CN116620400A - Rear wheel steering control method and device, target controller and storage medium - Google Patents
Rear wheel steering control method and device, target controller and storage medium Download PDFInfo
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- CN116620400A CN116620400A CN202310712449.XA CN202310712449A CN116620400A CN 116620400 A CN116620400 A CN 116620400A CN 202310712449 A CN202310712449 A CN 202310712449A CN 116620400 A CN116620400 A CN 116620400A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
Abstract
The embodiment of the invention discloses a rear wheel steering control method, a rear wheel steering control device, a target controller and a storage medium. The method is applied to a target controller of a target vehicle, and comprises the following steps: acquiring an actual rotation angle of a rear wheel of the target vehicle under the condition that the rear wheel steering domain controller of the target vehicle is detected to be faulty; determining a target turning speed under the condition that the actual turning angle is not zero degrees, wherein the target turning speed is larger than an autonomous return-to-zero speed, and the autonomous return-to-zero speed comprises the turning speed applied by a rear wheel steering actuator of the target vehicle under the condition of autonomous control return-to-zero; and based on the target rotation angle speed, sequentially transmitting two or more expected rotation angles gradually reduced to zero degrees from the actual rotation angle to the rear wheel steering actuator so as to enable the rear wheel steering actuator to control the rear wheel steering of the rear wheel of the vehicle to gradually return to zero based on the sequentially received expected rotation angles. According to the technical scheme provided by the embodiment of the invention, the zeroing time of the rear wheel steering actuator can be shortened.
Description
Technical Field
The embodiment of the invention relates to the technical field of vehicle control, in particular to a rear wheel steering control method and device, a target controller and a storage medium.
Background
Currently, the main stream of rear-wheel steering suppliers on the market generally only provides a rear-wheel steering actuator, which is responsible for receiving the steering control command of the upper-layer controller and moving to a corresponding angle, and is not responsible for calculating the desired angle of the rear-wheel steering, which is responsible for calculation by the rear-wheel steering domain controller.
Therefore, in the case of failure of the rear wheel steering domain controller, in order to ensure driving safety, the rear wheel steering actuator usually controls self-locking after returning to zero. However, the current zero-returning time of the rear wheel steering actuator is too long, and the driving safety during the zero-returning period cannot be ensured, so that it is important to shorten the zero-returning time.
Disclosure of Invention
The embodiment of the invention provides a rear wheel steering control method, a rear wheel steering control device, a target controller and a storage medium, so as to shorten the zeroing time of a rear wheel steering actuator and further ensure driving safety.
According to an aspect of the present invention, there is provided a rear wheel steering control method applied to a target controller of a target vehicle, the method including:
Acquiring an actual turning angle of a rear wheel of the target vehicle under the condition that a rear wheel steering domain controller of the target vehicle is detected to be faulty;
determining a target turning speed under the condition that the actual turning angle is not zero degrees, wherein the target turning speed is larger than an autonomous return-to-zero speed, and the autonomous return-to-zero speed comprises the turning speed applied by a rear wheel steering actuator of the target vehicle under the condition of autonomous control return-to-zero;
and sequentially transmitting two or more expected corners gradually reduced to zero degrees from the actual corners to the rear wheel steering actuator based on the target corner speeds so as to enable the rear wheel steering actuator to control the rear wheel steering of the rear wheels of the vehicle to gradually return to zero based on the sequentially received expected corners.
Optionally, the above method for controlling rear wheel steering further includes:
acquiring the yaw rate of the target vehicle;
determining a target rotational speed, comprising:
and determining the target angular velocity in the case that the yaw rate does not exceed the preset angular velocity threshold.
On the basis of this, optionally, after the yaw rate of the target vehicle is acquired, the above-described rear wheel steering control method further includes:
And under the condition that the yaw rate exceeds a preset angular rate threshold, the actual rotation angle is taken as an expected rotation angle and is sent to the rear wheel steering actuator, so that the rear wheel steering actuator controls the rear wheel steering to be fixed based on the received expected rotation angle.
Optionally, determining the target rotational speed includes:
acquiring an autonomous return-to-zero speed and a vehicle speed of a target vehicle;
and determining a proportion coefficient according to the vehicle speed, and determining a target corner speed according to the proportion coefficient and the autonomous return-to-zero speed, wherein the proportion coefficient is larger than 1.
Optionally, the rear wheel steering control method further includes:
and under the condition that the actual rotation angle is zero or the rear wheel steering is returned to zero, the control on the rear wheel steering actuator is exited, so that the rear wheel steering actuator performs self-locking at the zero position.
