CN116062030A - Rear wheel steering control system, method, electronic equipment and storage medium - Google Patents
Rear wheel steering control system, method, electronic equipment and storage medium Download PDFInfo
- Publication number
- CN116062030A CN116062030A CN202310293271.XA CN202310293271A CN116062030A CN 116062030 A CN116062030 A CN 116062030A CN 202310293271 A CN202310293271 A CN 202310293271A CN 116062030 A CN116062030 A CN 116062030A
- Authority
- CN
- China
- Prior art keywords
- wheel steering
- rear wheel
- steering angle
- control command
- module
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 36
- 238000012546 transfer Methods 0.000 claims abstract description 59
- 238000004590 computer program Methods 0.000 claims description 16
- 230000005856 abnormality Effects 0.000 claims description 12
- 238000001514 detection method Methods 0.000 claims description 12
- 239000004973 liquid crystal related substance Substances 0.000 claims description 11
- 230000002159 abnormal effect Effects 0.000 claims description 7
- 238000011217 control strategy Methods 0.000 claims description 6
- 238000004891 communication Methods 0.000 description 10
- 230000006870 function Effects 0.000 description 7
- 238000012545 processing Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000003044 adaptive effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006872 improvement 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
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001413 cellular effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000004064 dysfunction Effects 0.000 description 1
- 239000011521 glass 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
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/007—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits adjustable by the driver, e.g. sport mode
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The invention discloses a rear wheel steering control system, a rear wheel steering control method, electronic equipment and a storage medium. The system comprises: the system comprises a plurality of driving subsystems, a main control module, a transfer module and an actuator; the driving subsystem is used for sending a rear wheel steering angle control command to the transfer module; the main control module is used for periodically sending a rear wheel steering angle control command to the transfer module; the transfer module is used for receiving the rear wheel steering angle control command sent by the driving subsystem and/or the main control module when the transfer module is in a ready state, determining a target rear wheel steering angle control command based on the rear wheel steering angle control command, and sending the target rear wheel steering angle control command to the executor; the actuator is configured to receive and execute a target rear wheel steering angle control command. According to the invention, the transfer module is arranged between the upper driving subsystem and the main control module and between the upper driving subsystem and the lower actuator, so that the uniqueness of the rear wheel steering angle control command is ensured and the steering stability of the vehicle is improved.
Description
Technical Field
The present invention relates to the field of vehicle control technologies, and in particular, to a rear wheel steering control system, a method, an electronic device, and a storage medium.
Background
With the rapid development of the automobile industry, the rear wheel steering technology is applied, and various intelligent driving functions of the vehicle also start to call the rear wheel steering to realize the functions.
At present, when an intelligent driving function requests to transversely control a vehicle in the prior art, the transverse control of the vehicle is often realized through an electric power steering system. However, with the improvement of the control level, intelligent driving systems such as an adaptive cruise system, a lane keeping assist system, an automatic parking system and the like are presented, and the intelligent driving system is started to control the rear wheel steering system to perform the transverse control of the vehicle, however, how to perform the rear wheel steering under a plurality of rear wheel steering control commands of different intelligent driving control systems so as to ensure the uniqueness of the rear wheel steering control commands becomes a problem to be solved urgently.
Disclosure of Invention
The invention provides a rear wheel steering control system, a rear wheel steering control method, electronic equipment and a storage medium, which are used for solving the problem that a rear wheel steering control command is not unique during transverse control of a vehicle.
According to an aspect of the present invention, there is provided a rear wheel steering control system including: the system comprises a plurality of driving subsystems, a main control module, a transfer module and an actuator; wherein, the liquid crystal display device comprises a liquid crystal display device,
the driving subsystem is used for sending a rear wheel steering angle control command to the transfer module;
the main control module is used for periodically sending a rear wheel steering angle control command to the transfer module;
the transfer module is used for receiving a rear wheel steering angle control command sent by the driving subsystem and/or the main control module when the transfer module is in a ready state, determining a target rear wheel steering angle control command based on the rear wheel steering angle control command, and sending the target rear wheel steering angle control command to an actuator;
the executor is used for receiving and executing the target rear wheel steering angle control command.
