CN117068253A - Method for controlling rear wheel steering of vehicle, controller and storage medium - Google Patents
Method for controlling rear wheel steering of vehicle, controller and storage medium Download PDFInfo
- Publication number
- CN117068253A CN117068253A CN202210504419.5A CN202210504419A CN117068253A CN 117068253 A CN117068253 A CN 117068253A CN 202210504419 A CN202210504419 A CN 202210504419A CN 117068253 A CN117068253 A CN 117068253A
- Authority
- CN
- China
- Prior art keywords
- controller
- wheel steering
- rear wheel
- handshake
- steering device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 46
- 230000007935 neutral effect Effects 0.000 claims abstract description 33
- 238000004590 computer program Methods 0.000 claims description 10
- 230000001629 suppression Effects 0.000 claims description 5
- 238000004891 communication Methods 0.000 claims description 4
- 238000012544 monitoring process Methods 0.000 claims description 2
- 238000013461 design Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000003491 array Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000035772 mutation Effects 0.000 description 1
- 239000003381 stabilizer Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
- B62D5/049—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures detecting sensor failures
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
- B62D5/0493—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures detecting processor errors, e.g. plausibility of steering direction
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
Abstract
The application relates to a method for controlling rear wheel steering of a vehicle, the vehicle, a controller and a storage medium, wherein the method for controlling the rear wheel steering of the vehicle comprises the following steps: the method comprises the steps that a first controller monitors whether a rear wheel steering system of a vehicle is in a fault state or not; if the rear wheel steering system of the vehicle is in the fault state, the first controller outputs a return instruction to a rear wheel steering device; the first controller determining whether the rear-wheel steering is at a neutral position; when the rear wheel steering device is located in a non-neutral position, the first controller controls the rear wheel steering device to lock at a current position. According to the method for controlling the rear wheel steering of the vehicle, the controller and the storage medium, when the rear wheel steering system fails, the rear wheel steering device is controlled to return, and when the rear wheel steering device cannot return, the rear wheel steering device is locked at the current position, so that the driving safety is improved.
Description
Technical Field
The application belongs to the technical field of rear wheel steering of vehicles, and particularly relates to a method for controlling rear wheel steering of a vehicle, the vehicle, a controller and a storage medium.
Background
With the rapid development of the automobile industry, various technologies of automobiles are mature, and more advanced functions are applied to civil automobiles. The chassis is taken as an important member of the whole car lifting driving experience, and a plurality of new technologies such as four-wheel steering function, active stabilizer bar, air suspension and the like are also emerging, so that the chassis is continuously popularized to the public users. However, due to the importance of the chassis to safe driving, how to design a set of safe and stable chassis elements is a major problem at present for large host factories.
The four-wheel steering function can better improve steering maneuverability at medium and low speeds, improves yaw gain of the whole vehicle, can reduce yaw gain at high speeds, improves stability of the whole vehicle, and can continuously bring good driving experience to users in the whole driving period of the vehicle, so that it is important to design a set of steering control system with high safety and good robustness. Unlike front-wheel steering systems, the steering assist can be mechanically transmitted by the driver to steer when the steering assist fails, so that the vehicle is prevented from losing steering capability; the rear wheel steering system belongs to a drive-by-wire system, is not connected with a steering wheel of a driver, and ensures that the normal driving of the vehicle after the failure occurs.
Disclosure of Invention
In view of the above technical problems, the present application provides a method for controlling rear wheel steering of a vehicle, a controller and a storage medium, so as to improve driving safety.
The application provides a method for controlling the steering of a rear wheel of a vehicle, which comprises the following steps: the method comprises the steps that a first controller monitors whether a rear wheel steering system of a vehicle is in a fault state or not; if the rear wheel steering system of the vehicle is in the fault state, the first controller outputs a return instruction to a rear wheel steering device; the first controller determining whether the rear-wheel steering is at a neutral position; when the rear wheel steering device is located in a non-neutral position, the first controller controls the rear wheel steering device to lock at a current position.
In one embodiment, the method further comprises: when the vehicle is electrified, the first controller acquires the initial position of the rear wheel steering device; if the initial position of the rear wheel steering device is located in the middle position, the first controller acquires a handshake condition with the second controller; and if the initial position of the rear wheel steering device is positioned in the non-neutral position, the first controller outputs the return instruction to the rear wheel steering device, and acquires the handshake condition after the rear wheel steering device returns to the neutral position.