Optionally, in the case that the target controller fails, the rear wheel steering control method may further include:
control for the rear-wheel steering actuator is exited to cause the rear-wheel steering actuator to autonomously control the rear-wheel steering to gradually return to zero based on the autonomous return-to-zero speed.
Optionally, the rear wheel steering control method further includes:
acquiring a preset rotation angle difference value, and calculating to obtain two or more expected rotation angles gradually decreasing to zero degrees from the actual rotation angle according to the preset rotation angle difference value;
Correspondingly, based on the target angular velocity, two or more expected angles of rotation gradually decreasing from the actual angle of rotation to zero degrees are sequentially transmitted to the rear wheel steering actuator, including:
obtaining expected corner sending frequency according to a preset corner difference value and a target corner speed;
based on the desired rotation angle transmission frequency, two or more desired rotation angles are sequentially transmitted to the rear wheel steering actuator.
According to another aspect of the present invention, there is provided a rear wheel steering control apparatus configurable to a target controller of a target vehicle, the apparatus comprising:
the actual rotation angle acquisition module is used for acquiring the actual rotation angle of the rear wheels of the target vehicle under the condition that the rear wheel steering domain controller of the target vehicle is detected to be faulty;
the target steering speed determining module is used for determining a target steering speed under the condition that the actual steering angle is not zero degrees, wherein the target steering speed is larger than the autonomous return-to-zero speed, and the autonomous return-to-zero speed comprises the steering speed applied by a rear wheel steering actuator of the target vehicle under the condition of autonomous control return-to-zero;
and the expected corner transmitting module is used for sequentially transmitting two or more expected corners gradually reduced to zero degrees from the actual corners to the rear wheel steering actuator based on the target corner speed so as to enable the rear wheel steering actuator to control the rear wheel steering of the rear wheel of the vehicle to gradually return to zero based on the expected corners which are sequentially received.
According to another aspect of the present invention, there is provided a target controller, which may include:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,,
the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to cause the at least one processor to implement the rear wheel steering control method provided by any of the embodiments of the present invention when executed.
According to another aspect of the present invention, there is provided a computer-readable storage medium having stored thereon computer instructions for causing a processor to execute the rear wheel steering control method provided by any of the embodiments of the present invention.
According to the technical scheme, when the rear wheel steering domain controller of the target vehicle is detected to be faulty, the actual steering angle of the rear wheel of the target vehicle is obtained, and the target steering angle speed is determined under the condition that the actual steering angle is not zero degrees, wherein the target steering angle speed is greater than the autonomous return-to-zero speed, and the autonomous return-to-zero speed comprises the steering angle speed applied by the rear wheel steering actuator of the target vehicle under the condition of autonomous control return-to-zero; and based on the target angular velocity, sequentially transmitting two or more expected angles of rotation gradually reduced to zero degrees from the actual angle of rotation to the rear wheel steering actuator so as to enable the rear wheel steering actuator to control the rear wheel steering of the rear wheel of the vehicle to gradually return to zero based on the expected angles of rotation sequentially received. According to the technical scheme, under the condition that the rear wheel steering domain controller fails, the target controller is used for taking over the rear wheel steering actuator, so that compared with the autonomous zero return speed, the rear wheel steering actuator can be controlled to return to zero based on the larger target steering speed, and the effect of quick zero return of the rear wheel steering actuator is achieved.
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, nor is it intended to be used to limit 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 flowchart of a rear wheel steering control method provided according to an embodiment of the present invention;
FIG. 2 is a flowchart of another rear-wheel steering control method provided in accordance with an embodiment of the present invention;
FIG. 3 is a flowchart of another rear-wheel steering control method provided in accordance with an embodiment of the present invention;
FIG. 4 is a flowchart of another rear-wheel steering control method provided in accordance with an embodiment of the present invention;
fig. 5 is a block diagram showing the structure of a rear wheel steering control apparatus according to an embodiment of the present invention;
Fig. 6 is a schematic structural diagram of a target controller implementing a rear-wheel steering control method of an 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. The cases of "target", "original", etc. are similar and will not be described in detail 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.
Fig. 1 is a flowchart of a rear wheel steering control method provided in an embodiment of the present invention. The embodiment is applicable to a case where the rear wheel steering actuator of the target vehicle is controlled to return to zero quickly when the rear wheel steering domain controller of the target vehicle fails. The method can be executed by the rear wheel steering control device provided by the embodiment of the invention, the device can be realized by software and/or hardware, the device can be integrated on a target controller of a target vehicle, the target controller can be a controller which is specially used for controlling a rear wheel steering actuator, and can also be a controller which has the functions of controlling the rear wheel steering actuator and the rest of control functions, and at the moment, a separate controller is not required to be arranged for the target vehicle, so that the method has the advantages of lower realization cost and simpler realization process.