According to another aspect of the present invention, there is provided a rear-wheel steering control method of a vehicle, applied to a relay module of a rear-wheel steering control system, including:
when the transfer module is in a ready state, receiving a rear wheel steering angle control command sent by a driving subsystem and/or a main control module;
and determining a target rear wheel steering angle control command based on the rear wheel steering angle control command, and forwarding the target rear wheel steering angle control command to an actuator so that the actuator executes the target rear wheel steering angle control command.
According to another aspect of the present invention, there is provided an electronic apparatus including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein, the liquid crystal display device comprises a liquid crystal display device,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the rear wheel steering control method of any one of the embodiments of the present invention.
According to another aspect of the present invention, there is provided a computer-readable storage medium storing computer instructions for causing a processor to execute a method for controlling rear wheel steering of a vehicle according to any one of the embodiments of the present invention.
According to the technical scheme, the transfer module is arranged between the upper driving subsystem and the main control module and between the upper driving subsystem and the lower executor, the transfer module receives the rear wheel steering angle control command sent by the upper driving subsystem and the main control module, determines the target rear wheel steering angle control command from the rear wheel steering angle control command, and sends the target rear wheel steering angle control command to the executor for execution, so that the problem of non-unique rear wheel steering angle control command during transverse control of a vehicle is solved, and the uniqueness of the rear wheel steering angle control command is ensured and the steering stability of the vehicle is improved.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural view of a rear wheel steering control system for a vehicle according to a first embodiment of the present invention;
fig. 2 is a flowchart of a rear wheel steering control method for a vehicle according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of an electronic device according to a third embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
Fig. 1 is a schematic structural diagram of a rear-wheel steering control system for a vehicle according to an embodiment of the present invention, where the embodiment may be applicable to a case where a vehicle is laterally controlled by a rear-wheel steering system, the rear-wheel steering control system may be implemented in hardware and/or software, and the rear-wheel steering control system may be configured in a vehicle terminal. As shown in fig. 1, the system includes: a plurality of driving subsystems 110, a main control module 120, a transit module 130, and an actuator 140; wherein, the liquid crystal display device comprises a liquid crystal display device,
the driving subsystem 110 is configured to send a rear wheel steering control command to the relay module 130;
the main control module 120 is configured to periodically send a rear wheel steering control command to the transit module 130;
the transfer module 130 is configured to receive a rear wheel steering control command sent by the driving subsystem 110 and/or the main control module 120 when the transfer module 130 is in a ready state, determine a target rear wheel steering control command based on the rear wheel steering control command, and send the target rear wheel steering control command to the executor 140;
the actuator 140 is configured to receive and execute the target rear wheel steering control command.
The driving subsystem 110 and the main control module 120 are upper systems of the transfer module 130, and are respectively connected with the transfer module 130, and the driving subsystem 110 sends the generated rear wheel steering control command to the transfer module 130, where the driving subsystem is an intelligent driving system with a transverse control function, and specifically, the driving subsystem includes, but is not limited to, an adaptive cruise subsystem, a lane line keeping subsystem, an automatic parking subsystem, and the like, and is not limited herein; the main control module 120 is configured to determine a rear wheel steering angle value of the vehicle according to the current state information of the vehicle, and periodically send a rear wheel steering angle control command carrying the rear wheel steering angle value to the transit module 130.
