CN112373450B - Control method and device for vehicle auxiliary turning - Google Patents
Control method and device for vehicle auxiliary turning Download PDFInfo
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- CN112373450B CN112373450B CN202011247532.7A CN202011247532A CN112373450B CN 112373450 B CN112373450 B CN 112373450B CN 202011247532 A CN202011247532 A CN 202011247532A CN 112373450 B CN112373450 B CN 112373450B
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- 230000002159 abnormal effect Effects 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 4
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/12—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release the fluid being liquid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
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- 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/02—Control of vehicle driving stability
- B60W30/045—Improving turning performance
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- Automation & Control Theory (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention discloses a method and a device for controlling vehicle auxiliary turning, comprising the following steps: acquiring the current state information of the vehicle in real time; when the auxiliary turning function of the vehicle is in a standby state, judging whether the current state information of the vehicle meets an auxiliary turning activation condition; and if so, controlling the vehicle to enter an activated state of the auxiliary turning function, and controlling the hydraulic control unit to apply pressure to the inner rear wheel cylinder when the vehicle turns according to the steering wheel angle, the vehicle speed and the opening degree of the brake pedal. According to the method, the current state information of the vehicle acquired in real time is judged, when the activation condition of the auxiliary turning function is met, the vehicle is controlled to enter the activation state of the auxiliary turning function, and the hydraulic control unit is controlled to apply pressure to the wheel cylinder of the inner rear wheel when the vehicle turns, so that the turning radius of the vehicle is reduced, the vehicle can quickly turn in a narrow space, the maneuvering performance of the vehicle is improved, and the problem of congestion of urban road traffic is solved.
Description
Technical Field
The embodiment of the invention relates to an automobile braking technology, in particular to a method and a device for controlling auxiliary turning of a vehicle.
Background
In recent years, the quantity of automobiles kept is increasing continuously, urban road traffic conditions are congested year by year, and a lot of bidirectional two-lane narrow lanes exist in cities. According to statistics, the minimum turning radius of various automobiles is as follows: 4.50m of mini-size vehicle, 6.00m of small-size vehicle, 6.50-8.00 m of light-weight vehicle, 8.00-12.00 m of medium-size vehicle, 10.50-12.50 m of articulated vehicle, 9.00m of common fire truck, 12.00m of large-size fire truck, 102.00m of high-altitude fire truck and 16.00-20.00 m of some special fire trucks. The turning radius of the urban road intersection is controlled according to the following standard (according to the red line of the road): a main road: 20-30 m, secondary main road: 15-20 m, non-primary and secondary roads: 10-20 m; in addition, the distance between the entrance and the exit of the motor vehicle and the starting and stopping line of an urban road intersection and a bridge and tunnel ramp is more than 50 meters, the red line turning radius of a road in a residential area is not less than 6 meters, the red line turning radius of a road in an industrial area is not less than 9 meters, and the minimum turning radius of the road with a fire-fighting function is 12 meters. Many roads in actual urban area can't reach standard length, lead to long wheel base vehicle to turn round relatively troublesome because turning radius is big, need the driver to carry out the adjustment of backing a car many times, can't once accomplish smoothly and turn round, aggravate the traffic jam easily, it still very easily causes the traffic accident to back a car.
The mode of turning around needs additionally to increase a set of equipment at present commonly used car, including base support and rotating equipment. The method has the advantages that the in-situ turning around of the narrow position can be realized, but the operation is relatively complex, the required time is long, and the method is not suitable for urban roads; in addition, some high-end vehicle types are provided with a rear wheel steering function to reduce the turning radius, but the cost is high, and the popularity is not high.
Disclosure of Invention
The invention provides a method and a device for controlling auxiliary turning of a vehicle, which can reduce the turning radius of the vehicle, so that the vehicle can quickly turn and pass through a narrow space, and the maneuvering performance of the vehicle is improved.