Referring to fig. 1, the method of the embodiment of the present invention specifically includes the following steps:
s110, acquiring the actual rotation angle of the rear wheels of the target vehicle under the condition that the rear wheel steering domain controller of the target vehicle is detected to be faulty.
The rear wheels of the vehicle are understood to be rear wheels of the target vehicle which can be controlled by a rear wheel steering actuator, and specifically may be left rear wheels, right rear wheels or double rear wheels of the target vehicle, which are relevant to the actual situation and are not specifically limited herein. The actual rotation angle is understood to be the current rotation angle of the rear wheels of the vehicle.
In the case that the target controller detects that the rear wheel steering domain controller fails, as described above, the rear wheel steering actuator cannot calculate the desired angle of the rear wheel steering of the rear wheel of the vehicle, and thus cannot effectively control the rear wheel steering, so that the target controller takes over the rear wheel steering actuator to effectively control the rear wheel steering through the rear wheel steering actuator, so as to ensure the driving safety of the target vehicle.
Specifically, the actual steering angle is obtained to determine whether or not to pass through the rear wheel steering actuator based on the actual steering angle, and control is performed for the rear wheel steering.
And S120, determining a target turning speed under the condition that the actual turning angle is not zero degrees, wherein the target turning speed is larger than an autonomous return-to-zero speed, and the autonomous return-to-zero speed comprises the turning speed applied by a rear wheel steering actuator of the target vehicle under the condition of autonomous control return-to-zero.
Under the condition that the actual turning angle is not zero, the rear wheel steering actuator is not zeroed, namely the target vehicle is not in a safe driving state, and the rear wheel steering actuator needs to be controlled to be zeroed at the moment, so that the driving safety of the target vehicle is ensured.
In particular, in the case of autonomous control return-to-zero, the autonomous return-to-zero speed applied by the rear-wheel steering actuator is usually a small angular velocity, which is preset for ensuring driving safety. However, as described above, a smaller autonomous return-to-zero speed brings a longer return-to-zero time, and the larger the actual turning angle, the more obvious the above phenomenon becomes, which may affect the driving safety. For example, in the event of a failure of the rear steering actuator during the return to zero, the rear steering actuator can only lock up in the current position, which makes the rear steering no longer adjustable, which is less safe to drive than when returning to zero.
Therefore, in order to shorten the return-to-zero time to ensure the driving safety, the target rotation angle speed which is larger than the autonomous return-to-zero speed can be determined, so that the rear wheel steering actuator is controlled to return to zero rapidly through the target rotation angle speed.
And S130, based on the target angular velocity, sequentially sending two or more expected angles of rotation gradually decreasing to zero degrees from the actual angle of rotation to the rear wheel steering actuator so as to enable the rear wheel steering actuator to control the rear wheel steering of the rear wheel of the vehicle to gradually return to zero based on the sequentially received expected angles of rotation.
Wherein two or more desired rotational angles are understood to be the desired rotational angles which gradually decrease from the actual rotational angle to zero degrees (0 °) in number of at least two. By way of example, assuming an actual rotation angle of 4 °, the at least two desired rotation angles resulting therefrom may comprise 4 °, 3 °, 2 °, 1 ° and 0 °, no jump taking place between these desired rotation angles. Further, based on the target steering angle speed, two or more expected steering angles are sequentially sent to the rear wheel steering actuator, so that the rear wheel steering actuator can control the rear wheel steering of the rear wheel of the vehicle to gradually return to zero based on the sequentially received expected steering angles. Illustratively, continuing with the above example, 4 °, 3 °, 2 °, 1 °, and 0 ° are sequentially transmitted to the rear-wheel steering actuator based on the target rotational angle speed, so that the rear-wheel steering actuator can control the rear-wheel steering to gradually return to zero at desired rotational angles of 3 °, 2 °, 1 °, and 0 ° from 4 ° based on the sequentially received 4 °, 3 °, 2 °, 1 °, and 0 °.
In practical application, optionally, the rear wheel steering control method further includes:
acquiring a preset rotation angle difference value, and calculating to obtain two or more expected rotation angles gradually decreasing to zero degrees from the actual rotation angle according to the preset rotation angle difference value;
Correspondingly, based on the target angular velocity, two or more expected angles of rotation gradually decreasing from the actual angle of rotation to zero degrees are sequentially transmitted to the rear wheel steering actuator, including:
obtaining expected corner sending frequency according to a preset corner difference value and a target corner speed;
based on the desired rotation angle transmission frequency, two or more desired rotation angles are sequentially transmitted to the rear wheel steering actuator.