The working states of the transfer module 130 include an initial state, a ready state and an activated state, specifically, after the vehicle is powered on, the transfer module 130 enters the initial state; when the relay module 130 completes self-checking and it is detected that normal communication is possible between the relay module 130 and the driving subsystem 110, the main control module 120 and the actuator 140, the relay module 130 enters a ready state; when the main control module 120, or any one of the driving subsystems 110 having the lateral control function, transmits the rear wheel steering control command to the relay module 130, the relay module 130 enters an active state. In this embodiment, when the transfer module 130 is in the ready state, the transfer module 130 may receive the rear wheel steering control command sent by the driving subsystem 110 and/or the main control module 120, and when the transfer module 130 receives the rear wheel steering control command sent by any driving subsystem 110 or the main control module 120, the transfer module 130 enters the active state, and the transfer module 130 determines the target rear wheel steering control command according to the received rear wheel steering control command and forwards the target rear wheel steering control command to the executor 140.
The actuator 140 is a lower system of the relay module 130, is connected to the relay module 130, and the actuator 140 receives the target rear wheel steering angle control command sent by the relay module 130 and controls the rear wheel steering angle of the vehicle based on the target rear wheel steering angle control command.
On the basis of the above embodiment, optionally, the priority of the driving subsystem is greater than that of the main control module.
Specifically, the priority of the rear wheel steering control command sent by the driving subsystem 110 is greater than that of the rear wheel steering control command sent by the main control module 120, that is, if the transfer module 130 receives the rear wheel steering control commands of the driving subsystem 110 and the main control module 120 at the same time, the rear wheel steering control command of the driving subsystem 110 is preferentially forwarded to the executor 140.
On the basis of the above embodiment, optionally, the relay module is further configured to: and if the rear wheel steering angle control commands of the plurality of driving subsystems are received at the same time, determining a target rear wheel steering angle control command based on a preset safety control strategy and each rear wheel steering angle control command.
Specifically, if the transfer module receives the rear wheel steering angle control commands of a plurality of driving subsystems at the same time, performing priority arbitration on each rear wheel steering angle control command according to a preset safety control strategy, thereby determining a target rear wheel steering angle control command; the preset safety control strategy refers to priority of execution of the rear wheel steering angle control command of each driving subsystem under different working conditions, for example: under the running condition of the vehicle, the self-adaptive cruise subsystem is more than the lane line keeping subsystem and more than the automatic parking subsystem; the preset safety control strategy is set by those skilled in the art according to experience and requirements, and is not limited herein.
It can be understood that if the transfer module receives only the rear wheel steering control command of one driving subsystem at a time, the transfer module successfully handshakes with the driving subsystem and directly forwards the rear wheel steering control command sent by the system to the executor.
On the basis of the above embodiment, optionally, the relay module is further configured to: when the executor executes the target rear wheel steering angle control command, a driving subsystem corresponding to the target rear wheel steering angle control command is in an activated state; and if a rear wheel steering angle control command of the unactivated driving subsystem and/or the main control module is received, an executor unavailable signal is sent to the unactivated driving subsystem and the main control module.
Specifically, because the executor can only execute one rear wheel steering angle control command at the same time, when the executor executes the target rear wheel steering angle control command, the driving subsystem corresponding to the target rear wheel steering angle control command is in an activated state, and the executor cannot execute the rear wheel steering angle control commands of the main control module and other driving subsystems; and if the transfer module receives the rear wheel steering angle control command of the unactivated driving subsystem and/or the main control module, an executor unavailable signal is sent to the unactivated driving subsystem and the main control module so as to indicate that the executor cannot execute the rear wheel steering angle control command of the main control module and other driving subsystems. According to the embodiment, the unactivated driving subsystem and the main control module are used for sending the executor unavailable signal, so that the driving subsystem and the main control module are prevented from repeatedly sending the rear wheel steering control command, and the resource consumption is reduced.
In some embodiments, when the driving subsystem in the activated state sends an exit command to the transfer module, the transfer module receives the current rear wheel steering control command sent by the current time master control module and sends the current rear wheel steering command to the executor; the actuator receives the current rear wheel steering angle command and slowly adjusts the rear wheel steering angle based on the current rear wheel steering angle control command until the current rear wheel steering angle command value is consistent with the current rear wheel steering angle control command value.
