CN116674643A - Control method of rear wheel steering function, electronic device and vehicle - Google Patents

Control method of rear wheel steering function, electronic device and vehicle Download PDF

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Publication number
CN116674643A
CN116674643A CN202310751794.4A CN202310751794A CN116674643A CN 116674643 A CN116674643 A CN 116674643A CN 202310751794 A CN202310751794 A CN 202310751794A CN 116674643 A CN116674643 A CN 116674643A
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CN
China
Prior art keywords
rear wheel
wheel steering
function
target value
auxiliary driving
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CN202310751794.4A
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Chinese (zh)
Inventor
袁忠诚
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China Express Jiangsu Technology Co Ltd
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China Express Jiangsu Technology Co Ltd
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Application filed by China Express Jiangsu Technology Co Ltd filed Critical China Express Jiangsu Technology Co Ltd
Priority to CN202310751794.4A priority Critical patent/CN116674643A/en
Publication of CN116674643A publication Critical patent/CN116674643A/en
Pending legal-status Critical Current

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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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/215—Selection or confirmation of options
    • 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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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Human Computer Interaction (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

The disclosure provides a control method of a rear wheel steering function, electronic equipment and a vehicle, and relates to the technical field of vehicles. The specific implementation scheme is as follows: receiving a rear wheel steering switch instruction sent by a human-machine interface, wherein the rear wheel steering switch instruction is generated by the human-machine interface based on a request of a user or a request of an auxiliary driving system allowed by the user and comprises a rear wheel steering opening instruction or a rear wheel steering closing instruction; determining a rear wheel steering target value according to the rear wheel steering switch instruction; the rear-wheel steering actuator is sent a rear-wheel steering target value to perform a rear-wheel steering function. According to the technical scheme, the vehicle with the auxiliary driving function can be supported to carry out rear wheel steering function control, a driver and an auxiliary driving system can send rear wheel steering control instructions through a human-computer interface, the intention priority of the driver is higher than that of the auxiliary driving system, driving danger caused by error of the auxiliary driving system is avoided, and driving safety is guaranteed.