The preset rotation angle difference may be understood as a preset difference between two adjacent expected rotation angles of two or more expected rotation angles to be calculated, or may be understood as a preset angle for representing each change of the rear wheel steering through the rear wheel steering actuator. And calculating two or more expected angles of rotation gradually decreasing from the actual angle of rotation to zero degree according to the preset angle of rotation difference. By way of example, assuming that the preset angle difference is 1 ° and the actual angle is 4 °, the two or more desired angles of rotation thus calculated may include 4 °, 3 °, 2 °, 1 ° and 0 °.
According to the preset rotation angle difference value and the target rotation angle speed, the expected rotation angle sending frequency used for representing the sending frequency of two or more expected rotation angles is obtained, and for example, the expected rotation angle sending frequency=the target rotation angle speed/the preset rotation angle difference value can be obtained. Illustratively, continuing with the above example, here taking the example that the unit of the target rotational angle speed is converted by = (10 °/s)/1 ° =10 times/s, assuming that the target rotational angle speed is 10 °/s. Further, based on the expected corner transmission frequency, two or more expected corners are sequentially transmitted to the rear wheel steering actuator, so that the rear wheel steering actuator can return to zero rapidly.
It will be appreciated that the target controller is responsible for controlling the return-to-zero of the rear-wheel steering actuator only in the event of a failure of the rear-wheel steering domain controller, and does not involve a complex control strategy, and is therefore easy to implement.
According to the technical scheme, when the rear wheel steering domain controller of the target vehicle is detected to be faulty, the actual steering angle of the rear wheel of the target vehicle is obtained, and the target steering angle speed is determined under the condition that the actual steering angle is not zero degrees, wherein the target steering angle speed is greater than the autonomous return-to-zero speed, and the autonomous return-to-zero speed comprises the steering angle speed applied by the rear wheel steering actuator of the target vehicle under the condition of autonomous control return-to-zero; and based on the target angular velocity, sequentially transmitting two or more expected angles of rotation gradually reduced to zero degrees from the actual angle of rotation to the rear wheel steering actuator so as to enable the rear wheel steering actuator to control the rear wheel steering of the rear wheel of the vehicle to gradually return to zero based on the expected angles of rotation sequentially received. According to the technical scheme, under the condition that the rear wheel steering domain controller fails, the target controller is used for taking over the rear wheel steering actuator, so that compared with the autonomous zero return speed, the rear wheel steering actuator can be controlled to return to zero based on the larger target steering speed, and the effect of quick zero return of the rear wheel steering actuator is achieved.
An optional technical solution, the rear wheel steering control method further includes:
and under the condition that the actual rotation angle is zero or the rear wheel steering is returned to zero, the control on the rear wheel steering actuator is exited, so that the rear wheel steering actuator performs self-locking at the zero position.
Under the condition that the actual rotation angle is zero or the rear wheel steering is returned to zero, the target vehicle is in a safe driving state, and then the target controller can withdraw from control of the rear wheel steering actuator, so that the rear wheel steering actuator can be self-locked and kept at a zero position, and the driving safety is better ensured. On this basis, optionally, further, after the related failure of the rear-wheel steering domain controller disappears, the rear-wheel steering actuator may reinitiate the request to handshake with the rear-wheel steering domain controller, so that the rear-wheel steering actuator may be controlled by the rear-wheel steering domain controller in the following.
In another alternative solution, in case of a failure of the target controller, the method for controlling rear wheel steering further includes:
control for the rear-wheel steering actuator is exited to cause the rear-wheel steering actuator to autonomously control the rear-wheel steering to gradually return to zero based on the autonomous return-to-zero speed.
Under the condition that the target controller fails, the target controller cannot effectively control the rear-wheel steering actuator, and the target controller can withdraw from the control of the rear-wheel steering actuator, so that the rear-wheel steering actuator can automatically control the rear-wheel steering to gradually return to zero based on the autonomous return-to-zero speed, and the driving safety of the target vehicle is guaranteed under various conditions.
Fig. 2 is a flowchart of another rear-wheel steering control method provided in an embodiment of the present invention. The present embodiment is optimized based on the above technical solutions. In this embodiment, optionally, after the actual rotation angle is not zero degrees, the method for controlling rear wheel steering further includes: acquiring the yaw rate of the target vehicle; determining a target rotational speed, comprising: and determining the target angular velocity in the case that the yaw rate does not exceed the preset angular velocity threshold. Wherein, the explanation of the same or corresponding terms as the above embodiments is not repeated herein.
Referring to fig. 2, the method of this embodiment may specifically include the following steps:
s210, acquiring the actual rotation angle of the rear wheels of the target vehicle under the condition that the rear wheel steering domain controller of the target vehicle is detected to be faulty.
S220, in the case where the actual rotation angle is not zero degrees, the yaw rate of the target vehicle is acquired.