In a first aspect, an embodiment of the present invention provides a method for controlling a vehicle to assist in turning, including:
acquiring the current state information of the vehicle in real time; the state information comprises a steering wheel angle, the time of the steering wheel at the current angle, the vehicle speed, the opening degree of an accelerator pedal, the opening degree of a brake pedal and the gear state;
when the auxiliary turning function of the vehicle is in a standby state, judging whether the current state information of the vehicle meets an auxiliary turning activation condition; the auxiliary turning activation condition comprises that the turning angle of the steering wheel is larger than a first preset angle, the time of the steering wheel at the current turning angle is larger than preset time, the vehicle speed is in a preset vehicle speed range, the opening degree of an accelerator pedal is larger than 0, the opening degree of a brake pedal is 0, and the gear state is a non-reverse gear state;
and if so, controlling the vehicle to enter an activation state of the auxiliary turning function, and controlling the hydraulic control unit to apply pressure to an inner rear wheel cylinder when the vehicle turns according to the steering wheel angle, the vehicle speed and the opening degree of the brake pedal.
Optionally, before controlling the hydraulic control unit to apply pressure to an inner rear wheel cylinder when the vehicle turns according to the steering wheel angle and the vehicle speed, the method further includes:
determining the turning direction of the vehicle according to the steering wheel rotation angle; the turning direction comprises a right turn or a left turn;
determining an inner rear wheel when the vehicle turns according to the turning direction of the vehicle; wherein, when the turning direction is a right turn, the inside rear wheel of the vehicle is a right rear wheel; when the turning direction is a left turn, the inside rear wheel of the vehicle is a left rear wheel.
Optionally, controlling the hydraulic control unit to apply pressure to an inner rear wheel cylinder when the vehicle turns according to the steering wheel angle, the vehicle speed, and the brake pedal opening degree, includes:
determining target braking force applied to the inner rear wheel cylinder according to the corresponding relation of the steering angle and the vehicle speed and the current steering wheel angle and the current vehicle speed of the vehicle; the corner vehicle speed corresponding relation comprises a three-dimensional data relation table among a steering wheel corner, a vehicle speed and a target braking force applied to the inner rear wheel cylinder;
determining a hydraulic braking force applied to an inside rear wheel cylinder of the vehicle according to an opening degree of the brake pedal;
and controlling the hydraulic control unit to apply pressure to the inner rear wheel cylinders in accordance with the target braking force and the hydraulic braking force.
Optionally, the state information further includes a switch state of an auxiliary turning function and an operating state of an electronic stability control system of the vehicle;
before judging whether the current state information of the vehicle meets the auxiliary turning activation condition, the method further comprises the following steps:
judging whether an auxiliary turning standby condition is met or not according to the current state information of the vehicle; the auxiliary turning standby condition comprises that the auxiliary turning function is in an open state, the vehicle speed is less than or equal to a first preset vehicle speed, and an electronic stability control system of the vehicle is in a normal state;
and if so, controlling the vehicle to enter an auxiliary turning function standby state.
Optionally, the state information further includes a switch state of an auxiliary turning function and an operating state of an electronic stability control system of the vehicle;
the control method further comprises the following steps:
when the auxiliary turning function of the vehicle is in a standby state or an activated state, judging whether the current state information of the vehicle meets an auxiliary turning closing condition; the auxiliary turning closing condition comprises at least one of the auxiliary turning function being in a closing state, the vehicle speed being greater than a first preset vehicle speed and an electronic stability control system of the vehicle being in an abnormal state;
and if so, controlling the vehicle to enter an auxiliary turning function closing state.
Optionally, the state information further includes a switch state of an auxiliary turning function and an operating state of an electronic stability control system of the vehicle;
the control method further comprises the following steps:
when the vehicle enters the activated state of the auxiliary turning function, judging whether the current state information of the vehicle meets an auxiliary turning standby condition; the auxiliary turning standby condition comprises that the vehicle speed is greater than a second preset vehicle speed and/or the steering wheel turning angle is smaller than a second preset angle;
and if so, controlling the vehicle to enter an auxiliary turning function standby state.
Optionally, the control method further includes:
controlling a brake light of the vehicle to turn on when the vehicle enters an activated state of the auxiliary turning function.
