode.
7. A rear wheel steering control device characterized by comprising:
the system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring real-time vehicle state information, and the vehicle state information comprises the real-time vehicle speed of a vehicle, the steering angle of a front axle of the vehicle and the steering angle of a rear axle of the vehicle;
the calculation module is used for calculating to obtain a vehicle steering signal based on the steering logic of the vehicle front axle steering angle and the vehicle rear axle steering angle;
and the control module is used for controlling the vehicle to enter a corresponding rear wheel steering mode based on the vehicle steering signal and the real-time speed of the vehicle.
8. A vehicle, characterized by comprising:
a rear wheel steering control device;
storage means for storing one or more programs that, when executed by the one or more processors, cause the vehicle to implement the rear-wheel steering control method according to any one of claims 1 to 6.
9. An electronic device, comprising:
one or more processors;
storage means for storing one or more programs that, when executed by the one or more processors, cause the electronic device to implement the rear-wheel steering control method according to any one of claims 1 to 6.
10. A computer-readable storage medium having stored thereon computer-readable instructions that, when executed by a processor of a computer, cause the computer to execute the rear wheel steering control method of any one of claims 1 to 6.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211234907.5A CN115583287A (en) | 2022-10-10 | 2022-10-10 | Rear wheel steering control method, rear wheel steering control device, vehicle, equipment and storage medium |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211234907.5A CN115583287A (en) | 2022-10-10 | 2022-10-10 | Rear wheel steering control method, rear wheel steering control device, vehicle, equipment and storage medium |
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| CN115583287A true CN115583287A (en) | 2023-01-10 |
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| CN202211234907.5A Pending CN115583287A (en) | 2022-10-10 | 2022-10-10 | Rear wheel steering control method, rear wheel steering control device, vehicle, equipment and storage medium |
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