WO2023217197A1 - 一种控制车辆后轮转向的方法、车辆、控制器及存储介质 - Google Patents

一种控制车辆后轮转向的方法、车辆、控制器及存储介质 Download PDF

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Publication number
WO2023217197A1
WO2023217197A1 PCT/CN2023/093338 CN2023093338W WO2023217197A1 WO 2023217197 A1 WO2023217197 A1 WO 2023217197A1 CN 2023093338 W CN2023093338 W CN 2023093338W WO 2023217197 A1 WO2023217197 A1 WO 2023217197A1
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WO
WIPO (PCT)
Prior art keywords
controller
wheel steering
rear wheel
handshake
vehicle
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Application number
PCT/CN2023/093338
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English (en)
French (fr)
Inventor
姚宾
徐俊
周以勤
Original Assignee
武汉路特斯汽车有限公司
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Application filed by 武汉路特斯汽车有限公司 filed Critical 武汉路特斯汽车有限公司
Publication of WO2023217197A1 publication Critical patent/WO2023217197A1/zh

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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

Definitions

  • the present application belongs to the technical field of vehicle rear wheel steering, and in particular relates to a method, vehicle, controller and storage medium for controlling the rear wheel steering of a vehicle.
  • the four-wheel steering function can better improve steering maneuverability and increase vehicle yaw gain at medium and low speeds. It can reduce yaw gain at high speeds and improve vehicle stability. It can last almost throughout the entire driving cycle of the vehicle. To provide users with a good driving experience, it is particularly important to design a steering control system with high safety and good robustness. Different from the front-wheel steering system, when the steering assist fails, the driver can steer through mechanical transmission to prevent the vehicle from losing its steering ability; the rear-wheel steering system is a wire-controlled system and has no mechanical connection with the driver's steering wheel. What happens after a failure? Ensuring the normal driving of the vehicle is the primary consideration when designing the rear-wheel steering control system.
  • this application provides a method, vehicle, controller and storage medium for controlling rear wheel steering of a vehicle to improve driving safety.
  • the present application provides a method for controlling the rear wheel steering of a vehicle, including: a first controller monitors whether the rear wheel steering system of the vehicle is in a fault state; if the rear wheel steering system of the vehicle is in the fault state, the first controller The controller outputs a centering command to the rear wheel steering gear; the first controller determines whether the rear wheel steering gear is in the neutral position; when the rear wheel steering gear is in the non-neutral position, the first controller controls all The rear wheel steering gear is locked in its current position.
  • the method further includes: when the vehicle is powered on, the first controller obtains the initial position of the rear wheel steering device; if the initial position of the rear wheel steering device is in the neutral position , then the first controller obtains the handshake condition with the second controller; if the initial position of the rear wheel steering gear is in the non-neutral position, then the first controller outputs an output to the rear wheel steering gear The return-to-center instruction is issued, and after the rear wheel steering gear returns to the neutral position, the handshake condition is obtained.
  • the handshake conditions include: the communication status between the first controller and the second controller is normal; and the current vehicle speed is less than a vehicle speed threshold.
  • the method includes: the first controller determines whether the handshake condition satisfies a preset condition; if the handshake condition satisfies the preset condition, If the above preset conditions are met, the first controller enters the preparation state and sends a preparation handshake signal to the second controller, so as to communicate with the second controller according to the handshake request sent by the second controller.
  • Handshake after the handshake with the second controller is completed, the first controller enters the handshake state, so that the second controller directly controls the rear wheel steering gear to steer; if the handshake conditions are not met If the preset condition is met, the first controller enters the suppression state and enters the preparation state until the handshake condition meets the preset condition.
  • the step includes: when the rear wheel steering device is in the neutral position, the first controller Monitor whether the fault state is resolved; when the fault state is resolved, the first controller obtains a handshake condition with the second controller.
  • the first controller outputs a centering instruction to the rear wheel steering device, including: the first controller controls the rear wheel steering device to return to the neutral position at a preset speed; wherein, The value range of the preset speed is [0.5, 0.8], and the unit is degrees/second.
  • the application also provides a vehicle, which includes a rear-wheel steering system; wherein the rear-wheel steering system includes a first controller and a rear-wheel steering device; the first controller is used to monitor the rear-wheel steering Whether the system is in a fault state, if the rear wheel steering system is in the fault state, output a centering instruction to the rear wheel steering device; the first controller is also used to determine whether the rear wheel steering device is in the fault state. In the neutral position, when the rear wheel steering gear is in a non-neutral position, the rear wheel steering gear is controlled to lock in the current position.
  • the vehicle further includes a second controller; the first controller is further configured to obtain a handshake condition with the second controller, and when the handshake condition meets a preset condition, communicate with the The second controller performs a handshake; after completing the handshake with the first controller, the second controller is used to control the rear wheel steering gear to perform steering.