In a second aspect, an embodiment of the present invention further provides a control device for assisting turning of a vehicle, including:
the information acquisition module is used for acquiring the current state information of the vehicle in real time; the state information comprises a steering wheel angle, the time of the steering wheel at the current angle, the vehicle speed, the opening degree of an accelerator pedal, the opening degree of a brake pedal and the gear state;
the activation condition judging module is used for judging whether the current state information of the vehicle meets an auxiliary turning activation condition or not when the auxiliary turning function of the vehicle is in a standby state; the auxiliary turning activation condition comprises that the turning angle of the steering wheel is larger than a first preset angle, the time of the steering wheel at the current turning angle is larger than preset time, the vehicle speed is in a preset vehicle speed range, the opening degree of an accelerator pedal is larger than 0, the opening degree of a brake pedal is 0, and the gear state is a non-reverse gear state;
and the hydraulic control module is used for controlling the vehicle to enter an activated state of an auxiliary turning function when the current state information of the vehicle meets an auxiliary turning activation condition, and controlling the hydraulic control unit to apply pressure to an inner rear wheel cylinder when the vehicle turns according to the steering wheel angle, the vehicle speed and the opening degree of the brake pedal.
Optionally, the control device further includes:
the closing condition judging module is used for judging whether the current state information of the vehicle meets an auxiliary turning closing condition or not when the auxiliary turning function of the vehicle is in a standby state or an activated state; the auxiliary turning closing condition comprises at least one of the auxiliary turning function being in a closing state, the vehicle speed being greater than a first preset vehicle speed and an electronic stability control system of the vehicle being in an abnormal state;
and the auxiliary turning closing module is used for controlling the vehicle to enter an auxiliary turning function closing state when the current state information of the vehicle meets an auxiliary turning closing condition.
Optionally, the control device further includes:
the standby condition judging module is used for judging whether the current state information of the vehicle meets the auxiliary turning standby condition or not when the vehicle enters the activated state of the auxiliary turning function; the auxiliary turning standby condition comprises that the vehicle speed is greater than a second preset vehicle speed and/or the steering wheel turning angle is smaller than a second preset angle;
and the auxiliary turning standby module is used for controlling the vehicle to enter an auxiliary turning function standby state when the current state information of the vehicle meets an auxiliary turning standby condition.
According to the method and the device for controlling the auxiliary turning of the vehicle, provided by the embodiment of the invention, through the current state information of the vehicle which is obtained in real time, when the auxiliary turning function of the vehicle is in a standby state, whether the current state information of the vehicle meets the auxiliary turning activation condition or not is judged, and when the current state information of the vehicle meets the auxiliary turning activation condition, the vehicle is controlled to enter the activation state of the auxiliary turning function, so that the turning radius of the vehicle is reduced in a mode of applying pressure to an inner rear wheel cylinder when the vehicle turns through a control hydraulic control unit, and therefore, the rapid turning passing of the vehicle in a narrow space can be realized without adding complex equipment, the maneuvering performance of the vehicle is improved, and the problem of congestion of urban road traffic is further solved.
Drawings
FIG. 1 is a flow chart of a method for controlling assisted turning of a vehicle according to an embodiment of the present invention;
FIG. 2 is a flow chart of another method for controlling assisted turning of a vehicle according to an embodiment of the present invention;
FIG. 3 is a flowchart of another control method for assisting turning of a vehicle according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a control apparatus for assisting turning of a vehicle according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of another control device for assisting turning of a vehicle according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
The embodiment of the invention provides a control method for vehicle assisted turning, which can realize an assisted turning function according to the state information of a vehicle, and the control method can be executed by adopting a control device for vehicle assisted turning provided by the embodiment of the invention, the control device is realized by software and/or hardware, and the charging control device can be integrated in an electronic stability control system of the vehicle.
Fig. 1 is a flowchart of a control method for assisting turning of a vehicle according to an embodiment of the present invention, and as shown in fig. 1, the control method for assisting turning of a vehicle includes:
s110, acquiring the current state information of the vehicle in real time; the state information may include, but is not limited to, a steering wheel angle, a time at which the steering wheel is at the current angle, a vehicle speed, an accelerator pedal opening, a brake pedal opening, and a gear state.
S120, when the auxiliary turning function of the vehicle is in a standby state, judging whether the current state information of the vehicle meets an auxiliary turning activation condition; if yes, go to S130.