Description

Control method of rear wheel steering function, electronic device and vehicle
Technical Field
The disclosure relates to the technical field of vehicles, and in particular relates to a control method of a rear wheel steering function, electronic equipment and a vehicle.
Background
On a vehicle equipped with a four-wheel steering function, a driver can turn on and off the rear-wheel steering function through an HMI (Human Machine Interface, human-machine interface), while for an ADAS (Advanced Driving Assistance System, assisted driving system), some functions do not support four-wheel steering but support front-wheel steering, such as a pilot function, and the rear-wheel steering function needs to be turned off for assisted driving control, while some functions may support four-wheel steering functions, such as an automatic parking function.
Disclosure of Invention
The disclosure provides a control method of a rear wheel steering function, electronic equipment and a vehicle.
According to a first aspect of the present disclosure, there is provided a control method of a rear wheel steering function, including:
receiving a rear wheel steering switch instruction sent by a human-machine interface, wherein the rear wheel steering switch instruction is generated by the human-machine interface based on a request of a user or a request of an auxiliary driving system allowed by the user and comprises a rear wheel steering opening instruction or a rear wheel steering closing instruction;
determining a rear wheel steering target value according to the rear wheel steering switch instruction;
the rear-wheel steering actuator is sent a rear-wheel steering target value to perform a rear-wheel steering function.
According to a second aspect of the present disclosure, there is provided an 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 instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of the embodiments of the present disclosure.
According to a third aspect of the present disclosure, there is provided a vehicle comprising the electronic device of the second aspect of the present disclosure.
According to the technology disclosed by the application, the vehicle with the auxiliary driving function can be supported to carry out the control of the rear wheel steering function, the driver and the auxiliary driving system can send the rear wheel steering control instruction through the human-computer interface, the intention priority of the driver is higher than that of the auxiliary driving system, the driving danger caused by error of the auxiliary driving system is avoided, and the driving safety is ensured.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the disclosure, nor is it intended to be used to limit the scope of the disclosure. Other features of the present disclosure will become apparent from the following specification.
Drawings
The drawings are for a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:
FIG. 1 is a flow chart of a method of controlling a rear-wheel steering function according to an embodiment of the present disclosure;
FIG. 2 is a logic architecture diagram for performing rear-wheel steering function control in accordance with an embodiment of the present disclosure;
fig. 3 is a block diagram of an electronic device for implementing a control method of a rear wheel steering function of an embodiment of the present disclosure.
Detailed Description
Exemplary embodiments of the present disclosure are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present disclosure to facilitate understanding, and should be considered as merely exemplary. Accordingly, one of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
Fig. 1 is a flow chart of a control method of a rear wheel steering function according to an embodiment of the present disclosure, including:
s110, receiving a rear wheel steering switch instruction sent by a human-machine interface, wherein the rear wheel steering switch instruction is generated by the human-machine interface based on a request of a user or a request of an auxiliary driving system allowed by the user and comprises a rear wheel steering start instruction or a rear wheel steering close instruction;
s120, determining a rear wheel steering target value according to the rear wheel steering switch instruction;
and S130, transmitting a rear wheel steering target value to a rear wheel steering actuator to execute a rear wheel steering function.
For example, the human-computer interface may display a virtual button corresponding to the turning on or off of the rear wheel steering function, so that the driver can actively send a rear wheel steering switch instruction through the human-computer interface to control the state of the rear wheel steering function. The man-machine interface may also receive a request for turning on or off the rear wheel steering function sent by the auxiliary driving system, and display virtual buttons corresponding to the "permit request" and the "not permit request" so that the driver can decide whether to permit the transmission of the rear wheel steering switch command.
Further, after receiving the rear wheel steering switch instruction sent by the human-computer interface, the chassis controller may determine a corresponding rear wheel steering target value according to the rear wheel steering switch instruction, and send the rear wheel steering target value to the rear wheel steering actuator to execute the rear wheel steering function.
By adopting the method of the embodiment, the vehicle with the auxiliary driving function can be supported to carry out the control of the rear wheel steering function, the driver and the auxiliary driving system can both send the rear wheel steering control instruction through the human-computer interface, the intention priority of the driver is higher than that of the auxiliary driving system, the driving danger caused by error of the auxiliary driving system is avoided, and the driving safety is ensured.
In one embodiment, step S120 includes:
when the rear wheel steering switch command is a rear wheel steering closing command, the rear wheel steering target value is determined to be 0.
For example, if the rear wheel steering function needs to be turned off, the rear wheel yaw angle needs to be controlled to be 0, and thus the chassis controller may determine that the rear wheel steering target value is 0 upon receiving the rear wheel steering off command, and then send the rear wheel steering target value to the rear wheel steering actuator so that the rear wheel is restored to the initial position in the rear wheel steering function off state.
In one embodiment, step S120 includes:
when the rear wheel steering switch command is a rear wheel steering on command, a rear wheel steering target value is determined from the steering wheel angle.
For example, if the rear wheel steering start command is generated by the driver actively requesting to start the rear wheel steering function on the human-machine interface, it is necessary to determine the rear wheel steering target value according to the driver's control of the steering wheel.
Specifically, determining a rear wheel steering target value according to a steering wheel angle includes:
under the condition that the steering wheel does not cross the zero point, determining that the target value of the rear wheel steering is 0;
in the case of a steering wheel zero-crossing point, the rear wheel steering target value is determined as the rear wheel steering angle corresponding to the steering wheel angle.
It will be appreciated that at the moment when the driver requests to turn on the rear wheel steering function, there is a situation in which the front wheels already have a certain yaw angle due to the previous need of controlling the steering angle of the front wheels by the steering wheel, in which case the rear wheel steering function and the front wheel steering function obviously cannot be coordinated if the rear wheel steering is correspondingly controlled directly by the current steering wheel angle.
Therefore, after the driver requests to start the rear wheel steering function, the steering wheel is required to return to the middle to the zero point, and after the front wheel deflection angle is adjusted to 0, the front wheel and the rear wheel are deflected correspondingly according to the steering wheel angle so as to cooperatively complete the driving task. Under the condition that the steering wheel does not cross the zero point, the driver needs to finish the returning of the steering wheel, in this case, the chassis controller determines that the target value of the rear wheel is 0, the rear wheel does not execute deflection, the rear wheel steering function is still in a closed state actually, and the driver can be informed that the rear wheel steering function is still closed through a human-computer interface so as to remind the driver to return the steering wheel to support the starting of the rear wheel steering function. Under the condition of a steering wheel zero crossing point, a corresponding rear wheel steering target value is determined according to a steering wheel angle, the rear wheel steering target value can be the product of the steering wheel angle and a preset proportionality coefficient, the preset proportionality coefficient can be changed according to running information of a vehicle, for example, in the process of running the vehicle at a high speed, the rear wheel steering target value determined according to the steering wheel angle and the preset proportionality coefficient can control the rear wheel and the front wheel to deflect in the same direction so as to improve the steering performance of the vehicle at the high speed; in the low-speed running process of the vehicle, the rear wheel steering target value determined according to the steering wheel angle and the preset proportionality coefficient can control the rear wheels and the front wheels to deflect in opposite directions so as to reduce the turning radius of the vehicle in a low-speed state.
By adopting the method of the embodiment, after the driver actively requests to start the rear wheel steering function, the chassis controller generates the rear wheel steering target value corresponding to the steering wheel angle only after the zero crossing point of the steering wheel, and controls the rear wheel steering function to be actually started, so that the situation that the front wheel steering function and the rear wheel steering function are not synchronous due to the direct starting of the rear wheel steering function is avoided, and the driving safety is ensured.
In one embodiment, step S120 further includes:
when the rear wheel steering switch command is a rear wheel steering start command, the rear wheel steering target value is determined based on the rear wheel steering angle transmitted from the auxiliary driving system.
It will be appreciated that if the rear wheel steering function is requested to be turned on by the auxiliary driving system, it is indicated that the auxiliary driving system is currently executing the corresponding auxiliary driving function, and thus it is necessary to determine the corresponding rear wheel steering target value based on the rear wheel steering angle transmitted by the auxiliary driving system. For example, the auxiliary driving system may control the front wheel deflection angle to be reset to 0 and then restart the rear wheel steering function, and before the front wheel deflection angle is reset, the auxiliary driving system may send the rear wheel deflection angle with a value of 0 to the chassis controller, so that the rear wheel steering function is temporarily still in a closed state, and after the front wheel deflection angle is reset, the auxiliary driving system sends the rear wheel deflection angle corresponding to the auxiliary driving task to the chassis controller; the steering assist system may also determine a rear wheel yaw angle that can cooperate to perform the steering assist task directly from the current front wheel yaw angle such that the chassis controller generates a corresponding rear wheel steering target value.
By adopting the method of the embodiment, the chassis controller can directly receive the rear wheel steering angle required by the auxiliary driving system to execute the auxiliary driving task under the condition that the auxiliary driving system requests to start the rear wheel steering function, and generate the corresponding rear wheel steering target value, so that the control of the rear wheel steering function in the auxiliary driving mode can be supported.
Illustratively, the control method of the rear wheel steering function of the present disclosure further includes:
receiving a rear wheel steering actual value sent by a rear wheel steering actuator;
and feeding back the switch state of the rear wheel steering function to the human-computer interface according to the actual value of the rear wheel steering.
It can be understood that the actual value of rear wheel steering reflects the actual steering angle of the rear wheel, the chassis controller needs to receive the actual value of rear wheel steering sent by the rear wheel steering actuator, so as to determine the execution condition of the rear wheel to the target value of rear wheel steering determined by the chassis controller, and feedback the switch state of the rear wheel steering function to the human-machine interface according to the actual value of rear wheel steering.