  • the application also provides a controller, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor.
  • a controller which includes a memory, a processor, and a computer program stored in the memory and executable on the processor.
  • This application also provides a storage medium that stores a computer program, and when the computer program is executed by a processor, the steps of the above method are implemented.
  • This application provides a method, vehicle, controller and storage medium for controlling the rear wheel steering of a vehicle.
  • the rear wheel steering system fails, the rear wheel steering is controlled to return to center, and when the rear wheel steering cannot return to center, Lock the rear wheel steering in the current position to improve driving safety.
  • Figure 1 is a schematic diagram of the principle of controlling the rear wheel steering of a vehicle in general implementation.
  • Figure 2 is a schematic structural diagram of a vehicle according to an embodiment of the present application.
  • Figure 3 is a schematic flowchart of a method for controlling rear wheel steering of a vehicle provided in Embodiment 1 of the present application.
  • FIG. 4 is a specific flowchart of a method for controlling rear wheel steering of a vehicle provided in Embodiment 1 of the present application.
  • Figure 5 is a schematic structural diagram of a controller provided in Embodiment 2 of the present application.
  • the design of the rear-wheel steering system adopts the design scheme of the vehicle controller and the rear-wheel steering gear.
  • the vehicle controller calculates what the rear-wheel steering gear needs to perform based on signals such as vehicle speed and steering wheel angle combined with the driving scene.
  • the desired angle the rear wheel steering gear moves toward the target position after receiving the desired angle.
  • the driver inputs the steering angle to the front wheel steering system (Electronic Power Steering, EPS) through the steering wheel, and the EPS provides the front wheel angle signal to the vehicle control unit (VCU).
  • EPS Electronic Power Steering
  • the VCU calculates the desired rear wheel angle based on the received front wheel angle signal and vehicle speed, generates the rear wheel angle signal and sends it to the rear wheel steering gear in the rear wheel steering system (Rear Wheel Steering, RWS).
  • the wheel steerer steers to the target position based on the desired turning angle received.
  • the current position of the rear wheel steering device is not distinguished. Regardless of any failure, it directly enters the fault state.
  • the rear wheel steering device fails in non-zero position scenarios and frequency. Many times, after the non-zero fault is restored, the rear-wheel steering system shakes hands with the vehicle controller again. The rear-wheel steering device steers according to the steering angle sent by the vehicle controller. There is a risk of a sudden change in the steering angle, which cannot guarantee driving safety. sex.
  • FIG. 2 is a schematic structural diagram of a vehicle according to an embodiment of the present application.
  • the method for controlling the rear wheel steering of a vehicle provided by the embodiment of the present application is implemented based on this vehicle structure.
  • the vehicle in the embodiment of the present application includes a rear-wheel steering system; wherein the rear-wheel steering system includes a first controller 11 and a rear-wheel steering device 12 .
  • the first controller 11 is used to monitor whether the rear wheel steering system is in a fault state. If the rear wheel steering system is in a fault state, output a centering command to the rear wheel steering device 12; the first controller 11 is also used to determine whether the rear wheel steering system is in a fault state. Whether the rear wheel steering gear 12 is in the neutral position, when the rear wheel steering gear 12 is in the non-neutral position, the rear wheel steering gear 12 is controlled to lock in the current position.
  • the vehicle further includes a second controller 13 .
  • the first controller 11 is also used to obtain the handshake conditions with the second controller 13, and when the handshake conditions meet the preset conditions, perform handshakes with the second controller 13;
  • the second controller 13 is used to control the rear wheel steering device to perform steering.
  • the second controller is a vehicle controller; the rear-wheel steering system also includes an angle sensor, and the angle sensor is used to collect position information of the rear-wheel steering device.
  • FIG. 3 is a schematic flowchart of a method for controlling rear wheel steering of a vehicle provided in Embodiment 1 of the present application. As shown in Figure 3, the method of this application may include the following steps:
  • Step S101 The first controller monitors whether the rear wheel steering system of the vehicle is in a fault state
  • the first controller is a controller in the vehicle's rear-wheel steering system;
  • the fault state includes software faults of the vehicle's rear-wheel steering system, hardware faults (such as angle sensor faults), external temperature, voltage or load, etc. Mechanical failure, as well as communication failure between the vehicle's rear wheel steering system and the vehicle controller.
  • Step S102 If the vehicle's rear wheel steering system is in a fault state, the first controller outputs a centering command to the rear wheel steering device;
  • the first controller controls the rear-wheel steering device to return to the neutral position at a preset speed; optionally, the value range of the preset speed is [0.5, 0.8] , the unit is degrees/second.
  • the value range of the preset speed is [0.5, 0.8]
  • the unit is degrees/second.
  • Step S103 The first controller determines whether the rear wheel steering gear is in the neutral position
  • Step S104 When the rear wheel steering gear is in a non-neutral position, the first controller controls the rear wheel steering gear to lock at the current position.