In one embodiment, the handshake condition includes: the communication state of the first controller and the second controller is normal; the current vehicle speed is less than the vehicle speed threshold.
In an embodiment, after the first controller acquires the handshake condition with the second controller, the method includes: the first controller determines whether the handshake condition meets a preset condition; if the handshake condition meets the preset condition, the first controller enters a preparation state, and sends a preparation handshake signal to the second controller so as to handshake with the second controller according to a handshake request sent by the second controller; after the handshake with the second controller is completed, the first controller enters a handshake state, so that the second controller directly controls the rear wheel steering device to steer; if the handshake condition does not meet the preset condition, the first controller enters a suppression state, and enters the preparation state until the handshake condition meets the preset condition.
In one embodiment, after the step of the first controller determining whether the rear wheel steering is in the neutral position, the method includes: the first controller monitors whether the failure state is released when the rear wheel steering is at the neutral position; and when the fault state is released, the first controller acquires a handshake condition with the second controller.
In one embodiment, the first controller outputs a return instruction to the rear wheel steering, comprising: the first controller controls the rear wheel steering device to return to the neutral position at a preset speed; the value range of the preset speed is [0.5,0.8], and the unit is degree/second.
The application also provides a vehicle comprising a rear wheel steering system; the rear wheel steering system comprises a first controller and a rear wheel steering device; the first controller is used for monitoring whether the rear wheel steering system is in a fault state, and outputting a return instruction to the rear wheel steering device if the rear wheel steering system is in the fault state; the first controller is also used for determining whether the rear wheel steering device is located in the middle position, and controlling the rear wheel steering device to be locked in the current position when the rear wheel steering device is located in the non-middle position.
In one embodiment, the vehicle further comprises a second controller; the first controller is further used for acquiring a handshake condition with the second controller, and performing handshake with the second controller when the handshake condition meets a preset condition; after the handshake with the first controller is completed, the second controller is used for controlling the rear wheel steering device to steer.
The application also provides a controller comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the above method when executing the computer program.
The application also provides a storage medium storing a computer program which, when executed by a processor, implements the steps of the above method.
According to the method for controlling the rear wheel steering of the vehicle, the controller and the storage medium, when the rear wheel steering system fails, the rear wheel steering device is controlled to return to the middle, and when the rear wheel steering device cannot return to the middle, the rear wheel steering device is locked at the current position, so that the driving safety is improved.
Drawings
FIG. 1 is a schematic diagram of the principle of controlling rear wheel steering of a vehicle in a general implementation;
FIG. 2 is a schematic view of a vehicle structure according to an embodiment of the present application;
FIG. 3 is a schematic flow chart of a method for controlling rear wheel steering of a vehicle according to an embodiment of the present application;
FIG. 4 is a schematic flow chart of a method for controlling steering of rear wheels of a vehicle according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of a controller according to a second embodiment of the present application.
Detailed Description
The technical scheme of the application is further elaborated below by referring to the drawings in the specification and the specific embodiments. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, "and/or" includes any and all combinations of one or more of the associated listed items.
In one embodiment, the design of the rear wheel steering system adopts the design scheme of a whole vehicle controller and a rear wheel steering device, wherein the whole vehicle controller calculates the expected angle required to be executed by the rear wheel steering device according to signals such as the vehicle speed, the steering wheel angle and the like in combination with a driving scene, and the rear wheel steering device receives the expected angle and then moves to a target position. As shown in fig. 1, when the vehicle is traveling forward, the driver inputs a steering angle to a front steering system (Electronic Power Steering, EPS) through a steering wheel, the EPS provides a front steering angle signal to a vehicle control unit (vehicle control unit, VCU), the VCU calculates a desired rear steering angle from the received front steering angle signal and the vehicle speed of the vehicle, generates a rear steering angle signal, and transmits the rear steering angle signal to a rear steering device in the rear steering system (Rear Wheel Steering, RWS), and the rear steering device steers to a target position according to the received desired steering angle.
However, in the control method, when the rear wheel steering system fails, the current position of the rear wheel steering device is not distinguished, no matter any failure occurs, the rear wheel steering device directly enters a failure state, the rear wheel steering device has more scenes and frequencies of non-zero failure, after the non-zero failure is recovered, the rear wheel steering system is handshaking with the whole vehicle controller again, the rear wheel steering device steers according to the steering angle sent by the whole vehicle controller, the steering angle mutation risk exists, and the driving safety cannot be ensured.