The auxiliary turning activation conditions comprise that the turning angle of a steering wheel is larger than a first preset angle, the time of the steering wheel at the current turning angle is larger than preset time, the vehicle speed is within a preset vehicle speed range, the opening degree of an accelerator pedal is larger than 0, the opening degree of a brake pedal is 0, and the gear state is a non-reverse gear state.
And S130, controlling the vehicle to enter an activated state of an auxiliary turning function, and controlling the hydraulic control unit to apply pressure to the wheel cylinder of the inner rear wheel when the vehicle turns according to the steering wheel angle, the vehicle speed and the brake pedal opening degree.
Specifically, the method includes the steps of acquiring state information such as a steering wheel angle of a current vehicle, time of the steering wheel at the current angle, vehicle speed, accelerator pedal opening, brake pedal opening and a gear state in real time, judging whether the current state information of the vehicle meets an auxiliary turning activation condition or not on the premise that an auxiliary turning function of the vehicle is in a standby state, controlling the vehicle to enter an activation state of the auxiliary turning function when the current state information of the vehicle meets the condition that the steering wheel angle is larger than a first preset angle, the time of the steering wheel at the current angle is larger than the preset time, the vehicle speed is within a preset vehicle speed range, the accelerator pedal opening is larger than 0, the brake pedal opening is 0 and the gear state is in a non-reverse gear state, controlling a hydraulic control unit to apply pressure to an inner rear wheel cylinder when the vehicle turns to reduce the speed of an inner rear wheel according to the steering wheel angle, the vehicle speed and the brake pedal opening, thereby reducing the turning radius of the vehicle. If any one of the conditions is not met, the current state is continuously kept. For example, the first preset angle may be ± 100 °, the preset time may be 200ms, and the preset vehicle speed range may be [0m/s,10m/s ].
According to the control method for the vehicle auxiliary turning, provided by the embodiment of the invention, through the current state information of the vehicle which is acquired in real time, when the auxiliary turning function of the vehicle is in a standby state, whether the current state information of the vehicle meets the auxiliary turning activation condition or not is judged, and when the current state information of the vehicle meets the auxiliary turning activation condition, the vehicle is controlled to enter the activation state of the auxiliary turning function, and the turning radius of the vehicle is reduced by applying a pressure mode to an inner rear wheel cylinder when the vehicle turns through a control hydraulic control unit, so that the rapid turning passing of the vehicle in a narrow space can be realized without adding complex equipment, the maneuvering performance of the vehicle is improved, and the problem of urban road traffic jam is further solved.
Optionally, when the vehicle enters the activated state of the auxiliary turning function, the brake lamp of the vehicle can be controlled to be turned on so as to warn other vehicles around the vehicle that the vehicle enters the turning or turning around state and the like.
Further, before controlling the hydraulic control unit to apply pressure to the inner rear wheel cylinders at the time of turning of the vehicle according to the steering wheel angle and the vehicle speed, it should be determined which rear wheels of the vehicle are the inner rear wheels in the current turning direction. At this time, the turning direction of the vehicle, which may include a right turn or a left turn, may be determined according to the steering wheel angle; determining the inner rear wheel when the vehicle turns according to the turning direction of the vehicle; when the turning direction is a right turning, the rear wheel on the inner side of the vehicle is the rear wheel on the right side; when the turning direction is left turning, the inner rear wheel of the vehicle is the left rear wheel.
Illustratively, the steering wheel angle value may be considered negative when the driver controls the steering wheel to turn to the left, and positive when the driver controls the steering wheel to turn to the right. Therefore, whether the current steering of the vehicle is left turning or right turning can be determined according to the positive and negative of the steering wheel; and when the current steering of the vehicle is left turning, the rear wheel on the left side can be determined as the inner rear wheel of the vehicle; and when the current steering of the vehicle is a right turn, the rear wheel on the right side may be determined as the inner rear wheel of the vehicle.