It can be understood that if the main control module has a functional failure or communication abnormality when the driving subsystem in the active state sends an exit command to the relay module, the relay module sends a return-to-zero control command to enable the actuator to control the rear wheel steering angle to smoothly return to the zero position.
On the basis of the above embodiment, optionally, the transfer module includes a first abnormality detection sub-module and a second abnormality detection sub-module; the first abnormality detection sub-module is used for detecting a driving sub-system, and stopping responding to the driving sub-system when the driving sub-system is in an abnormal state; the second abnormality detection sub-module is used for detecting an actuator, stopping receiving the rear wheel steering angle control command when the actuator is in an abnormal state, and sending a disabling command to the driving sub-system and the main control module.
In this embodiment, the transfer module includes a first abnormality detection sub-module and a second abnormality detection sub-module, where the first abnormality detection sub-module is configured to detect each driving sub-system in an upper system of the transfer module, and stop responding to a rear wheel steering control command sent by the driving sub-system when signal reliability of the driving sub-system is abnormal and/or dysfunctional; the second abnormality detection sub-module is used for detecting an actuator in a lower system of the transfer module, stopping receiving a rear wheel steering angle control command of the driving sub-system and the main control module when detecting signal reliability abnormality and/or dysfunction of the actuator, sending a disabling command to the driving sub-system and the main control module, and simultaneously controlling the actuator to enter a self-locking state or controlling the rear wheel steering angle to return to a zero position at a preset speed, wherein the preset speed can be 0.5 degrees/s, and the preset speed is not limited herein.
On the basis of the above embodiment, optionally, the actuator is further configured to: and acquiring the current speed of the vehicle, determining a maximum rear wheel steering angle value based on the current speed of the vehicle, and sending the maximum rear wheel steering angle value to the transfer module so that the transfer module can transfer the maximum rear wheel steering angle value to the driving subsystem and the main control module.
In this embodiment, the executor may determine, according to the current speed of the vehicle, a maximum rear wheel steering angle value executable by the executor at the current speed of the vehicle through a two-dimensional table lookup method, and send the maximum rear wheel steering angle value to the transfer module, where the transfer module forwards the maximum rear wheel steering angle value to the driving subsystem and the main control module in the upper system, so as to ensure that the rear wheel steering angle control command sent by the driving subsystem and the main control module is within the executable range of the executor.
According to the technical scheme, the transfer module is arranged between the upper driving subsystem and the main control module and between the upper driving subsystem and the lower executor, the transfer module receives the rear wheel steering angle control command sent by the upper driving subsystem and the main control module, determines the target rear wheel steering angle control command from the rear wheel steering angle control command, and sends the target rear wheel steering angle control command to the executor for execution, so that the problem of non-uniqueness of the rear wheel steering angle control command during transverse control of the vehicle is solved, and the steering stability of the vehicle is improved while the uniqueness of the rear wheel steering angle control command is guaranteed.
Example two
Fig. 2 is a flowchart of a rear-wheel steering control method for a vehicle according to a second embodiment of the present invention, where the present embodiment is applicable to a case where a vehicle is laterally controlled by a rear-wheel steering system, the method may be performed by the rear-wheel steering control system, and the rear-wheel steering control system may be implemented in the form of hardware and/or software. As shown in fig. 2, the method is applied to a transfer module of a rear wheel steering control system, and includes:
and S210, when the transfer module is in a ready state, receiving a rear wheel steering angle control command sent by a driving subsystem and/or a main control module.
And S220, determining a target rear wheel steering angle control command based on the rear wheel steering angle control command, and forwarding the target rear wheel steering angle control command to an actuator so that the actuator executes the target rear wheel steering angle control command.
According to the technical scheme, the transfer module receives the rear wheel steering angle control command sent by the driving subsystem and the main control module, determines the target rear wheel steering angle control command from the rear wheel steering angle control command, and sends the target rear wheel steering angle control command to the executor for execution, so that the problem that the rear wheel steering angle control command is not unique during transverse control of the vehicle is solved, and the steering stability of the vehicle is improved while the uniqueness of the rear wheel steering angle control command is ensured.