To solve this technical problem, in one embodiment, a method of controlling rear wheel steering of a vehicle is provided. Fig. 2 is a schematic diagram of a vehicle structure according to an embodiment of the present application, and a method for controlling rear wheel steering of a vehicle according to an embodiment of the present application is implemented based on the vehicle structure. The vehicle in the embodiment of the application comprises a rear wheel steering system; the rear wheel steering system includes a first controller 11 and a rear wheel steering device 12.
The first controller 11 is configured to monitor whether the rear wheel steering system is in a fault state, and if the rear wheel steering system is in a fault state, output a return instruction to the rear wheel steering 12; the first controller 11 is also used to determine whether the rear-wheel steering gear 12 is in the neutral position, and when the rear-wheel steering gear 12 is in the non-neutral position, to control the rear-wheel steering gear 12 to lock in the current position.
Optionally, the vehicle further comprises a second controller 13.
The first controller 11 is further configured to obtain a handshake condition with the second controller 13, and handshake with the second controller 13 when the handshake condition meets a preset condition;
after the handshake with the first controller 11 is completed, the second controller 13 is used to control the rear wheel steering device to steer.
Optionally, the second controller is a whole vehicle controller; the rear wheel steering system further comprises an angle sensor for acquiring position information of the rear wheel steering device.
Fig. 3 is a flowchart of a method for controlling rear wheel steering of a vehicle according to an embodiment of the present application. As shown in fig. 3, the method of the present application may include the steps of:
step S101: the method comprises the steps that a first controller monitors whether a rear wheel steering system of a vehicle is in a fault state or not;
optionally, the first controller is a controller in a rear wheel steering system of the vehicle; the fault states include software faults, hardware faults (such as angle sensor faults) of the rear wheel steering system of the vehicle, mechanical faults caused by external temperature, voltage or load and other reasons, and communication faults of the rear wheel steering system of the vehicle and the whole vehicle controller.
Step S102: if the rear wheel steering system of the vehicle is in a fault state, the first controller outputs a return instruction to the rear wheel steering device;
optionally, when the rear wheel steering system of the vehicle is in a fault state, the first controller controls the rear wheel steering device to return to the middle position at a preset speed; optionally, the preset speed has a value range of [0.5,0.8] in degrees/second. It is worth mentioning that, to the situation that the rear wheel steering system breaks down in different driving scenes, such as high-speed lane change, ramp crossing, etc., different preset speeds can be set to control the rear wheel steering device to return to the middle position, so that the rear wheel steering device can return to the middle position as soon as possible in the fault state on one hand, and on the other hand, the lateral displacement generated in the return in the current driving scene is ensured not to influence the driving safety; alternatively, a position in the range between plus or minus 0.1 degrees is defined as the median.
Step S103: the first controller determines whether the rear wheel steering is at a neutral position;
step S104: the first controller controls the rear wheel steering gear to lock in the current position when the rear wheel steering gear is in the non-neutral position.
Optionally, after step S103, the method further includes:
the method comprises the steps that when the rear wheel steering device is located in the middle position, a first controller monitors whether a fault state is relieved;
when the fault state is released, the first controller acquires a handshake condition with the second controller; optionally, the second controller is a vehicle controller.
In one embodiment, the method for controlling rear wheel steering of a vehicle of the present application further includes:
when the vehicle is electrified, the first controller acquires the initial position of the rear wheel steering device;
if the initial position of the rear wheel steering device is located at the middle position, the first controller acquires a handshake condition with the second controller;
if the initial position of the rear wheel steering device is in the non-neutral position, the first controller outputs a return instruction to the rear wheel steering device, and after the rear wheel steering device returns to the neutral position, the first controller acquires a handshake condition with the second controller.
Optionally, the handshake conditions include: the communication state of the first controller and the second controller is normal; the current vehicle speed is smaller than a vehicle speed threshold value; optionally, the vehicle speed threshold is 5km/h.
In an embodiment, after the first controller acquires the handshake condition with the second controller, the method includes:
the first controller determines whether the handshake condition meets a preset condition;
if the handshake condition meets the preset condition, the first controller enters a preparation state, and sends a preparation handshake signal to the second controller so as to handshake with the second controller according to a handshake request sent by the second controller;
after the handshake with the second controller is completed, the first controller enters a handshake state so that the second controller directly controls the rear wheel steering device to steer;
if the handshake condition does not meet the preset condition, the first controller enters a suppression state, and enters a preparation state until the handshake condition meets the preset condition.