Optionally, controlling, according to the steering wheel angle, the vehicle speed, and the opening degree of the brake pedal, the pressure applied to the wheel cylinder of the inner rear wheel by the hydraulic control unit when the vehicle turns is specifically: determining target braking force applied to an inner rear wheel cylinder according to the corresponding relation of the steering angle and the vehicle speed and the current steering wheel steering angle and the vehicle speed of the vehicle; determining a hydraulic braking force applied to an inside rear wheel cylinder of the vehicle according to an opening degree of a brake pedal; and controlling a hydraulic control unit to apply pressure to the inner rear wheel cylinder according to the target braking force and the hydraulic braking force. Correspondingly, fig. 2 is a flowchart of another control method for assisting turning of a vehicle according to an embodiment of the present invention, and as shown in fig. 2, the control method for assisting turning of a vehicle specifically includes:
s210, acquiring the current state information of the vehicle in real time;
s220, when the auxiliary turning function of the vehicle is in a standby state, judging whether the current state information of the vehicle meets an auxiliary turning activation condition; if yes, go to S230;
s230, determining a target braking force applied to the inner rear wheel cylinder according to the steering angle and vehicle speed corresponding relation and the current steering wheel steering angle and vehicle speed of the vehicle;
s240, determining hydraulic braking force applied to an inner rear wheel cylinder of the vehicle according to the opening degree of a brake pedal;
and S250, controlling the hydraulic control unit to apply pressure to the inner rear wheel cylinder according to the target braking force and the hydraulic braking force.
Specifically, the steering angle vehicle speed correspondence relationship may include a three-dimensional data relationship table between a steering wheel angle, a vehicle speed, and a target braking force applied to the inner rear wheel cylinder, which may be obtained through a plurality of tests on the vehicle; determining the current steering wheel angle and the current vehicle speed of the vehicle, and determining the target braking force applied to the inner rear wheel cylinder according to the corresponding relationship of the steering wheel and the vehicle speed; after the auxiliary turning function is activated, if the driver has stepped on the brake pedal, the hydraulic braking force applied to the inner rear wheel cylinder by the brake pedal should also be determined, and specifically, the calculation can be performed according to the opening degree of the brake pedal. And according to the total braking force, controlling the hydraulic control unit to apply pressure to the inner rear wheel cylinder so as to achieve the effect of reducing the speed of the inner rear wheel of the vehicle and further reducing the turning radius. In addition, in order to prevent the wheels from locking, an upper braking force limit and a wheel slip rate limit may be provided, and may be obtained through a plurality of tests on the vehicle.
Optionally, the state information acquired in real time may further include a switch state of the auxiliary turning function and an operating state of an electronic stability control system of the vehicle. In the embodiment of the invention, the activation of the assistive turning function is premised on the assistive turning function being in the standby state, and therefore, before determining whether the current state information of the vehicle satisfies the assistive turning activation condition, it should also be determined whether the current state information of the vehicle satisfies the assistive turning standby condition. Accordingly, fig. 3 is a flowchart of a control method for assisting turning of a vehicle according to an embodiment of the present invention, and as shown in fig. 3, the method includes:
s310, acquiring the current state information of the vehicle in real time;
s320, judging whether the auxiliary turning standby condition is met or not according to the current state information of the vehicle; if yes, the process goes to step S330.
The auxiliary turning standby condition comprises that the auxiliary turning function is in an open state, the vehicle speed is less than or equal to a first preset vehicle speed, and an electronic stability control system of the vehicle is in a normal state.
S330, controlling the vehicle to enter an auxiliary turning function standby state;
s340, judging whether the current state information of the vehicle meets an auxiliary turning activation condition; if yes, go to S350;
and S350, determining the target braking force applied to the inner rear wheel cylinder according to the steering angle and vehicle speed corresponding relation and the current steering wheel angle and vehicle speed of the vehicle.
Specifically, because the auxiliary turning control method of the embodiment of the invention is realized based on the electronic stability control system, and the turning on or off of the auxiliary turning function can be realized through the physical key and/or the virtual key, so as to avoid unexpected dangerous situations when the auxiliary turning function is directly turned on, before controlling the vehicle to enter the auxiliary turning function standby state, whether the key of the auxiliary turning function is in an on state, whether the electronic stability control system operates normally, and the vehicle speed is enough to exceed a first preset vehicle speed can be judged, and when the auxiliary turning function is in the on state, the vehicle speed is less than or equal to the first preset vehicle speed, and the electronic stability control system of the vehicle is in a normal state, the vehicle is controlled to enter the auxiliary turning function standby state; if any of the above conditions is not satisfied, the vehicle is in the turning assist function off state.