On the basis of the above embodiment, optionally, the working states of the transfer module include an initial state, a ready state and an activated state.
On the basis of the above embodiment, optionally, the priority of the driving subsystem is greater than that of the main control module.
On the basis of the above embodiment, optionally, the method further includes: detecting a driving subsystem, and stopping responding to the driving subsystem when the driving subsystem is in an abnormal state;
and/or detecting an actuator, stopping receiving the rear wheel steering angle control command when the actuator is in an abnormal state, and sending a disabling command to the driving subsystem and the main control module.
On the basis of the above embodiment, optionally, the determining the target rear wheel steering angle control command based on the rear wheel steering angle control command includes: and if the rear wheel steering angle control commands of the plurality of driving subsystems are received at the same time, determining a target rear wheel steering angle control command based on a preset safety control strategy and each rear wheel steering angle control command.
On the basis of the above embodiment, optionally, the method further includes: when the executor executes the target rear wheel steering angle control command, a driving subsystem corresponding to the target rear wheel steering angle control command is in an activated state; and after receiving a rear wheel steering control command of the unactivated driving subsystem and/or the main control module, sending an executor unavailable signal to the unactivated driving subsystem and the main control module.
The vehicle rear wheel steering control method provided by the embodiment of the invention can be executed by the vehicle rear wheel steering control system provided by any embodiment of the invention, and has the corresponding beneficial effects of the execution system.
Example III
Fig. 3 is a schematic structural diagram of an electronic device according to a third embodiment of the present invention. The electronic device 10 is intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), 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 inventions described and/or claimed herein.
As shown in fig. 3, the electronic device 10 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 may also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.
Various components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, etc.; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 executes the respective methods and processes described above, such as the vehicle rear-wheel steering control method.
In some embodiments, the vehicle rear-wheel steering control method may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the vehicle rear-wheel steering control method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the vehicle rear-wheel steering control method in any other suitable manner (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.
The computer program for implementing the vehicle rear-wheel steering control method of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program 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.
Example IV
The fourth embodiment of the present invention also provides a computer readable storage medium, where the computer readable storage medium stores computer instructions for causing a processor to execute a method for controlling rear-wheel steering of a vehicle, where the method is applied to a transfer module of a rear-wheel steering control system, and includes:
when the transfer module is in a ready state, receiving a rear wheel steering angle control command sent by a driving subsystem and/or a main control module; and determining a target rear wheel steering angle control command based on the rear wheel steering angle control command, and forwarding the target rear wheel steering angle control command to an actuator so that the actuator executes the target rear wheel steering angle control command.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage 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. Alternatively, the computer readable storage medium may be a machine readable signal medium. 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 an electronic device 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 a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. 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), blockchain networks, 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 can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.
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 described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
The above embodiments do not limit the scope of the present invention. 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 invention should be included in the scope of the present invention.
Claims (10)
1. A rear wheel steering control system, characterized by comprising: the system comprises a plurality of driving subsystems, a main control module, a transfer module and an actuator; wherein, the liquid crystal display device comprises a liquid crystal display device,
the driving subsystem is used for sending a rear wheel steering angle control command to the transfer module;
the main control module is used for periodically sending a rear wheel steering angle control command to the transfer module;
the transfer module is used for receiving a rear wheel steering angle control command sent by the driving subsystem and/or the main control module when the transfer module is in a ready state, determining a target rear wheel steering angle control command based on the rear wheel steering angle control command, and sending the target rear wheel steering angle control command to an actuator;
the executor is used for receiving and executing the target rear wheel steering angle control command.
2. The system of claim 1, wherein the operational state of the staging module includes an initial state, a ready state, and an active state.