For example, if the driver or the auxiliary driving system requests to turn off the rear wheel steering function, the human-computer interface still displays that the rear wheel steering function is in an on state when the instruction to turn off the rear wheel steering function is not completed, and the chassis controller sends an instruction that the rear wheel steering target value is 0 to the rear wheel steering actuator to make the rear wheel steering actuator execute. In the process, the rear wheel steering executor continuously detects the actual angle of rear wheel steering and transmits a rear wheel steering actual value to the chassis controller, the chassis controller continuously receives the rear wheel steering actual value transmitted by the rear wheel steering executor, the chassis controller feeds back to the human-computer interface that the rear wheel steering function is still in an on state under the condition that the rear wheel steering actual value is not 0, and the chassis controller feeds back to the human-computer interface that the rear wheel steering function is in an off state after the rear wheel steering actual value is 0, so that the rear wheel steering closing instruction is completed.
Similarly, if the driver or the auxiliary driving system requests to start the rear wheel steering function, under the condition that the actual rear wheel steering value is still 0, the chassis controller feeds back to the human-computer interface that the rear wheel steering function is still in a closed state, and only after receiving the actual rear wheel steering value which is not 0, the rear wheel steering function is started, the human-computer interface is fed back to complete a rear wheel steering start instruction.
By adopting the method of the embodiment, the chassis controller can feed back the switching condition of the rear wheel steering function to the human-computer interface in real time according to the received actual value of the rear wheel steering, so that a driver can grasp the state of the rear wheel steering function in real time, and the driving behavior is correspondingly regulated according to the state of the rear wheel steering function so as to fulfill the driving purpose.
Illustratively, the control method of the rear wheel steering function of the present disclosure further includes:
receiving a current state of rear wheel steering sent by a rear wheel steering actuator;
determining whether a rear wheel steering function is available according to the current state of the rear wheel;
in the case where the rear-wheel steering function is not available, the received rear-wheel steering switch instruction and the rear-wheel steering angle transmitted by the auxiliary driving system are not responded.
It can be appreciated that the rear-wheel steering actuator may monitor the state of the rear-wheel steering function, detect the failure of the rear-wheel steering function that may be caused by the cause of the rear-wheel steering system itself (e.g., component damage, system error), and send the current state of the rear-wheel steering to the chassis controller, which may reflect whether the rear-wheel steering function is currently normal. The chassis controller may determine that the rear wheel steering function is in an available state and feed back to the human-machine interface when the current state of the rear wheel steering is normal, and determine that the rear wheel steering function is in an unavailable state and feed back to the human-machine interface when the current state of the rear wheel steering is abnormal.
Further, the human-computer interface selects whether to display the rear wheel steering function switch button according to the received available state of the rear wheel steering function, and if the rear wheel steering function is not available, the human-computer interface does not display the rear wheel steering function switch button and does not process the rear wheel steering control request sent by the auxiliary driving system. Similarly, in order to improve the safety level of the rear wheel steering function, under the condition that the rear wheel steering function is unavailable, the chassis controller cannot respond to a rear wheel steering switch instruction sent by the human-computer interface, and cannot respond to the rear wheel steering angle sent by the auxiliary driving system, so that the situation that the rear wheel steering function is started under the condition that the rear wheel steering state is abnormal due to system errors is avoided.
More preferably, the chassis controller may integrate the current state of the rear wheel and the vehicle state information transmitted from the rear wheel steering actuator, and determine that the rear wheel steering function is available in case that a predetermined condition is satisfied. For example, the predetermined condition may be that the current state of the rear wheel steering is normal and the vehicle speed is less than the safe vehicle speed, and if either the vehicle speed or the current state of the rear wheel steering is not satisfied, it is determined that the state of the rear wheel steering function is not available.
By adopting the method of the embodiment, the chassis controller can determine whether the rear wheel steering function is available according to the state of the rear wheel steering system so as to display the available state of the rear wheel steering function in real time on the human-computer interface. In addition, the chassis controller and the human-computer interface can monitor the command of opening the rear wheel steering function by multiple errors under the condition that the rear wheel steering function is unavailable, so that the problem of driving safety caused by starting under the condition of abnormal rear wheel steering function is avoided.
In one embodiment, the method for controlling a rear wheel steering function of the present disclosure further includes:
storing current switch state information of a rear wheel steering function in response to power-down of the vehicle;
and in response to the power-on of the vehicle, controlling the rear wheel steering function to restore to the state before the last power-off of the vehicle according to the stored switch state information.