Correspondingly, when the auxiliary turning function of the vehicle is in a standby state or an activated state, whether the current state information of the vehicle meets the auxiliary turning closing condition or not can be judged according to the state information of the vehicle, and the vehicle is directly controlled to enter the auxiliary turning function closing state when the current state information of the vehicle meets the auxiliary turning closing condition; and controlling the vehicle to be kept in the auxiliary turning function standby state or the auxiliary turning function activated state when the current state information of the vehicle does not satisfy the auxiliary turning off condition. Wherein the auxiliary turning off condition includes at least one of the auxiliary turning function being an off state, the vehicle speed being greater than a first preset vehicle speed, and the electronic stability control system of the vehicle being in an abnormal state. For example, the first preset vehicle speed may be 15 m/s.
In addition, when the vehicle is in the activated state of the auxiliary turning function, whether the current state information of the vehicle meets the auxiliary turning standby condition or not can be judged according to the current state information of the vehicle, and when the current state information of the vehicle meets the auxiliary turning standby condition, the vehicle can be controlled to be switched from the auxiliary turning activated state to the auxiliary turning function standby state; and when the current state information of the vehicle does not satisfy the auxiliary turning standby condition, the vehicle may be controlled to remain in the auxiliary turning function activated state. The auxiliary turning standby condition is switched from the auxiliary turning activation state to the auxiliary turning standby condition, wherein the vehicle speed is greater than a second preset vehicle speed and/or the steering wheel turning angle is smaller than a second preset angle. For example, the second preset vehicle speed may be 10m/s, and the second preset angle may be 60 °.
Based on the same inventive concept, the embodiment of the invention also provides a vehicle assisted turning control device, which can control the assisted turning function of the vehicle, and the vehicle assisted turning control device can be used for executing the vehicle assisted turning control method provided by the embodiment of the invention, and the vehicle assisted turning control device is realized by software and/or hardware, and can be integrated in an electronic stability control system of the vehicle. Fig. 4 is a schematic diagram of a control device for assisting turning of a vehicle according to an embodiment of the invention. As shown in FIG. 4, the control device for assisting turning of a vehicle includes an information acquisition module 410, an activation condition determination module 420, and a hydraulic control module 430.
The information acquisition module 410 is configured to acquire state information of a current steering wheel angle of a vehicle, time of the steering wheel at the current steering angle, a vehicle speed, an accelerator pedal opening degree, a brake pedal opening degree, a gear state and the like in real time; the activation condition judgment module 420 is used for judging whether the current state information of the vehicle meets the auxiliary turning activation condition when the auxiliary turning function of the vehicle is in a standby state; specifically, the auxiliary turning activation condition includes that a steering wheel angle is larger than a first preset angle, the time of the steering wheel at the current steering angle is larger than preset time, the vehicle speed is within a preset vehicle speed range, the opening degree of an accelerator pedal is larger than 0, the opening degree of a brake pedal is 0, and the gear state is a non-reverse gear state; the hydraulic control module 430 is configured to control the vehicle to enter an activated state of an auxiliary turning function when the current state information of the vehicle satisfies an auxiliary turning activation condition, and control the hydraulic control unit to apply pressure to an inner rear wheel cylinder when the vehicle turns according to a steering wheel angle, a vehicle speed, and a brake pedal opening degree.
Optionally, fig. 5 is a schematic diagram of another control device for assisting turning of a vehicle according to an embodiment of the present invention. As shown in fig. 5, the apparatus for controlling assisted turning of a vehicle may further include a turn-off condition determining module 540 and an assisted turn-off module 550. The turning-off condition determining module 540 is configured to determine whether the current state information of the vehicle satisfies a turn-off assist condition when the turn-assist function of the vehicle is in a standby state or an active state. The assisted turning off module 550 is configured to control the vehicle to enter an assisted turning function off state when the current state information of the vehicle satisfies an assisted turning off condition. Wherein the auxiliary turning off condition includes at least one of the auxiliary turning function being an off state, the vehicle speed being greater than a first preset vehicle speed, and the electronic stability control system of the vehicle being in an abnormal state.