3. The system of claim 1, wherein the driving subsystem has a priority greater than the master control module.
4. The system of claim 1, wherein the relay module comprises a first anomaly detection sub-module and a second anomaly detection sub-module;
the first abnormality detection sub-module is used for detecting a driving sub-system, and stopping responding to the driving sub-system when the driving sub-system is in an abnormal state;
the second abnormality detection sub-module is used for detecting an actuator, stopping receiving the rear wheel steering angle control command when the actuator is in an abnormal state, and sending a disabling command to the driving sub-system and the main control module.
5. The system of claim 1, wherein the staging module is further configured to:
and if the rear wheel steering angle control commands of the plurality of driving subsystems are received at the same time, determining a target rear wheel steering angle control command based on a preset safety control strategy and each rear wheel steering angle control command.
6. The system of claim 5, wherein the staging module is further configured to:
when the executor executes the target rear wheel steering angle control command, a driving subsystem corresponding to the target rear wheel steering angle control command is in an activated state;
and if a rear wheel steering angle control command of the unactivated driving subsystem and/or the main control module is received, an executor unavailable signal is sent to the unactivated driving subsystem and the main control module.
7. The system of claim 1, wherein the actuator is further configured to:
and acquiring the current speed of the vehicle, determining a maximum rear wheel steering angle value based on the current speed of the vehicle, and sending the maximum rear wheel steering angle value to the transfer module so that the transfer module can transfer the maximum rear wheel steering angle value to the driving subsystem and the main control module.
8. A vehicle rear-wheel steering control method, characterized by being applied to a relay module of a rear-wheel steering control system, comprising:
when the transfer module is in a ready state, receiving a rear wheel steering angle control command sent by a driving subsystem and/or a main control module;
and determining a target rear wheel steering angle control command based on the rear wheel steering angle control command, and forwarding the target rear wheel steering angle control command to an actuator so that the actuator executes the target rear wheel steering angle control command.
9. An electronic device, the electronic device comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein, the liquid crystal display device comprises a liquid crystal display device,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the vehicle rear wheel steering control method of claim 8.
10. A computer-readable storage medium storing computer instructions for causing a processor to execute the vehicle rear wheel steering control method according to claim 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310293271.XA CN116062030A (en) | 2023-03-23 | 2023-03-23 | Rear wheel steering control system, method, electronic equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310293271.XA CN116062030A (en) | 2023-03-23 | 2023-03-23 | Rear wheel steering control system, method, electronic equipment and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116062030A true CN116062030A (en) | 2023-05-05 |
Family
ID=86183933
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310293271.XA Pending CN116062030A (en) | 2023-03-23 | 2023-03-23 | Rear wheel steering control system, method, electronic equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116062030A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2015134482A1 (en) * | 2014-03-03 | 2015-09-11 | Xtreme Manufacturing, Llc | Method and system for a lift device control system |
| CN106938661A (en) * | 2017-02-09 | 2017-07-11 | 浙江吉利汽车研究院有限公司 | A kind of hardware and software platform electric boosting steering system |
| DE102017106886A1 (en) * | 2016-03-31 | 2017-10-05 | GM Global Technology Operations LLC | Driver assistance procedures and systems |
| CN109849686A (en) * | 2019-02-22 | 2019-06-07 | 北京理工大学 | The believable network control chassis system and control method of electric car |
| CN111762263A (en) * | 2020-07-01 | 2020-10-13 | 中国第一汽车股份有限公司 | Vehicle steering control system |