The yaw rate is understood to be the angular rate at which the target vehicle oscillates in the lateral direction. In practical applications, alternatively, the yaw rate may be obtained by a sensor of the target vehicle.
When the actual rotation angle is not zero degrees, the yaw rate is acquired, and the control strategy for the rear-wheel steering actuator can be determined from the yaw rate, for example, the current situation can be maintained or the steering system returns to zero.
And S230, determining a target turning speed under the condition that the yaw rate does not exceed a preset angular speed threshold, wherein the target turning speed is larger than an autonomous zero return speed, and the autonomous zero return speed comprises the turning speed applied by a rear wheel steering actuator of the target vehicle under the condition of autonomous control zero return.
The preset angular velocity threshold value is understood to be a threshold value related to the yaw rate, which is set in advance. In the case that the yaw rate does not exceed the preset angular rate threshold, which means that the current running condition of the target vehicle is basically safe, the target angular rate can be determined to control the rear wheel steering actuator to return to zero.
And S240, based on the target angular velocity, sequentially sending two or more expected angles of rotation gradually decreasing from the actual angle of rotation to zero degrees to the rear wheel steering actuator so as to enable the rear wheel steering actuator to control the rear wheel steering of the rear wheel of the vehicle to gradually return to zero based on the sequentially received expected angles of rotation.
According to the technical scheme provided by the embodiment of the invention, under the condition that the yaw rate does not exceed the preset angular rate threshold, namely the current running condition of the target vehicle is basically safe, the rear wheel steering actuator is controlled to quickly return to zero through the larger target angular rate, so that the running safety of the target vehicle is ensured from different angles.
An optional technical solution, after obtaining the yaw rate of the target vehicle, the rear wheel steering control method further includes:
and under the condition that the yaw rate exceeds a preset angular rate threshold, the actual rotation angle is taken as an expected rotation angle and is sent to the rear wheel steering actuator, so that the rear wheel steering actuator controls the rear wheel steering to be fixed based on the received expected rotation angle.
Under the condition that the yaw rate exceeds a preset angular rate threshold, a certain safety risk exists in the current running condition of the target vehicle, so that the target controller can send the actual rotation angle to the rear wheel steering actuator as an expected rotation angle to enable the rear wheel steering actuator to control the rear wheel steering to be unchanged based on the received expected rotation angle, and running safety is guaranteed.
Fig. 3 is a flowchart of another rear-wheel steering control method provided in an embodiment of the present invention. The present embodiment is optimized based on the above technical solutions. In this embodiment, optionally, determining the target rotational speed includes: acquiring an autonomous return-to-zero speed and a vehicle speed of a target vehicle; and determining a proportion coefficient according to the vehicle speed, and determining a target corner speed according to the proportion coefficient and the autonomous return-to-zero speed, wherein the proportion coefficient is larger than 1. Wherein, the explanation of the same or corresponding terms as the above embodiments is not repeated herein.
Referring to fig. 3, the method of this embodiment may specifically include the following steps:
s310, acquiring the actual rotation angle of the rear wheels of the target vehicle under the condition that the rear wheel steering domain controller of the target vehicle is detected to be faulty.
And S320, acquiring an autonomous return-to-zero speed and a vehicle speed of the target vehicle under the condition that the actual turning angle is not zero degrees, wherein the autonomous return-to-zero speed is the turning angle speed applied by a rear wheel steering actuator of the target vehicle under the condition of autonomous control return-to-zero.
The vehicle speed is understood to be the travel speed of the target vehicle. In the case where the actual turning angle is not zero degrees, the vehicle speed is acquired so as to determine the target turning angle speed based on the vehicle speed.
S330, determining a proportion coefficient according to the vehicle speed, and determining a target corner speed according to the proportion coefficient and the autonomous return-to-zero speed, wherein the proportion coefficient is larger than 1, and the target corner speed is larger than the autonomous return-to-zero speed.
Wherein, in order to achieve a rapid return to zero of the rear-wheel steering actuator, a scaling factor greater than 1 may be determined based on the vehicle speed. In practice, the scaling factor may alternatively be obtained by looking up a target table relating to the vehicle speed, which may be generated by calibration during the development phase of the target vehicle. Alternatively, in general, considering that the greater the vehicle speed is, the more difficult it is for the driving safety of the target vehicle to be ensured, so that the proportionality coefficient may be inversely related to the vehicle speed, for example, in the case of high-speed driving of the target vehicle, the proportionality coefficient is slightly smaller than that of the target vehicle on the basis of being greater than 1, so that the target controller may return to zero slightly slowly on the basis of controlling the steering actuator of the vehicle to return to zero quickly; correspondingly, under the condition that the target vehicle runs at a low speed, the proportionality coefficient is larger than 1, so that the target controller can quickly return to zero on the basis of controlling the steering actuator of the vehicle to quickly return to zero, and the running safety of the target vehicle is ensured from different angles.