  • step S103 it also includes:
  • the first controller monitors whether the fault condition is resolved
  • the first controller obtains a handshake condition with the second controller; optionally, the second controller is a vehicle controller.
  • the method of controlling rear wheel steering of a vehicle further includes:
  • the first controller obtains the initial position of the rear wheel steering gear
  • the first controller obtains the handshake condition with the second controller
  • the first controller If the initial position of the rear wheel steering gear is in a non-neutral position, the first controller outputs a centering command to the rear wheel steering gear, and after the rear wheel steering gear returns to the neutral position, obtains the handshake condition with the second controller.
  • the handshake conditions include: the communication status between the first controller and the second controller is normal; the current vehicle speed is less than the vehicle speed threshold; optionally, the vehicle speed threshold is 5km/h.
  • the method includes:
  • the first controller determines whether the handshake conditions meet the preset conditions
  • the first controller enters the ready state and sends a ready handshake signal to the second controller to perform handshake with the second controller according to the handshake request sent by the second controller;
  • the first controller After the handshake with the second controller is completed, the first controller enters the handshake state so that the second controller directly controls the rear wheel steering gear for steering;
  • the first controller enters the suppression state until the handshake condition meets the preset condition, and then enters the ready state.
  • FIG. 4 is a specific flowchart of a method for controlling rear wheel steering of a vehicle provided in Embodiment 1 of the present application. As shown in Figure 4, the method of this application may include the following steps:
  • Step S201 The vehicle is powered on, and the first controller obtains the initial position of the rear wheel steering gear
  • Step S202 The first controller determines whether the rear wheel steering gear is in the neutral position
  • step S203 the first controller obtains the handshake condition with the second controller;
  • step S204 is executed: the first controller sends a return centering instruction to the rear wheel steering gear, and after the rear wheel steering gear returns to the neutral position, returns to step S203;
  • Step S205 The first controller determines whether the handshake conditions meet the preset conditions
  • step S206 the first controller enters the preparation state and shakes hands with the second controller according to the handshake request sent by the second controller;
  • step S207 the first controller enters the suppression state and returns to step S203;
  • Step S208 The first controller enters the handshake state, and the second controller sends a steering command to the rear wheel steering device;
  • Step S209 The rear wheel steering gear performs steering according to the steering command sent by the second controller
  • Step S210 The first controller monitors whether the rear wheel steering system of the vehicle is in a fault state
  • step S204 If the vehicle's rear wheel steering system is in a fault state, return to step S204;
  • step S211 is executed: the rear-wheel steering device steers to the target angle according to the steering instruction sent by the second controller;
  • Step S212 The first controller determines whether the rear wheel steering gear is in the neutral position
  • step S213 the first controller monitors whether the fault state is resolved
  • step S213 If the fault state is not resolved, continue to step S213;
  • step S214 the first controller controls the rear wheel steering gear to lock at the current position.
  • the first controller when the vehicle is powered on, the first controller enters the initialization state, obtains the initial position of the rear wheel steering gear, and determines whether the rear wheel steering gear is in the neutral position; if the rear wheel steering gear is in the neutral position, the first controller The controller obtains the handshake conditions with the second controller; if the rear wheel steering gear is in a non-neutral position, the first controller sends a return-to-center command to the rear wheel steering gear, and after the rear wheel steering gear returns to the neutral position, obtains the handshake condition with the second controller.
  • the handshake conditions of the second controller after obtaining the handshake conditions, the first controller determines whether the handshake conditions meet the preset conditions; if the handshake conditions meet the preset conditions, the first controller enters the preparation state and sends a message to the second controller.
  • the first controller monitors whether the vehicle's rear wheel steering system is in a fault state; if the vehicle's rear wheel steering system is in a fault state, the first controller sends a centering command to the rear wheel steering gear; if the vehicle's rear wheel steering system is in a fault state, the first controller The rear wheel steering system is not in a fault state, and the rear wheel steering device turns to the target angle according to the steering command sent by the second controller.
  • the first controller determines whether the rear wheel steering gear returns to the neutral position; if the rear wheel steering gear is in the neutral position, the first controller monitors whether the fault state is relieved; If the fault state is removed, the first controller obtains the handshake conditions with the second controller; if the fault state is not removed, the first controller continues to monitor whether the fault state is removed; if the rear wheel steering gear is in a non-neutral position, the first controller Controls the rear wheel steering to lock in its current position.
  • the method for controlling the rear wheel steering of a vehicle uses a first controller to monitor whether the rear wheel steering system of the vehicle is in a fault state; if the rear wheel steering system of the vehicle is in a fault state, the first controller controls the rear wheel steering of the vehicle. Output the return-to-center command; the first controller determines whether the rear wheel steering is in the neutral position; when the rear wheel steering is in the non-neutral position, the first controller controls the rear wheel steering to lock in the current position to achieve rear wheel steering.