Optionally, with continued reference to fig. 5, the apparatus for controlling assisted turning of a vehicle may further include a standby condition determination module 560 and an assisted turning standby module 570. The standby condition judging module 560 is used for judging whether the current state information of the vehicle meets the auxiliary turning standby condition when the vehicle enters the activated state of the auxiliary turning function; the assisted turning standby module 570 is used for controlling the vehicle to enter an assisted turning function standby state when the current state information of the vehicle meets the assisted turning standby condition. The auxiliary turning standby condition comprises that the vehicle speed is greater than a second preset vehicle speed and/or the steering wheel turning angle is smaller than a second preset angle.
The control device for vehicle assisted turning provided by the above embodiment can execute the control method for vehicle assisted turning provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the control method for vehicle assisted turning. Technical details that are not described in detail in the above embodiments may be referred to a control method of vehicle assisted turning provided in any embodiment of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (9)
1. A control method for assisting turning of a vehicle, characterized by comprising:
acquiring the current state information of the vehicle in real time; the state information comprises a steering wheel angle, the time of the steering wheel at the current angle, the vehicle speed, the opening degree of an accelerator pedal, the opening degree of a brake pedal and the gear state;
when the auxiliary turning function of the vehicle is in a standby state, judging whether the current state information of the vehicle meets an auxiliary turning activation condition; the auxiliary turning activation condition comprises that the turning angle of the steering wheel is larger than a first preset angle, the time of the steering wheel at the current turning angle is larger than preset time, the vehicle speed is in a preset vehicle speed range, the opening degree of an accelerator pedal is larger than 0, the opening degree of a brake pedal is 0, and the gear state is a non-reverse gear state;
if so, controlling the vehicle to enter an activation state of the auxiliary turning function, and controlling the hydraulic control unit to apply pressure to an inner rear wheel cylinder when the vehicle turns according to the steering wheel angle, the vehicle speed and the opening degree of the brake pedal;
wherein controlling the hydraulic control unit to apply pressure to an inner rear wheel cylinder when the vehicle turns, based on the steering wheel angle, the vehicle speed, and the brake pedal opening degree, includes:
determining target braking force applied to the inner rear wheel cylinder according to the corresponding relation of the steering angle and the vehicle speed and the current steering wheel angle and the current vehicle speed of the vehicle; the corner vehicle speed corresponding relation comprises a three-dimensional data relation table among a steering wheel corner, a vehicle speed and a target braking force applied to the inner rear wheel cylinder;
determining a hydraulic braking force applied to an inside rear wheel cylinder of the vehicle according to an opening degree of the brake pedal;
and controlling the hydraulic control unit to apply pressure to the inner rear wheel cylinders in accordance with the target braking force and the hydraulic braking force.
2. The control method according to claim 1, further comprising, before controlling the hydraulic control unit to apply the pressure to an inner rear wheel cylinder when the vehicle makes a turn, in accordance with the steering wheel angle and the vehicle speed:
determining the turning direction of the vehicle according to the steering wheel rotation angle; the turning direction comprises a right turn or a left turn;
determining an inner rear wheel when the vehicle turns according to the turning direction of the vehicle; wherein, when the turning direction is a right turn, the inside rear wheel of the vehicle is a right rear wheel; when the turning direction is a left turn, the inside rear wheel of the vehicle is a left rear wheel.
3. The control method according to claim 1, characterized in that the state information further includes an on-off state of an auxiliary turning function and an operating state of an electronic stability control system of the vehicle;
before judging whether the current state information of the vehicle meets the auxiliary turning activation condition, the method further comprises the following steps:
judging whether an auxiliary turning standby condition is met or not according to the current state information of the vehicle; the auxiliary turning standby condition comprises that the auxiliary turning function is in an open state, the vehicle speed is less than or equal to a first preset vehicle speed, and an electronic stability control system of the vehicle is in a normal state;
and if so, controlling the vehicle to enter an auxiliary turning function standby state.