Further, a target rotational speed is determined according to the scaling factor and the autonomous return-to-zero speed, and the target rotational speed=scaling factor is exemplified as the autonomous return-to-zero speed, so that the target rotational speed greater than the autonomous return-to-zero speed is obtained, and the rapid return-to-zero of the rear wheel steering actuator is realized.
And S340, based on the target angular velocity, sequentially sending two or more expected angles of rotation gradually decreasing from the actual angle of rotation to zero degree to the rear wheel steering actuator so as to enable the rear wheel steering actuator to control the rear wheel steering of the rear wheel of the vehicle to gradually return to zero based on the sequentially received expected angles of rotation.
According to the technical scheme provided by the embodiment of the invention, the proportional coefficient is determined through the vehicle speed, so that the target corner speed can be determined according to the proportional coefficient and the autonomous return-to-zero speed, and the driving safety is ensured from different angles.
Fig. 4 is a flowchart of another rear-wheel steering control method provided in an embodiment of the present invention. The present embodiment is optimized based on the above-described technical solutions, so that the above-described technical solutions are better understood as a whole. The same or corresponding terms as those of the above embodiments are not repeated herein.
Referring to fig. 4, the method of this embodiment may specifically include the following steps:
S410, acquiring the actual rotation angle of the rear wheels of the target vehicle under the condition that the rear wheel steering domain controller of the target vehicle is detected to be faulty.
S420, in the case where the actual rotation angle is not zero degrees, the yaw rate of the target vehicle is acquired.
And S430, acquiring an autonomous return-to-zero speed and a vehicle speed of the target vehicle under the condition that the yaw rate does not exceed a preset angular velocity threshold, wherein the autonomous return-to-zero speed is the rotational speed applied by a rear wheel steering actuator of the target vehicle under the condition of autonomous control return-to-zero.
S440, determining a proportion coefficient according to the vehicle speed, and determining a target corner speed according to the proportion coefficient and the autonomous return-to-zero speed, wherein the proportion coefficient is larger than 1, and the target corner speed is larger than the autonomous return-to-zero speed.
S450, based on the target corner speed, sequentially sending two or more expected corners gradually reduced to zero from the actual corner to the rear wheel steering actuator so as to enable the rear wheel steering actuator to control the rear wheel steering of the rear wheels of the vehicle to gradually return to zero based on the sequentially received expected corners.
And S460, under the condition that the rear wheel steering is returned to zero, the control on the rear wheel steering actuator is exited, so that the rear wheel steering actuator is self-locked and kept at the zero position.
And S470, under the condition that the yaw rate exceeds a preset angular rate threshold, the actual rotation angle is taken as an expected rotation angle and is sent to the rear wheel steering actuator, so that the rear wheel steering actuator controls the rear wheel steering to be fixed based on the received expected rotation angle.
And S480, under the condition that the actual rotation angle is zero degree, the control on the rear wheel steering actuator is exited, so that the rear wheel steering actuator is self-locked and kept at the zero position.
According to the technical scheme, the driving safety of the target vehicle is guaranteed from multiple angles.
Fig. 5 is a block diagram of a rear-wheel steering control apparatus provided in an embodiment of the present invention for executing the rear-wheel steering control method provided in any of the above embodiments. The apparatus is the same as the rear-wheel steering control method of each of the above embodiments, and reference may be made to the above-described embodiments of the rear-wheel steering control method for details that are not described in detail in the embodiments of the rear-wheel steering control apparatus. Referring to fig. 5, the apparatus is configured to a target controller of a target vehicle, and may specifically include: an actual rotation angle acquisition module 510, a target rotation angle speed determination module 520, and a desired rotation angle transmission module 530.
The actual rotation angle obtaining module 510 is configured to obtain an actual rotation angle of a rear wheel of the target vehicle when a failure of the rear wheel steering domain controller of the target vehicle is detected;
the target corner speed determining module 520 is configured to determine a target corner speed when the actual corner is not zero, where the target corner speed is greater than an autonomous return-to-zero speed, and the autonomous return-to-zero speed is a corner speed applied by a rear wheel steering actuator of the target vehicle under the condition of autonomous control return-to-zero;
the expected rotation angle sending module 530 is configured to send two or more expected rotation angles gradually decreasing from the actual rotation angle to zero degrees to the rear wheel steering actuator in sequence based on the target rotation angle speed, so as to enable the rear wheel steering actuator to control the rear wheel steering of the rear wheel of the vehicle to gradually return to zero based on the expected rotation angles received in sequence.