  • the system fails, the rear wheel steering is controlled to return to center, and when the rear wheel steering cannot return to center, the rear wheel steering is locked in the current position, effectively improving driving safety.
  • FIG. 5 is a schematic structural diagram of a controller provided in Embodiment 2 of the present application.
  • the controller of the present application includes: a processor 110, a memory 111, and a computer program 112 stored in the memory 111 and executable on the processor 110.
  • the processor 110 executes the computer program 112 it implements the steps in each of the above method embodiments, such as steps S101 to S104 shown in FIG. 3 .
  • the controller may include, but is not limited to, a processor 110 and a memory 111.
  • a processor 110 and a memory 111.
  • Figure 5 is only an example of a controller and does not constitute a limitation on the controller. It may include more or fewer components than shown in the figure, or combine certain components, or different components, such as
  • the controller may also include input and output devices, network access devices, buses, etc.
  • the so-called processor 110 can be a central processing unit (Central Processing Unit, CPU), or other general-purpose processor, digital signal processor (Digital Signal Processor, DSP), application specific integrated circuit (Application Specific Integrated Circuit, ASIC), Ready-made field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
  • a general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.
  • the memory 111 may be an internal storage unit of the controller, such as a hard disk or 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 memory card (Smart Media Card, SMC), or a secure digital (Secure Digital, SD) card equipped on the controller. Flash Card, etc.
  • the memory 111 may also include both an internal storage unit of the controller and an external storage device.
  • the memory 111 is used to store the computer program and other programs and data required by the controller.
  • the memory 111 can also be used to temporarily store data that has been output or is to be output.
  • This application also provides a storage medium, a computer program is stored on the storage medium, and when the computer program is executed by a processor, the steps of the above method are implemented.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