It will be appreciated that in the event that the vehicle is powered back up, the driver often wishes to restore the state of the rear wheel steering function to the pre-powered state for ease of use. The auxiliary driving system is required to start the rear wheel steering function before power-off so as to finish auxiliary parking and warehousing, and the auxiliary driving system is required to control the vehicle to go out of the warehouse after power-on, and the rear wheel steering function is still required to be used so as to facilitate the vehicle to go out of the warehouse. Therefore, it is possible to store the on-off state information of the rear wheel steering function in the case where the vehicle is powered down, and to restore the rear wheel steering function to the on state or the off state in the case where the vehicle is powered up again.
Fig. 2 is a logic architecture diagram for performing rear wheel steering function control according to an embodiment of the present disclosure. As shown in fig. 2, the human-machine interface may receive a request for turning on or off the rear wheel steering function sent by the auxiliary driving system, and display an instruction for the driver to confirm whether to allow the rear wheel steering function to be turned on or off in the interface, and if the driver confirms, send a related instruction to the chassis controller. Meanwhile, the human-computer interface also displays a virtual switch button of the rear wheel steering function so that a driver can actively control the on or off of the rear wheel steering function, and if the driver touches the virtual switch button on the human-computer interface, the human-computer interface sends a corresponding command for requesting the on or off of the rear wheel steering function to the chassis controller.
The chassis controller can receive an instruction sent by the human-machine interface and used for requesting the rear wheel steering function to be turned on or turned off, and receive a steering wheel angle or a rear wheel steering angle sent by the auxiliary driving system so as to determine a corresponding rear wheel steering target value and send the corresponding rear wheel steering target value to the rear wheel steering executor to control the rear wheel steering function; the chassis controller also receives a rear wheel steering actual value fed back by the rear wheel steering actuator so as to feed back a switch state of a rear wheel steering function to the human-computer interface and the auxiliary driving system; the chassis controller can also receive the current state of rear wheel steering sent by the rear wheel steering actuator, judge whether the rear wheel steering function is available, and feed back the availability of the rear wheel steering function to the man-machine interface and the auxiliary driving system.
The auxiliary driving system can send the requirement of opening or closing the rear wheel steering function to the human-computer interface under the condition that the rear wheel steering function needs to be opened or closed when the auxiliary driving function is executed, and send the rear wheel steering angle needed by the auxiliary driving function to the chassis controller after the driver is allowed to send the command of opening or closing the rear wheel steering function.
The specific arrangements and implementations of embodiments of the present application have been described above from different perspectives. By using the method provided by the embodiment of the application, the vehicle with the auxiliary driving function can be supported to carry out the control of the rear wheel steering function, the driver and the auxiliary driving system can both send the rear wheel steering control instruction through the human-computer interface, and the intention priority of the driver is higher than that of the auxiliary driving system, so that the driving danger caused by error of the auxiliary driving system is avoided, and the driving safety is ensured. In addition, the man-machine interface, the auxiliary driving system and the chassis controller form multiple monitoring on the rear wheel steering function, and the problem of driving safety caused by starting under the condition of abnormal rear wheel steering function is avoided.
As an implementation of the above methods, the embodiments of the present disclosure further provide a control device for a rear wheel steering function, which may be applied to a vehicle, and the device may include:
the receiving module is used for receiving a rear wheel steering switch instruction sent by the human-machine interface, wherein the rear wheel steering switch instruction is generated by the human-machine interface based on a request of a user or a request of an auxiliary driving system allowed by the user and comprises a rear wheel steering opening instruction or a rear wheel steering closing instruction;
the first determining module is used for determining a rear wheel steering target value according to the rear wheel steering switch instruction;
and a transmission module for transmitting the rear wheel steering target value to the rear wheel steering actuator to perform the rear wheel steering function.
Illustratively, the first determining module is to:
when the rear wheel steering switch command is a rear wheel steering closing command, the rear wheel steering target value is determined to be 0.
Illustratively, the first determining module is further to:
when the rear wheel steering switch command is a rear wheel steering on command, a rear wheel steering target value is determined from the steering wheel angle.
Illustratively, the first determining module is further to:
under the condition that the steering wheel does not cross the zero point, determining that the target value of the rear wheel steering is 0;
in the case of a steering wheel zero-crossing point, the rear wheel steering target value is determined as the rear wheel steering angle corresponding to the steering wheel angle.
Illustratively, the first determining module is further to:
when the rear wheel steering switch command is a rear wheel steering start command, the rear wheel steering target value is determined based on the rear wheel steering angle transmitted from the auxiliary driving system.
Illustratively, the receiving module is further configured to receive a rear wheel steering actual value sent by the rear wheel steering actuator;
the sending module is also used for feeding back the switch state of the rear wheel steering function to the human-computer interface according to the actual value of the rear wheel steering.
Illustratively, the receiving module is further configured to receive a current state of the rear wheel steering sent by the rear wheel steering actuator;
the apparatus further comprises:
the second determining module is used for determining whether the rear wheel steering function is available according to the current state of the rear wheel steering; in the case where the rear-wheel steering function is not available, the received rear-wheel steering switch instruction and the rear-wheel steering angle transmitted by the auxiliary driving system are not responded.
Illustratively, the apparatus further comprises:
the storage module is used for responding to the power-down of the vehicle and storing the current switch state information of the rear wheel steering function;
and the recovery module is used for responding to the power-on of the vehicle and controlling the rear wheel steering function to recover to the state before the last power-off of the vehicle according to the stored switch state information.
The functions of each unit, module or sub-module in each device of the embodiments of the present disclosure may be referred to the corresponding descriptions in the above method embodiments, which have corresponding beneficial effects and are not described herein again.
It should be noted that, the user information (including but not limited to user equipment information, user personal information, etc.) and the data (including but not limited to data for analysis, stored data, presented data, etc.) related to the present application are information and data authorized by the user or fully authorized by each party, and the collection, use and processing of the related data need to comply with the related laws and regulations and standards of the related country and region, and provide corresponding operation entries for the user to select authorization or rejection.
Fig. 3 shows a block diagram of an electronic device according to an embodiment of the application. As shown in fig. 3, the electronic device includes: memory 310 and processor 320, the memory 310 having instructions executable on the processor 320 stored therein. The processor 320, when executing the instructions, implements the methods of the embodiments described above. The number of memories 310 and processors 320 may be one or more. The electronic device 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 electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the applications described and/or claimed herein.
The electronic device may further include a communication interface 330 for communicating with external devices for data interactive transmission. The various devices are interconnected using different buses and may be mounted on a common motherboard or in other manners as desired. The processor 320 may process instructions executing within the electronic device, including instructions stored in or on memory to display graphical information of a GUI on an external input/output device, such as a display device coupled to an interface. In other embodiments, multiple processors and/or multiple buses may be used, if desired, along with multiple memories and multiple memories. Also, multiple electronic devices may be connected, each providing a portion of the necessary operations (e.g., as a server array, a set of blade servers, or a multiprocessor system). The bus may be classified as an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in fig. 3, but not only one bus or one type of bus.
Alternatively, in a specific implementation, if the memory 310, the processor 320, and the communication interface 330 are integrated on a chip, the memory 310, the processor 320, and the communication interface 330 may communicate with each other through internal interfaces.
It should be appreciated that the processor may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (Digital Signal Processing, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field programmable gate arrays (Field Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or any conventional processor or the like. It is noted that the processor may be a processor supporting an advanced reduced instruction set machine (Advanced RISC Machines, ARM) architecture.
An embodiment of the present application provides a computer-readable storage medium (such as the memory 310 described above) storing computer instructions that when executed by a processor implement the methods provided in the embodiments of the present application.
Alternatively, the memory 310 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, at least one application program required for functions; the storage data area may store data created from the use of the electronic device that identifies the lane edge, and the like. In addition, memory 310 may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory 310 may optionally include memory generated remotely from processor 320, which may be connected to the electronic device that identifies lane edges via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), random Access Memory (RAM) of other physical types, read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Disks (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage media, or any other non-transmission media, that can be used to store information that can be accessed by a computing device. Computer-readable Media, as defined herein, does not include non-Transitory computer-readable Media (transmission Media), such as modulated data signals and carrier waves.
The present embodiment also provides a vehicle comprising a controller, which may be used to perform the method of the present embodiment, or which may comprise any of the apparatus of the present embodiment, or which may be any of the electronic devices of the present embodiment.
For example, the processor in the controller or electronic device may include at least one of an autopilot domain control module, a body domain control module, and an audio-visual entertainment domain control module.
The vehicle in the present embodiment may be exemplified by any power-driven vehicle such as a fuel vehicle, an electric vehicle, a solar vehicle, or the like. The vehicle in the present embodiment may be an autonomous vehicle, for example.
Other structures of the vehicle of the present embodiment, such as the specific structures of the frame and the wheels, the connection fastening members, etc., may be applied to various technical solutions that are known to those skilled in the art now and in the future, and will not be described in detail herein.
In the description of this specification, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any person skilled in the art will readily recognize that various changes and substitutions are possible within the scope of the present application. Therefore, the protection scope of the application is subject to the protection scope of the claims.