4. The control method according to claim 1, characterized in that the state information further includes an on-off state of an auxiliary turning function and an operating state of an electronic stability control system of the vehicle;
the control method further comprises the following steps:
when the auxiliary turning function of the vehicle is in a standby state or an activated state, judging whether the current state information of the vehicle meets an auxiliary turning closing condition; the auxiliary turning closing condition comprises at least one of the auxiliary turning function being in a closing state, the vehicle speed being greater than a first preset vehicle speed and an electronic stability control system of the vehicle being in an abnormal state;
and if so, controlling the vehicle to enter an auxiliary turning function closing state.
5. The control method according to claim 1, characterized in that the state information further includes an on-off state of an auxiliary turning function and an operating state of an electronic stability control system of the vehicle;
the control method further comprises the following steps:
when the vehicle enters the activated state of the auxiliary turning function, judging whether the current state information of the vehicle meets an auxiliary turning standby condition; the auxiliary turning standby condition comprises that the vehicle speed is greater than a second preset vehicle speed and/or the steering wheel turning angle is smaller than a second preset angle;
and if so, controlling the vehicle to enter an auxiliary turning function standby state.
6. The control method according to claim 1, characterized by further comprising:
controlling a brake light of the vehicle to turn on when the vehicle enters an activated state of the auxiliary turning function.
7. A control device for assisting turning of a vehicle, characterized by comprising:
the information acquisition module is used for acquiring the current state information of the vehicle in real time; the state information comprises a steering wheel angle, the time of the steering wheel at the current angle, the vehicle speed, the opening degree of an accelerator pedal, the opening degree of a brake pedal and the gear state;
the activation condition judging module is used for judging whether the current state information of the vehicle meets an auxiliary turning activation condition or not when the auxiliary turning function of the vehicle is in a standby state; the auxiliary turning activation condition comprises that the turning angle of the steering wheel is larger than a first preset angle, the time of the steering wheel at the current turning angle is larger than preset time, the vehicle speed is in a preset vehicle speed range, the opening degree of an accelerator pedal is larger than 0, the opening degree of a brake pedal is 0, and the gear state is a non-reverse gear state;
and the hydraulic control module is used for controlling the vehicle to enter an activated state of an auxiliary turning function when the current state information of the vehicle meets an auxiliary turning activation condition, and controlling the hydraulic control unit to apply pressure to an inner rear wheel cylinder when the vehicle turns according to the steering wheel angle, the vehicle speed and the opening degree of the brake pedal.
8. The control device according to claim 7, characterized by further comprising:
the closing condition judging module is used for judging whether the current state information of the vehicle meets an auxiliary turning closing condition or not when the auxiliary turning function of the vehicle is in a standby state or an activated state; the auxiliary turning closing condition comprises at least one of the auxiliary turning function being in a closing state, the vehicle speed being greater than a first preset vehicle speed and an electronic stability control system of the vehicle being in an abnormal state;
and the auxiliary turning closing module is used for controlling the vehicle to enter an auxiliary turning function closing state when the current state information of the vehicle meets an auxiliary turning closing condition.
9. The control device according to claim 7, characterized by further comprising:
the standby condition judging module is used for judging whether the current state information of the vehicle meets the auxiliary turning standby condition or not when the vehicle enters the activated state of the auxiliary turning function; the auxiliary turning standby condition comprises that the vehicle speed is greater than a second preset vehicle speed and/or the steering wheel turning angle is smaller than a second preset angle;
and the auxiliary turning standby module is used for controlling the vehicle to enter an auxiliary turning function standby state when the current state information of the vehicle meets an auxiliary turning standby condition.
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| CN115723741A (en) * | 2021-08-26 | 2023-03-03 | 华为技术有限公司 | Vehicle control method and device, electronic device, and computer-readable storage medium |
| CN114275040B (en) * | 2021-12-28 | 2023-07-18 | 上海拿森汽车电子有限公司 | Vehicle steering control method, control device and vehicle |
| CN115257669A (en) * | 2022-06-30 | 2022-11-01 | 中国第一汽车股份有限公司 | Vehicle control method, device, electronic device and storage medium |
| CN115973155A (en) * | 2023-01-13 | 2023-04-18 | 浙江吉利控股集团有限公司 | Vehicle turning control method and device and vehicle |
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