一种控制车辆后轮转向的方法、车辆、控制器及存储介质，其中，控制车辆后轮转向的方法包括：第一控制器（11）监测车辆后轮转向系统是否处于故障状态；若车辆后轮转向系统处于故障状态，第一控制器（11）向后轮转向器（12）输出回中指令；第一控制器（11）确定后轮转向器（12）是否位于中位；在后轮转向器（12）位于非中位时，第一控制器（11）控制后轮转向器（12）锁死在当前位置。

Description

一种控制车辆后轮转向的方法、车辆、控制器及存储介质
本专利申请要求 2022 年 05 月10 日提交的申请号为202210504419.5，申请人为武汉路特斯汽车有限公司，发明名称为“一种控制车辆后轮转向的方法、车辆、控制器及存储介质”的中国专利申请的优先权，上述申请的全文以引用的方式并入本申请。
技术领域
本申请属于车辆后轮转向技术领域，尤其涉及一种控制车辆后轮转向的方法、车辆、控制器及存储介质。
 背景技术
随着汽车行业的快速发展，汽车各项技术也日益成熟，越来越多的高级功能应用在民用汽车上。底盘作为整车提升驾驶体验的重要一员，同样涌现出众多新技术，诸如四轮转向功能，主动稳定杆，空气悬架等，不断向大众用户普及。但由于底盘对安全驾驶的重要性，如何设计一套安全稳定的底盘原件是各大主机厂当前的一项主要难题。
四轮转向功能在中低速时可以较好的改善转向机动性，提升整车横摆增益，在高速时可以降低横摆增益，提升整车的稳定性，几乎可以在车辆的整个驾驶周期内持续给用户带来良好的驾驶体验，因此设计一套安全性高，鲁棒性好的转向控制系统就尤为重要。不同于前轮转向系统，转向助力在失效时驾驶员能够通过机械传递进行转向，避免车辆失去转向能力；而后轮转向系统属于线控系统，与驾驶员的方向盘无机械连接，在出现故障后如何保证车辆的正常驾驶是在设计后轮转向控制系统时需首要考虑的内容。
 技术解决方案
针对上述技术问题，本申请提供一种控制车辆后轮转向的方法、车辆、控制器及存储介质，以提升驾驶安全性。
本申请提供了一种控制车辆后轮转向的方法，包括：第一控制器监测车辆后轮转向系统是否处于故障状态；若所述车辆后轮转向系统处于所述故障状态，所述第一控制器向后轮转向器输出回中指令；所述第一控制器确定所述后轮转向器是否位于中位；在所述后轮转向器位于非中位时，所述第一控制器控制所述后轮转向器锁死在当前位置。
在一实施方式中，所述方法还包括：在车辆上电时，所述第一控制器获取所述后轮转向器的初始位置；若所述后轮转向器的初始位置位于所述中位，则所述第一控制器获取与第二控制器的握手条件；若所述后轮转向器的初始位置位于所述非中位，则所述第一控制器向所述后轮转向器输出所述回中指令，并在所述后轮转向器回到所述中位后，获取所述握手条件。
在一实施方式中，所述握手条件包括：所述第一控制器与所述第二控制器的通讯状态正常；当前车速小于车速阈值。
在一实施方式中，在所述第一控制器获取与第二控制器的握手条件之后，包括：所述第一控制器确定所述握手条件是否满足预设条件；若所述握手条件满足所述预设条件，则所述第一控制器进入准备状态，并向所述第二控制器发送准备握手信号，以根据所述第二控制器发送的握手请求，与所述第二控制器进行握手；在与所述第二控制器握手完成后，所述第一控制器进入握手状态，以使所述第二控制器直接控制所述后轮转向器进行转向；若所述握手条件不满足所述预设条件，则所述第一控制器进入抑制状态，直到所述握手条件满足所述预设条件时，进入所述准备状态。
在一实施方式中，在所述第一控制器确定所述后轮转向器是否位于中位的步骤之后，包括：在所述后轮转向器位于所述中位时，所述第一控制器监测所述故障状态是否解除；在所述故障状态解除时，所述第一控制器获取与第二控制器的握手条件。
在一实施方式中，所述第一控制器向后轮转向器输出回中指令，包括：所述第一控制器控制所述后轮转向器以预设速度回到所述中位；其中，所述预设速度的取值范围为[0.5,0.8],单位为度/秒。
本申请还提供了一种车辆，所述车辆包括后轮转向系统；其中，所述后轮转向系统包括第一控制器及后轮转向器；所述第一控制器用于监测所述后轮转向系统是否处于故障状态，若所述后轮转向系统处于所述故障状态，则向所述后轮转向器输出回中指令；所述第一控制器还用于确定所述后轮转向器是否位于中位，在所述后轮转向器位于非中位时，控制所述后轮转向器锁死在当前位置。
在一实施方式中，所述车辆还包括第二控制器；所述第一控制器还用于获取与第二控制器的握手条件，并在所述握手条件满足预设条件时，与所述第二控制器进行握手；在与所述第一控制器握手完成后，所述第二控制器用于控制所述后轮转向器进行转向。
本申请还提供了一种控制器，所述控制器包括存储器、处理器以及存储在所述存储器中并可在所述处理器上运行的计算机程序，所述处理器执行所述计算机程序时实现上述方法的步骤。
本申请还提供了一种存储介质，所述存储介质存储有计算机程序，所述计算机程序被处理器执行时实现上述方法的步骤。
本申请提供的一种控制车辆后轮转向的方法、车辆、控制器及存储介质，在后轮转向系统出现故障时，控制后轮转向器回中，并在后轮转向器无法回中时，将后轮转向器锁死在当前位置，提升驾驶安全性。
 附图说明
图1是一般实现中控制车辆后轮转向的原理示意图。
图2是本申请实施例的车辆结构示意图。
图3本申请实施例一提供的控制车辆后轮转向的方法的流程示意图。
图4是本申请实施例一提供的控制车辆后轮转向的方法的具体流程示意图。
图5是本申请实施例二提供的控制器的结构示意图。
本申请的实施方式
这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本申请相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本申请的一些方面相一致的装置和方法的例子。