| CN113581176A (en) * | 2021-08-30 | 2021-11-02 | 恒大恒驰新能源汽车研究院(上海)有限公司 | Method and device for assisting vehicle in running |
| CN114179905A (en) * | 2021-12-29 | 2022-03-15 | 吉林大学 | Control method of dual-mode rear wheel active steering system |
| CN114852089A (en) * | 2022-06-14 | 2022-08-05 | 中国第一汽车股份有限公司 | Vehicle running control method and device, electronic equipment and storage medium |
| CN115158455A (en) * | 2022-08-23 | 2022-10-11 | 奇瑞汽车股份有限公司 | Control method and device of rear wheel active steering system, vehicle and storage medium |
-
2023
- 2023-03-23 CN CN202310293271.XA patent/CN116062030A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2015134482A1 (en) * | 2014-03-03 | 2015-09-11 | Xtreme Manufacturing, Llc | Method and system for a lift device control system |
| DE102017106886A1 (en) * | 2016-03-31 | 2017-10-05 | GM Global Technology Operations LLC | Driver assistance procedures and systems |
| CN106938661A (en) * | 2017-02-09 | 2017-07-11 | 浙江吉利汽车研究院有限公司 | A kind of hardware and software platform electric boosting steering system |
| CN109849686A (en) * | 2019-02-22 | 2019-06-07 | 北京理工大学 | The believable network control chassis system and control method of electric car |
| CN111762263A (en) * | 2020-07-01 | 2020-10-13 | 中国第一汽车股份有限公司 | Vehicle steering control system |
| CN113581176A (en) * | 2021-08-30 | 2021-11-02 | 恒大恒驰新能源汽车研究院(上海)有限公司 | Method and device for assisting vehicle in running |
| CN114179905A (en) * | 2021-12-29 | 2022-03-15 | 吉林大学 | Control method of dual-mode rear wheel active steering system |
| CN114852089A (en) * | 2022-06-14 | 2022-08-05 | 中国第一汽车股份有限公司 | Vehicle running control method and device, electronic equipment and storage medium |
| CN115158455A (en) * | 2022-08-23 | 2022-10-11 | 奇瑞汽车股份有限公司 | Control method and device of rear wheel active steering system, vehicle and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114852034A (en) | Redundant parking braking method and system, electronic equipment and storage medium | |
| CN114228791A (en) | Method and device for upgrading remote RM after remote restart of full-automatic operation train | |
| CN116062030A (en) | Rear wheel steering control system, method, electronic equipment and storage medium | |
| CN116513130A (en) | EMB vehicle type wheel braking force control method, device, equipment and medium | |
| CN114633752A (en) | Mode switching method and device of automatic driving system and electronic equipment | |
| CN113492842A (en) | Control method, device and equipment for automatic parking and storage medium | |
| CN113386797A (en) | Method, apparatus, device, medium and product for controlling an autonomous vehicle | |
| CN114919552B (en) | Vehicle control method, device, equipment and medium | |
| CN115214563B (en) | Retarder control method and device, electronic equipment and storage medium | |
| CN116737494B (en) | Method and device for monitoring functional safety of vehicle, electronic equipment and storage medium | |
| CN116605226A (en) | Emergency braking method and device for vehicle, electronic equipment and storage medium | |
| CN116620400A (en) | Rear wheel steering control method and device, target controller and storage medium | |
| CN117092653A (en) | Radar control method and device in automatic driving and automatic driving automobile | |
| CN115503738A (en) | Vehicle control method and device, electronic equipment, storage medium and vehicle | |
| CN117755326A (en) | Vehicle control method and device, electronic equipment and storage medium | |
| CN116142296B (en) | Fault detection method, device and equipment for rear wheel steering system and storage medium | |
| CN117246312A (en) | Parking control method, device, equipment and storage medium | |
| CN114708740B (en) | Traffic light control method, system, device and equipment | |
| CN116215581A (en) | Vehicle driving state switching method, device, equipment and storage medium | |
| CN115071760A (en) | Vehicle control method, device, equipment and storage medium | |
| CN116691714A (en) | Vehicle state detection method, device, equipment and storage medium | |
| CN114670858A (en) | Debugging method and device of automatic driving chassis module, upper computer and medium | |
| CN117452820A (en) | Vehicle remote control method, device, equipment and medium | |
| CN117931526A (en) | Application program exception handling method and device, electronic equipment and storage medium | |
| CN117325886A (en) | Driving control method, device, driving control 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 |