Optionally, the rear wheel steering control device further includes:
a yaw rate acquisition module for acquiring a yaw rate of the target vehicle after the actual rotation angle is not zero degrees;
the target angular velocity determination module 520 includes:
a target rotational angle speed first determination unit configured to determine a target rotational angle speed in a case where the yaw rate does not exceed a preset angular velocity threshold.
On this basis, optionally, the rear wheel steering control device further includes:
and the rear wheel steering control module is used for sending the actual steering angle to the rear wheel steering actuator as an expected steering angle under the condition that the yaw rate exceeds a preset angular rate threshold after the yaw rate of the target vehicle is acquired, so that the rear wheel steering actuator controls the rear wheel steering to be fixed based on the received expected steering angle.
Optionally, the target rotational speed determination module 520 includes:
a vehicle speed acquisition unit configured to acquire an autonomous return-to-zero speed and a vehicle speed of a target vehicle;
and the target angular velocity second determining unit is used for determining a proportionality coefficient according to the vehicle velocity and determining the target angular velocity according to the proportionality coefficient and the autonomous return-to-zero velocity, wherein the proportionality coefficient is larger than 1.
Optionally, the rear wheel steering control device further includes:
and the first exit control module is used for exiting the control of the rear wheel steering actuator under the condition that the actual rotation angle is zero or the rear wheel steering is returned to zero so as to make the rear wheel steering actuator perform self-locking at the zero position.
Optionally, in the case that the target controller fails, the rear wheel steering control device may further include:
And the second exit control module is used for exiting control on the rear wheel steering actuator so as to enable the rear wheel steering actuator to autonomously control the rear wheel steering to gradually return to zero based on the autonomous return-to-zero speed.
Optionally, the rear wheel steering control device further includes:
the expected rotation angle calculation module is used for obtaining a preset rotation angle difference value and calculating two or more expected rotation angles gradually decreasing to zero degree from the actual rotation angle according to the preset rotation angle difference value;
accordingly, the desired rotation angle sending module 530 includes:
the expected corner sending frequency obtaining unit is used for obtaining the expected corner sending frequency according to the preset corner difference value and the target corner speed;
and the expected rotation angle sending unit is used for sequentially sending the two or more expected rotation angles to the rear wheel steering actuator based on the expected rotation angle sending frequency.
According to the rear wheel steering control device provided by the embodiment of the invention, the actual steering angle of the rear wheels of the target vehicle is obtained through the actual steering angle obtaining module under the condition that the fault of the rear wheel steering domain controller of the target vehicle is detected; determining, by a target turning speed determining module, a target turning speed under the condition that an actual turning is not zero degrees, wherein the target turning speed is greater than an autonomous return-to-zero speed, and the autonomous return-to-zero speed comprises a turning speed applied by a rear wheel steering actuator of the target vehicle under the condition of autonomous control return-to-zero; and the expected corner sending module is used for sequentially sending two or more expected corners gradually reduced to zero degrees from the actual corners to the rear wheel steering actuator based on the target corner speed so as to enable the rear wheel steering actuator to control the rear wheel steering of the rear wheel of the vehicle to gradually return to zero based on the expected corners sequentially received. According to the device, under the condition that the rear wheel steering domain controller fails, the target controller is used for taking over the rear wheel steering actuator, so that compared with the autonomous zero return speed, the rear wheel steering actuator can be controlled to return to zero based on the larger target steering speed, and the effect of quickly returning to zero of the rear wheel steering actuator is achieved.
The rear wheel steering control device provided by the embodiment of the invention can execute the rear wheel steering control method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
It should be noted that, in the embodiment of the rear-wheel steering control device described above, each unit and module included are only divided according to the functional logic, but are not limited to the above-described division, so long as the corresponding functions can be implemented; in addition, the specific names of the functional units are also only for distinguishing from each other, and are not used to limit the protection scope of the present invention.
Fig. 6 shows a schematic diagram of a target controller 10 that may be used to implement an embodiment of the present invention. The target controller 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. The target controller may also represent various forms of mobile devices such as personal digital processing, cellular telephones, smart phones, 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. 6, the target controller 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 target controller 10 can 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.
A number of components in the target controller 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 target controller 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 rear-wheel steering control method.
In some embodiments, the 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 target controller 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 rear-wheel steering control method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the 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.
A computer program for carrying out methods 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.