需要说明的是，在本文中，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者装置不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者装置所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括该要素的过程、方法、物品或者装置中还存在另外的相同要素，此外，本申请不同实施例中具有同样命名的部件、特征、要素可能具有相同含义，也可能具有不同含义，其具体含义需以其在该具体实施例中的解释或者进一步结合该具体实施例中上下文进行确定。
应当理解，此处所描述的具体实施例仅仅用以解释本申请，并不用于限定本申请。
以下结合说明书附图及具体实施例对本申请技术方案做进一步的详细阐述。除非另有定义，本申请所使用的所有的技术和科学术语与属于本申请的技术领域的技术人员通常理解的含义相同。本文中在本申请的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本申请。本文所使用的“和/或”包括一个或多个相关的所列项目的任意的和所有的组合。
一种实施例中，后轮转向系统的设计采用整车控制器和后轮转向器的设计方案，其中，整车控制器根据车速及方向盘转角等信号结合驾驶场景计算后轮转向器需要执行的期望角度，后轮转向器接收到期望角度后向目标位置移动。如图1所示，当车辆向前行驶时，驾驶员通过方向盘给前轮转向系统（Electronic Power Steering, EPS）输入转角，EPS将前轮转角信号提供给整车控制器（vehicle control unit, VCU），VCU根据接收到的前轮转角信号及整车车速计算出期望的后轮转角，生成后轮转角信号后发送给后轮转向系统（Rear Wheel Steering, RWS）中的后轮转向器，后轮转向器根据收到的期望转角转向至目标位置。
然而，该控制方法中，在后轮转向系统出现故障时，没有区分后轮转向器的当前位置，不论发生任何故障，均直接进入故障状态，而后轮转向器在非零位故障的场景及频次较多，在非零位故障恢复后，后轮转向系统再次与整车控制器握手，后轮转向器根据整车控制器发送的转向角度进行转向，存在转向角度突变的风险，无法保障驾驶安全性。
为了解决这一技术问题，在一实施例中，提供一种控制车辆后轮转向的方法。图2是本申请实施例的车辆结构示意图，本申请实施例提供的控制车辆后轮转向的方法是基于该车辆结构上实现的。本申请实施例中的车辆包括后轮转向系统；其中，后轮转向系统包括第一控制器11及后轮转向器12。
第一控制器11用于监测后轮转向系统是否处于故障状态，若后轮转向系统处于故障状态，则向后轮转向器12输出回中指令；第一控制器11还用于确定后轮转向器12是否位于中位，在后轮转向器12位于非中位时，控制后轮转向器12锁死在当前位置。
可选地，车辆还包括第二控制器13。
第一控制器11还用于获取与第二控制器13的握手条件，并在握手条件满足预设条件时，与第二控制器13进行握手；
在与第一控制器11握手完成后，第二控制器13用于控制后轮转向器进行转向。
可选地，第二控制器为整车控制器；后轮转向系统还包括角度传感器，角度传感器用于采集后轮转向器的位置信息。
图3是本申请实施例一提供的控制车辆后轮转向的方法的流程示意图。如图3所示，本申请的方法可以包括如下步骤：
步骤S101：第一控制器监测车辆后轮转向系统是否处于故障状态；
可选地，第一控制器为车辆后轮转向系统中的控制器；故障状态包括车辆后轮转向系统的软件故障、硬件故障（如角度传感器故障），外界温度、电压或负载等原因引起的机械故障，以及车辆后轮转向系统与整车控制器的通讯故障。
步骤S102：若车辆后轮转向系统处于故障状态，第一控制器向后轮转向器输出回中指令；
可选地，在车辆后轮转向系统处于故障状态时，第一控制器控制后轮转向器以预设速度回到中位；可选地，预设速度的取值范围为[0.5,0.8],单位为度/秒。值得一提的是，针对不同的驾驶场景，如高速变道，过匝道等，后轮转向系统出现故障的情况，可设置不同的预设速度控制后轮转向器回到中位，一方面使后轮转向器在故障状态下能够尽快回到中位，另一方面保证在当前驾驶场景下回中产生的横向位移不会对驾驶安全造成影响；可选地，将取值范围在正负0.1度之间的位置定义为中位。
步骤S103：第一控制器确定后轮转向器是否位于中位；
步骤S104：在后轮转向器位于非中位时，第一控制器控制后轮转向器锁死在当前位置。
可选地，在步骤S103之后，还包括：
在后轮转向器位于中位时，第一控制器监测故障状态是否解除；
在故障状态解除时，第一控制器获取与第二控制器的握手条件；可选地，第二控制器为整车控制器。
在一实施方式中，本申请的控制车辆后轮转向的方法，还包括：
在车辆上电时，第一控制器获取后轮转向器的初始位置；
若后轮转向器的初始位置位于中位，则第一控制器获取与第二控制器的握手条件；
若后轮转向器的初始位置位于非中位，则第一控制器向后轮转向器输出回中指令，并在后轮转向器回到中位后，获取与第二控制器的握手条件。
可选地，握手条件包括：第一控制器与第二控制器的通讯状态正常；当前车速小于车速阈值；可选地，车速阈值为5km/h。
在一实施方式中，在第一控制器获取与第二控制器的握手条件之后，包括：
第一控制器确定握手条件是否满足预设条件；
若握手条件满足预设条件，则第一控制器进入准备状态，并向第二控制器发送准备握手信号，以根据第二控制器发送的握手请求，与第二控制器进行握手；
在与第二控制器握手完成后，第一控制器进入握手状态，以使第二控制器直接控制后轮转向器进行转向；