Fig. 4 is a schematic flowchart of a method for controlling steering of rear wheels of a vehicle according to an embodiment of the present application. As shown in fig. 4, the method of the present application may include the steps of:
step S201: the method comprises the steps that a vehicle is electrified, and a first controller obtains an initial position of a rear wheel steering device;
step S202: the first controller judges whether the rear wheel steering gear is positioned in the middle position;
if the rear wheel steering is at the neutral position, step S203 is executed: the first controller acquires a handshake condition with the second controller;
if the rear wheel steering is in the non-neutral position, step S204 is performed: the first controller sends back a middle instruction to the rear wheel steering device, and returns to execute the step S203 after the rear wheel steering device returns to the middle position;
step S205: the first controller judges whether the handshake condition meets a preset condition or not;
if the handshake condition meets the preset condition, step S206 is executed: the first controller enters a preparation state and performs handshake with the second controller according to a handshake request sent by the second controller;
if the handshake condition does not meet the preset condition, step S207 is executed: the first controller enters a suppression state and returns to execute step S203;
step S208: the first controller enters a handshake state, and the second controller sends a steering instruction to the rear wheel steering device;
step S209: the rear wheel steering device steers according to the steering instruction sent by the second controller;
step S210: the method comprises the steps that a first controller monitors whether a rear wheel steering system of a vehicle is in a fault state or not;
if the rear wheel steering system of the vehicle is in a fault state, returning to the step S204;
if the rear wheel steering system is not in the failure state, step S211 is executed: the rear wheel steering device steers to a target angle according to the steering instruction sent by the second controller;
step S212: the first controller judges whether the rear wheel steering gear is positioned in the middle position;
if the rear wheel steering is at the neutral position, step S213 is performed: the first controller monitors whether the fault state is relieved;
if the fault state is released, returning to execute step S203;
if the fault state is not released, continuing to execute step S213;
if the rear wheel steering is in the non-neutral position, step S214 is performed: the first controller controls the rear wheel steering device to lock at the current position.
Optionally, when the vehicle is electrified, the first controller enters an initialization state, acquires an initial position of the rear wheel steering device, and judges whether the rear wheel steering device is positioned in the middle position; if the rear wheel steering device is located in the middle position, the first controller acquires a handshake condition with the second controller; if the rear wheel steering device is located in the non-neutral position, the first controller sends back a neutral instruction to the rear wheel steering device, and after the rear wheel steering device returns to the neutral position, a handshake condition with the second controller is obtained; after the handshake condition is acquired, the first controller judges whether the handshake condition meets a preset condition; if the handshake condition meets the preset condition, the first controller enters a preparation state, sends a preparation handshake signal to the second controller, and performs handshake with the second controller according to a handshake request sent by the second controller; if the handshake condition does not meet the preset condition, the first controller enters a suppression state and continues to acquire the handshake condition with the second controller; after the handshake with the second controller is completed, the first controller enters a handshake state, and the second controller sends a steering instruction to the rear wheel steering device; the rear wheel steering device steers according to the steering instruction sent by the second controller; during the steering process of the rear wheel steering device, the first controller monitors whether the rear wheel steering system of the vehicle is in a fault state or not; if the rear wheel steering system of the vehicle is in a fault state, the first controller sends back a middle instruction to the rear wheel steering device; and if the rear wheel steering system of the vehicle is not in a fault state, the rear wheel steering device steers to a target angle according to the steering instruction sent by the second controller.
Optionally, after sending the return instruction to the rear wheel steering, the first controller determines whether the rear wheel steering returns to the neutral position; if the rear wheel steering device is located in the middle position, the first controller monitors whether the fault state is relieved; if the fault state is released, the first controller acquires a handshake condition with the second controller; if the fault state is not released, the first controller continuously monitors whether the fault state is released or not; and if the rear wheel steering device is in the non-neutral position, the first controller controls the rear wheel steering device to lock at the current position.