Claims (10)

1. A control method of a rear wheel steering function, characterized by comprising:
receiving a rear wheel steering switch instruction sent by a human-machine interface, wherein the rear wheel steering switch instruction is generated by the human-machine interface based on a request of a user or a request of an auxiliary driving system allowed by the user, and comprises a rear wheel steering start instruction or a rear wheel steering close instruction;
determining a rear wheel steering target value according to the rear wheel steering switch instruction;
the rear wheel steering target value is transmitted to a rear wheel steering actuator to perform a rear wheel steering function.
2. The method according to claim 1, wherein determining a rear wheel steering target value in accordance with the rear wheel steering switch command includes:
when the rear wheel steering switch command is a rear wheel steering closing command, the rear wheel steering target value is determined to be 0.
3. The method according to claim 1, wherein determining a rear wheel steering target value in accordance with the rear wheel steering switch command includes:
and when the rear wheel steering switch command is a rear wheel steering opening command, determining the rear wheel steering target value according to the steering wheel angle.
4. A method according to claim 3, wherein determining the rear wheel steering target value from a steering wheel angle comprises:
determining that the rear wheel steering target value is 0 when the steering wheel does not cross the zero point;
and determining the rear wheel steering target value as a rear wheel steering angle corresponding to the steering wheel angle when the steering wheel crosses zero.
5. The method according to claim 1, wherein determining a rear wheel steering target value in accordance with the rear wheel steering switch command, further comprises:
and when the rear wheel steering switch instruction is a rear wheel steering opening instruction, determining the rear wheel steering target value according to the rear wheel steering angle sent by the auxiliary driving system.
6. The method according to claim 1, wherein the method further comprises:
receiving a rear wheel steering actual value sent by the rear wheel steering actuator;
and feeding back the switch state of the rear wheel steering function to the human-computer interface according to the actual value of the rear wheel steering.
7. The method according to claim 1, wherein the method further comprises:
receiving the current state of the rear wheel steering sent by the rear wheel steering actuator;
determining whether the rear wheel steering function is available according to the current state of the rear wheel steering;
and in the case that the rear wheel steering function is not available, not responding to the received rear wheel steering switch instruction and the rear wheel steering angle sent by the auxiliary driving system.
8. The method according to claim 1, wherein the method further comprises:
storing current switch state information of the rear wheel steering function in response to power-down of the vehicle;
and responding to the power-on of the vehicle, and controlling the rear wheel steering function to recover to the state before the last power-off of the vehicle according to the stored switch state information.
9. An 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 instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-8.
10. A vehicle comprising the electronic device of claim 9.
CN202310751794.4A 2023-06-25 2023-06-25 Control method of rear wheel steering function, electronic device and vehicle Pending CN116674643A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310751794.4A CN116674643A (en) 2023-06-25 2023-06-25 Control method of rear wheel steering function, electronic device and vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310751794.4A CN116674643A (en) 2023-06-25 2023-06-25 Control method of rear wheel steering function, electronic device and vehicle

Publications (1)

Publication Number Publication Date
CN116674643A true CN116674643A (en) 2023-09-01

Family

ID=87787210

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202310751794.4A Pending CN116674643A (en) 2023-06-25 2023-06-25 Control method of rear wheel steering function, electronic device and vehicle

Country Status (1)

Country Link
CN (1) CN116674643A (en)

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