若握手条件不满足预设条件，则第一控制器进入抑制状态，直到握手条件满足预设条件时，进入准备状态。
图4是本申请实施例一提供的控制车辆后轮转向的方法的具体流程示意图。如图4所示，本申请的方法可以包括如下步骤：
步骤S201：车辆上电，第一控制器获取后轮转向器的初始位置；
步骤S202：第一控制器判断后轮转向器是否位于中位；
若后轮转向器位于中位，则执行步骤S203：第一控制器获取与第二控制器的握手条件；
若后轮转向器位于非中位，则执行步骤S204：第一控制器向后轮转向器发送回中指令，并在后轮转向器回到中位后，返回执行步骤S203；
步骤S205：第一控制器判断握手条件是否满足预设条件；
若握手条件满足预设条件，则执行步骤S206：第一控制器进入准备状态，并根据第二控制器发送的握手请求，与第二控制器握手；
若握手条件不满足预设条件，则执行步骤S207：第一控制器进入抑制状态，并返回执行步骤S203；
步骤S208：第一控制器进入握手状态，第二控制器向后轮转向器发送转向指令；
步骤S209：后轮转向器根据第二控制器发送的转向指令进行转向；
步骤S210：第一控制器监测车辆后轮转向系统是否处于故障状态；
若车辆后轮转向系统处于故障状态，则返回执行步骤S204；
若车辆后轮转向系统未处于故障状态，则执行步骤S211：后轮转向器根据第二控制器发送的转向指令转向至目标角度；
步骤S212：第一控制器判断后轮转向器是否位于中位；
若后轮转向器位于中位，则执行步骤S213：第一控制器监测故障状态是否解除；
若故障状态解除，则返回执行步骤S203；
若故障状态未解除，则继续执行步骤S213；
若后轮转向器位于非中位，则执行步骤S214：第一控制器控制后轮转向器锁死在当前位置。
可选地，在车辆上电时，第一控制器进入初始化状态，获取后轮转向器的初始位置，并判断后轮转向器是否位于中位；若后轮转向器位于中位，第一控制器获取与第二控制器的握手条件；若后轮转向器位于非中位，则第一控制器向后轮转向器发送回中指令，并在后轮转向器回到中位后，获取与第二控制器的握手条件；在获取握手条件后，第一控制器判断握手条件是否满足预设条件；若握手条件满足预设条件，第一控制器进入准备状态，并向第二控制器发送准备握手信号，然后根据第二控制器发送的握手请求，与第二控制器握手；若握手条件不满足预设条件，第一控制器进入抑制状态，并继续获取与第二控制器的握手条件；在与第二控制器握手完成后，第一控制器进入握手状态，第二控制器向后轮转向器发送转向指令；后轮转向器根据第二控制器发送的转向指令进行转向；在后轮转向器转向的过程中，第一控制器监测车辆后轮转向系统是否处于故障状态；若车辆后轮转向系统处于故障状态，则第一控制器向后轮转向器发送回中指令；若车辆后轮转向系统未处于故障状态，后轮转向器根据第二控制器发送的转向指令转向至目标角度。
可选地，在向后轮转向器发送回中指令后，第一控制器判断后轮转向器是否回到中位；若后轮转向器位于中位，第一控制器监测故障状态是否解除；若故障状态解除，第一控制器获取与第二控制器的握手条件；若故障状态未解除，第一控制器继续监测故障状态是否解除；若后轮转向器位于非中位，第一控制器控制后轮转向器锁死在当前位置。
本申请实施例一提供的控制车辆后轮转向的方法，通过第一控制器监测车辆后轮转向系统是否处于故障状态；若车辆后轮转向系统处于故障状态，第一控制器向后轮转向器输出回中指令；第一控制器确定后轮转向器是否位于中位；在后轮转向器位于非中位时，第一控制器控制后轮转向器锁死在当前位置，实现在后轮转向系统出现故障时，控制后轮转向器回中，并在后轮转向器无法回中时，将后轮转向器锁死在当前位置，有效提升了驾驶安全性。
图5是本申请实施例二提供的控制器的结构示意图。本申请的控制器包括：处理器110、存储器111以及存储在所述存储器111中并可在所述处理器110上运行的计算机程序112。所述处理器110执行所述计算机程序112时实现上述各个方法实施例中的步骤，例如图3所示的步骤S101至S104。
所述控制器可包括，但不仅限于，处理器110、存储器111。本领域技术人员可以理解，图5仅仅是控制器的示例，并不构成对控制器的限定，可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部件，例如所述控制器还可以包括输入输出设备、网络接入设备、总线等。
所称处理器110可以是中央处理单元(Central Processing Unit，CPU)，还可以是其他通用处理器、数字信号处理器(Digital  Signal  Processor，DSP)、专用集成电路  (Application  Specific  Integrated  Circuit，ASIC)、现成可编程门阵列(Field- Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。
所述存储器111可以是所述控制器的内部存储单元，例如控制器的硬盘或内存。所述存储器111也可以是所述控制器的外部存储设备，例如所述控制器上配备的插接式硬盘，智能存储卡(Smart Media Card, SMC)，安全数字(Secure Digital, SD)卡，闪存卡(Flash Card)等。进一步地，所述存储器111还可以既包括所述控制器的内部存储单元也包括外部存储设备。所述存储器111用于存储所述计算机程序以及所述控制器所需的其他程序和数据。所述存储器111还可以用于暂时地存储已经输出或者将要输出的数据。
本申请还提供一种存储介质，所述存储介质上存储有计算机程序，所述计算机程序被处理器执行时实现如上所述方法的步骤。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