According to the method for controlling the rear wheel steering of the vehicle, provided by the embodiment of the application, whether the rear wheel steering system of the vehicle is in a fault state or not is monitored through the first controller; if the rear wheel steering system of the vehicle is in a fault state, the first controller outputs a return instruction to the rear wheel steering device; the first controller determines whether the rear wheel steering is at a neutral position; when the rear wheel steering device is located in a non-neutral position, the first controller controls the rear wheel steering device to lock at the current position, when the rear wheel steering system fails, the rear wheel steering device is controlled to return, and when the rear wheel steering device cannot return, the rear wheel steering device is locked at the current position, so that the driving safety is effectively improved.
Fig. 5 is a schematic structural diagram of a controller according to a second embodiment of the present application. The controller of the present application includes: a processor 110, a memory 111 and a computer program 112 stored in said memory 111 and executable on said processor 110. The processor 110, when executing the computer program 112, implements the steps of the various method embodiments described above, such as steps S101 to S104 shown in fig. 3.
The controller may include, but is not limited to, a processor 110, a memory 111. It will be appreciated by those skilled in the art that fig. 5 is merely an example of a controller and is not meant to be limiting, and that more or fewer components than shown may be included, or that certain components may be combined, or that different components may be included, for example, the controller may also include input and output devices, network access devices, buses, etc.
The processor 110 may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf 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 the processor may be any conventional processor or the like.
The memory 111 may be an internal storage unit of the controller, such as a hard disk or a memory of the controller. The memory 111 may also be an external storage device of the controller, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash Card (Flash Card) or the like, which are provided on the controller. Further, the memory 111 may also include both an internal storage unit and an external storage device of the controller. The memory 111 is used to store the computer program and other programs and data required by the controller. The memory 111 may also be used to temporarily store data that has been output or is to be output.
The application also provides a storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the method as described above.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
In this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a list of elements is included, and may include other elements not expressly listed.
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 variations or substitutions are within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A method of controlling rear wheel steering of a vehicle, comprising:
the method comprises the steps that a first controller monitors whether a rear wheel steering system of a vehicle is in a fault state or not;
if the rear wheel steering system of the vehicle is in the fault state, the first controller outputs a return instruction to a rear wheel steering device;
the first controller determining whether the rear-wheel steering is at a neutral position;
when the rear wheel steering device is located in a non-neutral position, the first controller controls the rear wheel steering device to lock at a current position.
2. The method of claim 1, wherein the method further comprises:
when the vehicle is electrified, the first controller acquires the initial position of the rear wheel steering device;
if the initial position of the rear wheel steering device is located in the middle position, the first controller acquires a handshake condition with the second controller;
and if the initial position of the rear wheel steering device is positioned in the non-neutral position, the first controller outputs the return instruction to the rear wheel steering device, and acquires the handshake condition when the rear wheel steering device returns to the neutral position.
3. The method of claim 2, wherein the handshake condition comprises:
the communication state of the first controller and the second controller is normal;
the current vehicle speed is less than the vehicle speed threshold.
4. The method of claim 2, after the first controller obtains a handshake condition with a second controller, comprising:
the first controller determines whether the handshake condition meets a preset condition;
if the handshake condition meets the preset condition, the first controller enters a preparation state, and sends a preparation handshake signal to the second controller so as to handshake with the second controller according to a handshake request sent by the second controller;
after the handshake with the second controller is completed, the first controller enters a handshake state, so that the second controller directly controls the rear wheel steering device to steer;
if the handshake condition does not meet the preset condition, the first controller enters a suppression state, and enters the preparation state until the handshake condition meets the preset condition.
5. The method of any one of claims 1-4, after the step of the first controller determining whether the rear wheel steering is in a neutral position, comprising:
the first controller monitors whether the failure state is released when the rear wheel steering is at the neutral position;
and when the fault state is released, the first controller acquires a handshake condition with the second controller.
6. The method of claim 1, wherein the first controller outputting back-to-center instructions to the rear wheel steering comprises:
the first controller controls the rear wheel steering device to return to the neutral position at a preset speed;
the value range of the preset speed is [0.5,0.8], and the unit is degree/second.
7. A vehicle, the vehicle comprising a rear-wheel steering system; the rear wheel steering system comprises a first controller and a rear wheel steering device;
the first controller is used for monitoring whether the rear wheel steering system is in a fault state, and outputting a return instruction to the rear wheel steering device if the rear wheel steering system is in the fault state;
the first controller is also used for determining whether the rear wheel steering device is located in the middle position, and controlling the rear wheel steering device to be locked in the current position when the rear wheel steering device is located in the non-middle position.