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 a target controller having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and pointing device (e.g., a mouse or trackball) through which a user can provide input to a target controller. 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 method, characterized by being applied to a target controller of a target vehicle, comprising:
acquiring an actual rotation angle of a vehicle rear wheel of the target vehicle under the condition that the rear wheel steering domain controller of the target vehicle is detected to be faulty;
determining a target turning speed under the condition that the actual turning angle is not zero degrees, wherein the target turning speed is larger than an autonomous return-to-zero speed, and the autonomous return-to-zero speed comprises the turning speed applied by a rear wheel steering actuator of the target vehicle under the condition of autonomous control return-to-zero;
And based on the target angular velocity, sequentially sending two or more expected angles of rotation gradually decreasing from the actual angle of rotation to the zero degree to the rear wheel steering actuator so as to enable the rear wheel steering actuator to control the rear wheel steering of the rear wheel of the vehicle to gradually return to zero based on the sequentially received expected angles of rotation.
2. The method of claim 1, further comprising, after said in the event that said actual rotation angle is not zero degrees:
acquiring the yaw rate of the target vehicle;
the determining a target rotational speed includes:
and determining a target angular velocity under the condition that the yaw velocity does not exceed a preset angular velocity threshold value.
3. The method according to claim 2, characterized by further comprising, after the obtaining the yaw rate of the target vehicle:
and under the condition that the yaw rate exceeds the preset angular rate threshold, the actual turning angle is taken as an expected turning angle and is sent to the rear wheel steering actuator, so that the rear wheel steering actuator controls the rear wheel steering to be unchanged based on the received expected turning angle.
4. The method of claim 1, wherein the determining a target angular velocity comprises:
Acquiring the autonomous return-to-zero speed and the vehicle speed of the target vehicle;
and determining a proportion coefficient according to the vehicle speed, and determining a target corner speed according to the proportion coefficient and the autonomous return-to-zero speed, wherein the proportion coefficient is larger than 1.
5. The method as recited in claim 1, further comprising:
and under the condition that the actual rotation angle is zero or the rear wheel steering is returned to zero, the control on the rear wheel steering actuator is exited, so that the rear wheel steering actuator performs self-locking at a zero position.
6. The method of claim 1, wherein in the event of a failure of the target controller, the method further comprises:
and exiting control for the rear-wheel steering actuator to cause the rear-wheel steering actuator to autonomously control the rear-wheel steering to gradually return to zero based on the autonomous return-to-zero speed.
7. The method as recited in claim 1, further comprising:
acquiring a preset rotation angle difference value, and calculating two or more expected rotation angles gradually decreasing to the zero degree from the actual rotation angle according to the preset rotation angle difference value;
Correspondingly, based on the target angular velocity, two or more expected angles of rotation gradually decreasing from the actual angle of rotation to the zero degree are sequentially sent to the rear wheel steering actuator, and the method comprises the following steps:
obtaining expected corner sending frequency according to the preset corner difference value and the target corner speed;
and sequentially transmitting the two or more expected corners to the rear wheel steering actuator based on the expected corner transmitting frequency.
8. A rear wheel steering control apparatus, characterized by a target controller disposed in a target vehicle, comprising:
the actual turning angle acquisition module is used for acquiring the actual turning angle of the rear wheels of the target vehicle under the condition that the rear wheel steering domain controller of the target vehicle is detected to be faulty;
the target turning angle speed determining module is used for determining a target turning angle speed under the condition that the actual turning angle is not zero degrees, wherein the target turning angle speed is larger than an autonomous return-to-zero speed, and the autonomous return-to-zero speed comprises the turning angle speed applied by a rear wheel steering actuator of the target vehicle under the condition of autonomous control return-to-zero;
and the expected rotation angle sending module is used for sequentially sending two or more expected rotation angles gradually reduced to the zero degree from the actual rotation angle to the rear wheel steering actuator based on the target rotation angle speed so as to enable the rear wheel steering actuator to control the rear wheel steering of the rear wheel of the vehicle to gradually return to zero based on the expected rotation angles which are sequentially received.
9. A target controller, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,,
the memory stores a computer program executable by the at least one processor to cause the at least one processor to perform the rear wheel steering control method according to any one of claims 1 to 7.
10. A computer readable storage medium storing computer instructions for causing a processor to implement the rear wheel steering control method according to any one of claims 1 to 7 when executed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310712449.XA CN116620400A (en) | 2023-06-15 | 2023-06-15 | Rear wheel steering control method and device, target controller and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310712449.XA CN116620400A (en) | 2023-06-15 | 2023-06-15 | Rear wheel steering control method and device, target controller and storage medium |
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| CN116620400A true CN116620400A (en) | 2023-08-22 |
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| CN202310712449.XA Pending CN116620400A (en) | 2023-06-15 | 2023-06-15 | Rear wheel steering control method and device, target controller and storage medium |
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| Country | Link |
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| CN (1) | CN116620400A (en) |
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