在本文中，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，除了包含所列的那些要素，而且还可包含没有明确列出的其他要素。
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以所述权利要求的保护范围为准。

Claims (10)

  1. 一种控制车辆后轮转向的方法，其特征在于，包括：
    第一控制器监测车辆后轮转向系统是否处于故障状态；
    若所述车辆后轮转向系统处于所述故障状态，所述第一控制器向后轮转向器输出回中指令；
    所述第一控制器确定所述后轮转向器是否位于中位；
    在所述后轮转向器位于非中位时，所述第一控制器控制所述后轮转向器锁死在当前位置。
  2. 如权利要求1所述的方法，其特征在于，所述方法还包括：
    在车辆上电时，所述第一控制器获取所述后轮转向器的初始位置；
    若所述后轮转向器的初始位置位于所述中位，则所述第一控制器获取与第二控制器的握手条件；
    若所述后轮转向器的初始位置位于所述非中位，则所述第一控制器向所述后轮转向器输出所述回中指令，并在所述后轮转向器回到所述中位时，获取所述握手条件。
  3. 如权利要求2所述的方法，其特征在于，所述握手条件包括：
    所述第一控制器与所述第二控制器的通讯状态正常；
    当前车速小于车速阈值。
  4. 如权利要求2所述的方法，其特征在于，在所述第一控制器获取与第二控制器的握手条件之后，包括：
    所述第一控制器确定所述握手条件是否满足预设条件；
    若所述握手条件满足所述预设条件，则所述第一控制器进入准备状态，并向所述第二控制器发送准备握手信号，以根据所述第二控制器发送的握手请求，与所述第二控制器进行握手；
    在与所述第二控制器握手完成后，所述第一控制器进入握手状态，以使所述第二控制器直接控制所述后轮转向器进行转向；
    若所述握手条件不满足所述预设条件，则所述第一控制器进入抑制状态，直到所述握手条件满足所述预设条件时，进入所述准备状态。
  5. 如权利要求1-4任一项所述的方法，其特征在于，在所述第一控制器确定所述后轮转向器是否位于中位的步骤之后，包括：
    在所述后轮转向器位于所述中位时，所述第一控制器监测所述故障状态是否解除；
    在所述故障状态解除时，所述第一控制器获取与第二控制器的握手条件。
  6. 如权利要求1所述的方法，其特征在于，所述第一控制器向后轮转向器输出回中指令，包括：
    所述第一控制器控制所述后轮转向器以预设速度回到所述中位；
    其中，所述预设速度的取值范围为[0.5,0.8], 单位为度/秒。
  7. 一种车辆，其特征在于，所述车辆包括后轮转向系统；其中，所述后轮转向系统包括第一控制器及后轮转向器；
    所述第一控制器用于监测所述后轮转向系统是否处于故障状态，若所述后轮转向系统处于所述故障状态，则向所述后轮转向器输出回中指令；
    所述第一控制器还用于确定所述后轮转向器是否位于中位，在所述后轮转向器位于非中位时，控制所述后轮转向器锁死在当前位置。
  8. 如权利要求7所述的车辆，其特征在于，所述车辆还包括第二控制器；
    所述第一控制器还用于获取与第二控制器的握手条件，并在所述握手条件满足预设条件时，与所述第二控制器进行握手；
    在与所述第一控制器握手完成后，所述第二控制器用于控制所述后轮转向器进行转向。
  9. 一种控制器，其特征在于，所述控制器包括存储器、处理器以及存储在所述存储器中并可在所述处理器上运行的计算机程序，所述处理器执行所述计算机程序时实现如权利要求1至6任一项所述方法的步骤。
  10. 一种存储介质，所述存储介质存储有计算机程序，其特征在于，所述计算机程序被处理器执行时实现如权利要求1至6任一项所述方法的步骤。
PCT/CN2023/093338 2022-05-10 2023-05-10 一种控制车辆后轮转向的方法、车辆、控制器及存储介质 WO2023217197A1 (zh)

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH03143773A (ja) * 1989-10-30 1991-06-19 Mazda Motor Corp 車両の後輪操舵装置
CN206704287U (zh) * 2017-03-29 2017-12-05 北京经纬恒润科技有限公司 一种电动助力转向控制系统
CN109850003A (zh) * 2019-02-25 2019-06-07 南京航空航天大学 一种蓄能式线控转向系统及容错控制方法
CN112373559A (zh) * 2020-11-29 2021-02-19 同济大学 一种具备失效回正功能的汽车后转向桥系统及其控制方法

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH03143773A (ja) * 1989-10-30 1991-06-19 Mazda Motor Corp 車両の後輪操舵装置
CN206704287U (zh) * 2017-03-29 2017-12-05 北京经纬恒润科技有限公司 一种电动助力转向控制系统
CN109850003A (zh) * 2019-02-25 2019-06-07 南京航空航天大学 一种蓄能式线控转向系统及容错控制方法
CN112373559A (zh) * 2020-11-29 2021-02-19 同济大学 一种具备失效回正功能的汽车后转向桥系统及其控制方法

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