8. The vehicle of claim 7, further comprising a second controller;
the first controller is further used for acquiring a handshake condition with the second controller, and performing handshake with the second controller when the handshake condition meets a preset condition;
after the handshake with the first controller is completed, the second controller is used for controlling the rear wheel steering device to steer.
9. A controller comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the method according to any one of claims 1 to 6 when the computer program is executed.
10. A storage medium storing a computer program which, when executed by a processor, implements the steps of the method according to any one of claims 1 to 6.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210504419.5A CN117068253A (en) | 2022-05-10 | 2022-05-10 | Method for controlling rear wheel steering of vehicle, controller and storage medium |
| PCT/CN2023/093338 WO2023217197A1 (en) | 2022-05-10 | 2023-05-10 | Vehicle rear wheel steering control method, vehicle, controller, and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210504419.5A CN117068253A (en) | 2022-05-10 | 2022-05-10 | Method for controlling rear wheel steering of vehicle, controller and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117068253A true CN117068253A (en) | 2023-11-17 |
Family
ID=88704842
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210504419.5A Pending CN117068253A (en) | 2022-05-10 | 2022-05-10 | Method for controlling rear wheel steering of vehicle, controller and storage medium |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN117068253A (en) |
| WO (1) | WO2023217197A1 (en) |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2832380B2 (en) * | 1989-10-30 | 1998-12-09 | マツダ株式会社 | Vehicle rear wheel steering system |
| CN206704287U (en) * | 2017-03-29 | 2017-12-05 | 北京经纬恒润科技有限公司 | A kind of Electric Power Steering Control System |
| CN109850003B (en) * | 2019-02-25 | 2021-05-25 | 南京航空航天大学 | Energy storage type steer-by-wire system and fault-tolerant control method |
| CN112373559A (en) * | 2020-11-29 | 2021-02-19 | 同济大学 | Automobile rear steering axle system with failure correcting function and control method thereof |
-
2022
- 2022-05-10 CN CN202210504419.5A patent/CN117068253A/en active Pending
-
2023
- 2023-05-10 WO PCT/CN2023/093338 patent/WO2023217197A1/en unknown
Also Published As
| Publication number | Publication date |
|---|---|
| WO2023217197A1 (en) | 2023-11-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP6882145B2 (en) | Vehicle braking support device, control device and braking support method | |
| JP2004155241A (en) | Brake control device for vehicle | |
| CN110015338B (en) | Notification of rack limit condition for steer-by-wire system | |
| US9358927B2 (en) | Method and device for folding in at least one side mirror of a vehicle | |
| CN106945663B (en) | Anti-collision method for turning vehicle | |
| CN112406865A (en) | Ultrasonic radar-based lane change auxiliary active safety system | |
| US8412411B2 (en) | Electronic control module heat limiting systems and methods | |
| CN117068253A (en) | Method for controlling rear wheel steering of vehicle, controller and storage medium | |
| JP5328738B2 (en) | Rear side steering assist technology | |
| CN113665585A (en) | Automatic driving assistance system, method and readable storage medium for vehicle | |
| Mir et al. | Role of electronics and controls in steering systems | |
| KR20210018731A (en) | Apparatus for driving assistance of a vehicle connected to trailer, system having the same and method thereof | |
| US20230031839A1 (en) | Vehicle drive assist apparatus | |
| CN111873988B (en) | Parking control method and device, vehicle and storage medium | |
| JP7298567B2 (en) | vehicle controller | |
| JP2006111179A (en) | Vehicle for towing | |
| JP7430259B2 (en) | electric power steering device | |
| US6738700B2 (en) | Method for conforming a signal to a fault requirement using a command limiting scheme | |
| WO2024069679A1 (en) | Electronic control device, vehicle control method, and program | |
| JP6937856B2 (en) | Driving assistance devices and vehicles | |
| CN115716502B (en) | Steering control method and device based on automatic driving | |
| CN116588187B (en) | Control method and device for lane keeping function | |
| US20230219414A1 (en) | Vehicle control device, vehicle control method, and non-transitory storage medium on which a program is stored | |
| CN117984997A (en) | Vehicle control method, device, electronic equipment and storage medium | |
| US20220306084A1 (en) | Vehicle control device, vehicle, vehicle control method, and storage medium storing control program |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |