CN113581176A - Method and device for assisting vehicle in running - Google Patents
Method and device for assisting vehicle in running Download PDFInfo
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- CN113581176A CN113581176A CN202111007765.4A CN202111007765A CN113581176A CN 113581176 A CN113581176 A CN 113581176A CN 202111007765 A CN202111007765 A CN 202111007765A CN 113581176 A CN113581176 A CN 113581176A
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- 230000001960 triggered effect Effects 0.000 claims abstract description 13
- 230000006870 function Effects 0.000 claims description 105
- 238000004590 computer program Methods 0.000 claims description 13
- 230000008569 process Effects 0.000 description 10
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- 238000004458 analytical method Methods 0.000 description 2
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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
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
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Abstract
The invention discloses a method and a device for assisting a vehicle in running, which are used for solving the problem that the LKA and rear wheel steering are based on front wheel steering control to cause conflict. This scheme includes: receiving a lane keeping assistance LKA request triggered by an Advanced Driving Assistance System (ADAS) of a vehicle; acquiring a rear wheel steering angle and a rear wheel steering state of a vehicle; if the rear wheel steering state represents that the rear wheel steering angle of the vehicle is fixed, generating an LKA function execution instruction according to the rear wheel steering angle, wherein the LKA function execution instruction is used for indicating the ADAS to control the front wheels of the vehicle to execute steering; and sending an LKA function execution instruction to the ADAS to instruct the ADAS to control the vehicle to run. According to the scheme, before the LKA function is executed, the steering angle and the steering state of the rear wheel are obtained firstly, the ADAS is indicated to execute the required function under the condition that the steering angle of the rear wheel is determined to be fixed, and the situation that the vehicle LKA and the rear wheel are in conflict due to the fact that steering of the front wheel is controlled is effectively avoided, so that the driving safety of the vehicle is improved.
Description
Technical Field
The invention relates to the field of vehicle control, in particular to a method and a device for assisting a vehicle to run.
Background
In the field of vehicle control, vehicle auxiliary steering can be realized through a rear wheel electric control steering technology. Because of the wide variety of the driving support functions, some functions implement vehicle direction control by controlling front wheel steering, such as Lane Keeping Assist (LKA), and other functions implement vehicle direction control by controlling rear wheel steering, such as a rear wheel active steering function.
In practical applications, the driving assistance function may be triggered manually by the driver or automatically under special conditions. If the assistant driving function for controlling the front wheels is triggered and the assistant driving function for controlling the rear wheels is triggered at the same time, a collision may occur, so that the steering of the vehicle is out of control, and a traffic accident may be caused.
For example, the steering angle of the rear wheels may be controlled based on the front wheel steering during the running of the vehicle. After the LKA function is activated, if the rear-wheel active steering function is simultaneously activated, it may cause the LKA function and the rear-wheel steering function to both cause a conflict based on the front-wheel steering control.
How to avoid the conflict that LKA and rear wheel steering are all based on front wheel steering control is the technical problem that this application will solve.
Disclosure of Invention
The embodiment of the application aims to provide a method and a device for assisting a vehicle to run, which are used for solving the problem of control conflict between front wheels and rear wheels in driving assistance.
In a first aspect, a method of assisting a vehicle in traveling is provided, comprising:
receiving a lane keeping assistance LKA request triggered by an Advanced Driving Assistance System (ADAS) of a vehicle;
acquiring a rear wheel steering angle and a rear wheel steering state of the vehicle, wherein the rear wheel steering state is used for representing whether the rear wheel steering angle of the vehicle is fixed or not;
if the rear wheel steering state represents that the rear wheel steering angle of the vehicle is fixed, generating an LKA function execution instruction according to the rear wheel steering angle, wherein the LKA function execution instruction is used for indicating the ADAS to control the front wheels of the vehicle to execute steering;
and sending the LKA function execution instruction to an ADAS to instruct the ADAS to control the vehicle to run.
In a second aspect, there is provided a vehicle steering control apparatus comprising:
the system comprises a receiving module, a judging module and a judging module, wherein the receiving module is used for receiving a lane keeping auxiliary LKA request triggered by an advanced driving auxiliary system ADAS of a vehicle;
the acquisition module is used for acquiring a rear wheel steering angle and a rear wheel steering state of the vehicle, wherein the rear wheel steering state is used for representing whether the rear wheel steering angle of the vehicle is fixed or not;
the generating module is used for generating an LKA function executing instruction according to the rear wheel steering angle if the rear wheel steering state represents that the rear wheel steering angle of the vehicle is fixed, wherein the LKA function executing instruction is used for indicating the ADAS to control the front wheels of the vehicle to execute steering;
and the sending module is used for sending the LKA function execution instruction to the ADAS so as to instruct the ADAS to control the vehicle to run.
In a third aspect, an electronic device is provided, comprising a processor, a memory and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of the method according to the first aspect.
In a fourth aspect, a computer-readable storage medium is provided, on which a computer program is stored, which computer program, when being executed by a processor, realizes the steps of the method as in the first aspect.
In the embodiment of the application, a lane keeping assistance LKA request triggered by an advanced driving assistance system ADAS of a vehicle is received; acquiring a rear wheel steering angle and a rear wheel steering state of a vehicle; if the rear wheel steering state represents that the rear wheel steering angle of the vehicle is fixed, generating an LKA function execution instruction according to the rear wheel steering angle, wherein the LKA function execution instruction is used for indicating the ADAS to control the front wheels of the vehicle to execute steering; and sending an LKA function execution instruction to the ADAS to instruct the ADAS to control the vehicle to run. According to the scheme, before the LKA function is executed, the steering angle and the steering state of the rear wheel are obtained firstly, the ADAS is indicated to execute the required function under the condition that the steering angle of the rear wheel is determined to be fixed, and the situation that the vehicle LKA and the rear wheel are in conflict due to the fact that steering of the front wheel is controlled is effectively avoided, so that the driving safety of the vehicle is improved. .
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic flow chart of a method for assisting a vehicle in traveling according to an embodiment of the present invention.
Fig. 2 is a second schematic flow chart of a method for assisting a vehicle in driving according to an embodiment of the present invention.
Fig. 3 is a third schematic flow chart of a method for assisting a vehicle in running according to an embodiment of the present invention.
Fig. 4 is a fourth flowchart of a method for assisting a vehicle in traveling according to an embodiment of the present invention.
Fig. 5 is a fifth flowchart illustrating a method for assisting a vehicle in traveling according to an embodiment of the present invention.
Fig. 6 is a sixth flowchart of a method for assisting a vehicle in traveling according to an embodiment of the present invention.
Fig. 7 is a seventh schematic flow chart of a method for assisting a vehicle in running according to an embodiment of the present invention.
Fig. 8 is an eighth schematic flow chart of a method for assisting a vehicle in traveling according to an embodiment of the present invention.
Fig. 9 is a schematic structural diagram of an apparatus for assisting vehicle travel according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. The reference numbers in the present application are only used for distinguishing the steps in the scheme and are not used for limiting the execution sequence of the steps, and the specific execution sequence is described in the specification.
In order to solve the problems in the prior art, an embodiment of the present application provides a method for assisting a vehicle to run, where an execution subject may be a chassis domain controller, as shown in fig. 1, and the method includes:
s11: a lane keeping assist LKA request triggered by an Advanced Driver Assistance System (ADAS) of a vehicle is received.
Lane Keeping Assist (LKA) is a driving assistance function, and in the present embodiment, the LKA function is provided by ADAS. Specifically, the ADAS identifies the position of the vehicle relative to the lane according to the environmental information of the vehicle, and assists to control the vehicle to run in the current lane by controlling the front wheel of the vehicle to adjust the running direction, so as to avoid pressing lane lines and improve the running safety of the vehicle. Furthermore, the current vehicle speed working condition information can be combined for calculation, and the front wheel steering is controlled to assist the vehicle to keep running in the lane.
The LKA request in this step is generated by the ADAS prior to performing the LKA function, which may be actively triggered by the driver or crew through physical or virtual buttons, voice, gesture, or other forms of instructions.
The scheme provided by the embodiment of the application is executed by a chassis domain controller, and the chassis domain controller is in communication connection with the ADAS and is used for receiving the LKA request sent by the ADAS and sending an LKA function execution instruction to the ADAS based on the communication connection after determining that the LKA and the rear wheel steering do not generate control conflict, so as to instruct the ADAS to execute the LKA function and assist in controlling the vehicle to run.
S12: and acquiring a rear wheel steering angle and a rear wheel steering state of the vehicle, wherein the rear wheel steering state is used for representing whether the rear wheel steering angle of the vehicle is fixed or not.
The vehicle has the rear wheel steering function, the rear wheel steering function is through controlling rear wheel steering angle under different operating mode conditions, and with the cooperation work of front wheel steering, the turning radius can be reduced to the front and rear wheels reverse steering during low-speed, the front and rear wheels syntropy turns to can improve vehicle driving stability during high-speed, improves and drives the impression. In practical application, passive steering can be realized through a mechanical structure, and active steering can also be realized through a motor or hydraulic power.
The chassis area controller may acquire the rear wheel steering angle and the rear wheel steering state through a sensor provided at the rear wheel, or the chassis area controller may acquire the rear wheel steering angle and the rear wheel steering state through a control system connected to the rear wheel. For example, the chassis domain controller may be communicatively coupled to a rear wheel steering actuator, which may be coupled to the rear wheel and used to control the rear wheel steering angle and steering state. The chassis domain controller may obtain the rear wheel steering angle and the rear wheel steering state fed back by the rear wheel steering actuator by sending a request to the rear wheel steering actuator.
S13: and if the rear wheel steering state represents that the rear wheel steering angle of the vehicle is fixed, generating an LKA function execution instruction according to the rear wheel steering angle, wherein the LKA function execution instruction is used for indicating the ADAS to control the front wheels of the vehicle to execute steering.
If the rear wheel steering angle is fixed, the driving direction of the vehicle can be accurately controlled by controlling the front wheel steering mode, and the conditions that the vehicle presses the line and deviates from the lane due to the change of the rear wheel steering angle in the turning process are avoided. In this step, an LKA function execution instruction is generated according to the rear wheel steering angle under the condition that the rear wheel steering angle of the vehicle is fixed, the LKA function execution instruction can be used for activating an LKA function of the ADAS, the ADAS controls the front wheels of the vehicle to execute steering according to the steering angle of the rear wheels, the vehicle running path can be controlled more accurately, and the control of the vehicle to run in the lane where the vehicle is located is facilitated.
S14: and sending the LKA function execution instruction to an ADAS to instruct the ADAS to control the vehicle to run.
According to the scheme provided by the embodiment of the application, before the LKA function is executed, the turning angle and the state of the rear wheel are obtained, the ADAS is indicated to execute the LKA function after the angle is ensured to be fixed, the conflict caused by the fact that both the LKA and the rear wheel are controlled based on the front wheel steering is avoided, and the safety is improved. Moreover, since the steering angle of the rear wheels of the vehicle is fixed, the ADAS can accurately control the running track of the vehicle by controlling the steering of the front wheels. In the turning process, the vehicle can be prevented from deviating from the lane due to the change of the rear wheel steering angle, so that the driving safety is effectively improved.
Based on the solution provided by the foregoing embodiment, as shown in fig. 2, before the foregoing step S12, optionally, the method further includes:
s21: and sending a transverse control request to an electronic power steering system (EPS) of the vehicle, wherein the transverse control request is used for indicating the EPS to feed back the running state information of the EPS and indicating the EPS to control the front wheels of the vehicle to steer according to a transverse control instruction sent by the ADAS.
The LKA function may be specifically implemented by sending a lateral control instruction to the EPS through the ADAS, and the EPS may control front wheels of the vehicle to steer according to the received lateral control instruction, so as to adjust a form route of the vehicle. In the embodiment of the application, before executing the LKA function, a lateral control request is sent to the EPS, where the lateral control request indicates that the EPS feeds back operation state information, where the operation state information may specifically include information indicating whether the EPS operates normally, and may further include an operation parameter, a mode, an executable instruction, a triggerable function, and the like of the EPS, and the operation state information is used to indicate whether the EPS can perform steering control on front wheels of a vehicle according to an instruction of the ADAS.
Wherein, acquire rear wheel steering angle and rear wheel steering state of the vehicle includes:
s22: and if the running state information representing that the EPS runs normally is received, acquiring the rear wheel steering angle and the rear wheel steering state of the vehicle.
And the chassis domain controller analyzes and determines the running state of the EPS according to the received running state information, if the EPS runs normally, the EPS can execute steering control on the front wheels of the vehicle according to the ADAS instruction, and then the chassis domain controller acquires the rear wheel steering angle and the rear wheel steering state of the vehicle so as to indicate the ADAS to accurately control the running direction of the vehicle according to the steering angle of the rear wheels.
According to the scheme provided by the embodiment of the application, before the LKA function is executed, the running state information of the EPS is acquired. And under the condition that the EPS is determined to normally operate, acquiring the rear wheel steering angle and the rear wheel steering state of the vehicle, and avoiding the condition that the EPS can not be normally executed after the ADAS generates the transverse control command.
Based on the solution provided by the foregoing embodiment, as shown in fig. 3, before the foregoing step S12, optionally, the method further includes:
s31: and sending a steering reset instruction to a rear wheel steering actuator, wherein the steering reset instruction is used for indicating the rear wheel steering actuator to control the rear wheel of the vehicle to reset and fix the steering angle of the reset rear wheel.
Before the LKA function is executed, the rear wheel is controlled to return to the original position in a mode of sending a steering reset instruction to the rear wheel steering actuator. Specifically, the rear wheel steering actuator performs resetting of the rear wheel steering angle, such as returning to the 0 position, according to the steering reset command, and fixes the reset rear wheel steering angle. The situation that the vehicle deviates from the lane due to the fact that the rear wheels deflect in the process of executing the LKA function is avoided.
Wherein, the step S12 includes:
s32: and determining the rear wheel steering angle and the rear wheel steering state of the vehicle according to the information fed back by the rear wheel steering actuator.
The information fed back by the rear wheel steering actuator may include information related to execution of the reset command, for example, whether the reset command is successful, the steering angle of the reset rear wheel, whether the steering angle of the reset rear wheel is fixed, and the like. In the step, the rear wheel steering angle and the rear wheel steering state of the vehicle are determined according to the information fed back by the rear wheel steering actuator, the state of the rear wheel of the vehicle can be determined before the LKA function is executed, the accuracy of controlling the vehicle by the LKA command can be improved, and the condition that the driving direction of the vehicle is out of control due to the deflection of the rear wheel in the process of executing the LKA function is avoided.
Based on the solution provided by the foregoing embodiment, optionally, as shown in fig. 4, the foregoing step S32 includes:
s41: and if the received information fed back by the rear wheel steering actuator comprises a first steering angle and a rear wheel steering state representing that the rear wheel steering angle of the vehicle is fixed, determining that the rear wheel steering angle of the vehicle is the first steering angle and the rear wheel steering state is a fixed state.
The rear wheel steering actuator can generate different information to be fed back to the chassis domain controller according to the result of whether the steering reset instruction is successfully executed. For example, when the rear wheel steering actuator fails to execute the steering reset command, that is, the rear wheel cannot be reset correctly and is fixed at a certain steering angle, the steering angle of the fixed rear wheel is used as the first steering angle, information including the first steering angle is generated and fed back to the chassis domain controller, and the fed-back information is also used for representing that the steering angle of the rear wheel of the vehicle is fixed.
And after receiving the information fed back by the rear wheel steering actuator, the chassis domain controller analyzes the received information. And if the information obtained by analysis contains the first steering angle and the rear wheel is in a fixed state, determining that the rear wheel is fixed at the first steering angle.
In step S13, the generating an LKA function execution instruction according to the rear wheel steering angle includes:
s42: and generating an LKA function execution instruction carrying the first steering angle, wherein the LKA function execution instruction carrying the first steering angle is used for instructing the ADAS to control the front wheels of the vehicle to execute steering according to the rear wheels at the first steering angle.
After determining that the rear wheel of the vehicle is fixed at the first steering angle, an LKA function execution command including the first steering angle is generated. The LKA function execution instruction can be used for activating the ADAS to execute the LKA function, and the front wheels of the vehicle are accurately controlled to execute steering according to the first steering angle of the rear wheels, so that the driving track of the vehicle is accurately controlled, and the condition that the vehicle presses a line when the vehicle is turned is avoided.
Based on the solution provided by the foregoing embodiment, optionally, as shown in fig. 5, the foregoing step S32 includes:
s51: and if the received information fed back by the rear wheel steering actuator comprises a rear wheel steering state which represents that the rear wheel steering angle of the vehicle is fixed and does not comprise the steering angle, determining that the rear wheel steering angle of the vehicle is the reset steering angle and the rear wheel steering state is a fixed state.
When the rear wheel steering actuator successfully executes the steering reset instruction, the rear wheel correctly executes reset and is fixed in the reset angle state, at the moment, the rear wheel steering actuator can generate information which does not contain the steering angle and feeds the information back to the chassis domain controller, and the fed-back information is used for representing that the rear wheel of the vehicle successfully executes reset and the steering angle is fixed.
And after receiving the information fed back by the rear wheel steering actuator, the chassis domain controller analyzes the received information. And if the information obtained by analysis does not contain the steering angle and the rear wheel is in a fixed state, determining that the rear wheel is reset and is fixed at the reset angle.
In step S13, the generating an LKA function execution instruction according to the rear wheel steering angle includes:
s52: and generating an LKA function execution instruction representing the success of the rear wheel steering reset, wherein the LKA function execution instruction representing the success of the rear wheel steering reset is used for indicating the ADAS to control the front wheels of the vehicle to execute steering according to the rear wheels at the steering angle after reset.
And generating an LKA function execution instruction representing that the rear wheel steering is successfully reset after the rear wheel of the vehicle is fixed at the reset angle. The LKA function execution instruction can be used for activating the ADAS to execute the LKA function, and the front wheels of the vehicle are accurately controlled to execute steering according to the reset rear wheels, so that the running track of the vehicle is accurately controlled, and the condition that the vehicle presses a line when the vehicle is turned is avoided.
The present solution is further described below with reference to examples. In this embodiment, as shown in fig. 6, the chassis domain controller may also be referred to as an arbitration module, and is configured to determine whether to allow the ADAS to perform the LKA function. In the scheme, when the ADAS sends a transverse control mode request to the chassis domain controller, the chassis domain controller sends a request that the rear wheel steering angle slowly returns to zero at a certain slope to the rear wheel steering actuator, and the steering angle of the rear wheel and whether the steering is inhibited or not are obtained. After determining that the rear wheels have been secured, the chassis domain controller may send LKA function execution instructions to the ADAS to instruct the ADAS to activate the LKA function. If the rear wheel is successfully reset and in the inhibition state, the LKA can enter the activation control. If the steering angle of the rear wheels cannot return to the zero position, the self-locking is carried out at a fixed known angle, the LKA can be activated, and if the steering angle of the rear wheels is unknown, the chassis domain controller prohibits the ADAS from activating the LKA function, so that the driving safety of the vehicle is guaranteed.
The system comprises an environment information acquisition module, an EPS module, an ALKA function and an ADAS, wherein the ALKA function can be specifically realized by the ADAS, the ADAS generates a transverse control instruction according to environment information acquired by the environment information acquisition module within a period of time, and then the transverse control instruction is sent to the EPS so as to control front wheels of a vehicle to execute steering.
Based on the solutions provided in the foregoing embodiments, optionally, the LKA function execution instruction is configured to instruct the ADAS to send a lateral control instruction to the EPS according to a steering angle at which a rear wheel of the vehicle is located, where the lateral control instruction includes a torque control instruction and/or a steering angle control instruction for controlling a front wheel of the vehicle to perform steering.
In the embodiment, the ADAS generates the transverse control command according to the steering angle of the rear wheel, so that the running track of the vehicle is more accurately controlled, and the conditions that the vehicle presses a line and deviates from the lane can be effectively avoided when the vehicle is controlled to turn.
The transverse control command can comprise a torque control command and/or a steering angle control command which are used for controlling the front wheels of the vehicle to perform steering. The transverse control instruction can be generated by the ADAS according to the collected environmental information, and the vehicle can be effectively controlled to run in the lane by the transverse control instruction, so that the condition of pressing the line or deviating the lane is avoided. In addition, the rear wheels are already in a fixed state, so that the situation that the rear part of the vehicle is pressed due to the change of the angle of the rear wheels during the running of the vehicle can be avoided.
Based on the solution provided by the foregoing embodiment, as shown in fig. 7, after the foregoing step S21, optionally, the method further includes:
s71: and if EPS feedback information representing EPS abnormity is received, an LKA control command is sent to the ADAS according to the EPS feedback information, and the LKA control command is used for forbidding the ADAS to control the vehicle to run.
The EPS feedback information indicating the EPS abnormality may specifically include error reporting information of the EPS, and if the EPS cannot acquire a corner where the rear wheel is located or cannot fix the corner of the rear wheel after receiving the lateral control request, the error reporting information is generated and sent to the chassis domain controller. The EPS feedback information representing the EPS abnormality may also include incomplete EPS feedback information, for example, if the EPS feedback information received by the chassis domain controller is incomplete and cannot be analyzed, it is determined that the EPS feedback information represents the EPS abnormality.
According to the scheme provided by the embodiment of the application, the ADAS is forbidden to activate the LKA function when the rear wheels of the vehicle cannot be fixed and the angle of the rear wheels of the vehicle cannot be acquired, the situation that the vehicle presses a line or deviates from a current lane possibly caused by the fact that the LKA function is executed under the condition that the rear wheels are not controlled is avoided, and the driving safety of the vehicle is effectively guaranteed.
The present solution is further explained based on an example with reference to fig. 8.
When a user triggers an LKA function, an ADAS controller sends a transverse control mode request to a chassis domain controller, and after the chassis domain controller receives the request from the ADAS, the chassis domain controller suppresses the rear wheel steering function of a rear wheel steering actuator and sends the transverse control mode request to an EPS.
When the EPS receives a transverse control mode request sent by the chassis domain controller, if the EPS is failure-free and the rear wheel steering function is inhibited, the EPS is fed back to enter a transverse control mode to the chassis domain controller, and the EPS is characterized to execute an LKA function according to a transverse control instruction sent by the ADAS.
If the EPS is determined to be in a normal state, a rear wheel steering angle slowly returning to a zero position with a certain slope can be sent to the rear wheel steering actuator by the chassis domain controller, and the rear wheel steering actuator controls the rear wheel steering angle to slowly return to the zero position with a certain slope. And when the rear wheel steering angle returns to a zero state and is restrained, the rear wheel steering actuator feeds back a rear wheel restraining state signal to the chassis domain controller.
And after the chassis domain controller receives the steering angle return zero position of the rear wheel steering actuator and inhibits the rear wheel steering function and the EPS controller from entering a transverse control mode, the chassis domain controller feeds back a chassis transverse control mode OK to the ADAS controller for indicating the ADAS to activate the LKA function.
And after receiving the chassis entering a transverse control mode ok, the ADAS controller generates and sends a torque and/or corner control request instruction to the EPS, and the EPS performs target superposed torque or corner execution, so that the vehicle is assisted to run in a lane, and the LKA function is realized.
And then, after the LKA function exits, the chassis domain controller cancels the inhibition of the backward rotation function and is in a normal state, and the steering angle command sent by the chassis domain controller can be executed.
Wherein, when the rear wheel is reset or fixed and can not be normally executed, the following logic can be executed:
if the rear wheel steering cannot return to the zero position, but the current steering angle is self-locked at a known angle, the rear wheel steering actuator sends the current rear wheel steering angle value to the chassis domain controller, the chassis domain controller inhibits the rear steering function and sends the current rear wheel steering angle value to the ADAS rear steering fault state, the ADAS carries out EPS control on the basis of a vehicle motion model of which the rear wheel steering is fixed at a certain angle, and at the moment, the LKA can still be activated.
If the rear wheel steering cannot return to the zero position and the current corner is in an unknown position, the rear wheel steering actuator sends a fault state to the chassis domain controller, the chassis domain controller fuses the EPS and rear wheel steering states and feeds the fault state back to the ADAS controller, and at the moment, the LKA function cannot enter the activation.
The scheme provided by the invention can avoid conflict caused by the fact that both the LKA and the rear wheel steering are based on front wheel steering control, can more accurately control the form track of the vehicle, avoids the conditions of line pressing and lane deviation when the vehicle executes the LKA function, and ensures that the LKA function is not influenced by the rear wheel steering function. In the event of a failure of the rear wheel steering to self-lock at a known angle, the LKA function may still be activated based on the rear wheel not being properly reset but having a fixed angle. And when the LKA function is quitted, the rear wheel can be steered to play a role in improving the vehicle performance.
In order to solve the problems in the prior art, the embodiment of the present application further provides a vehicle steering control device 90, as shown in fig. 9, the device including:
a receiving module 91, configured to receive a lane keeping assist LKA request triggered by an advanced driving assist system ADAS of a vehicle;
the obtaining module 92 obtains a rear wheel steering angle and a rear wheel steering state of the vehicle, wherein the rear wheel steering state is used for representing whether the rear wheel steering angle of the vehicle is fixed or not;
a generating module 93, configured to generate an LKA function execution instruction according to the rear wheel steering angle if the rear wheel steering state indicates that the rear wheel steering angle of the vehicle is fixed, where the LKA function execution instruction is used to instruct the ADAS to control a front wheel of the vehicle to perform steering;
a sending module 94, configured to send the LKA function execution instruction to the ADAS to instruct the ADAS to control the vehicle to run.
The lane keeping assisting method comprises the steps that a lane keeping assisting LKA request triggered by an advanced driving assisting system ADAS of a vehicle is received through the device provided by the embodiment of the application; acquiring a rear wheel steering angle and a rear wheel steering state of a vehicle; if the rear wheel steering state represents that the rear wheel steering angle of the vehicle is fixed, generating an LKA function execution instruction according to the rear wheel steering angle, wherein the LKA function execution instruction is used for indicating the ADAS to control the front wheels of the vehicle to execute steering; and sending an LKA function execution instruction to the ADAS to instruct the ADAS to control the vehicle to run. According to the scheme, before the LKA function is executed, the steering angle and the steering state of the rear wheel are obtained, the ADAS is indicated to execute the required function under the condition that the steering angle of the rear wheel is determined to be fixed, control conflict between the LKA and the rear wheel in the auxiliary driving process is effectively avoided, and therefore vehicle driving safety is improved.
Preferably, an embodiment of the present invention further provides an electronic device, which includes a processor, a memory, and a computer program stored in the memory and capable of running on the processor, where the computer program, when executed by the processor, implements each process of the above-mentioned method for assisting a vehicle to travel, and can achieve the same technical effect, and in order to avoid repetition, details are not described here again.
The embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the computer program implements each process of the above-mentioned method for assisting a vehicle to travel, and can achieve the same technical effect, and in order to avoid repetition, the detailed description is omitted here. The computer-readable storage medium may be a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. A method of assisting a vehicle in traveling, comprising:
receiving a lane keeping assistance LKA request triggered by an Advanced Driving Assistance System (ADAS) of a vehicle;
acquiring a rear wheel steering angle and a rear wheel steering state of the vehicle, wherein the rear wheel steering state is used for representing whether the rear wheel steering angle of the vehicle is fixed or not;
if the rear wheel steering state represents that the rear wheel steering angle of the vehicle is fixed, generating an LKA function execution instruction according to the rear wheel steering angle, wherein the LKA function execution instruction is used for indicating the ADAS to control the front wheels of the vehicle to execute steering;
and sending the LKA function execution instruction to an ADAS to instruct the ADAS to control the vehicle to run.
2. The method of claim 1, further comprising, prior to obtaining a rear wheel steering angle and a rear wheel steering state of the vehicle:
sending a transverse control request to an electronic power steering system (EPS) of the vehicle, wherein the transverse control request is used for indicating the EPS to feed back running state information of the EPS and indicating the EPS to control front wheels of the vehicle to steer according to a transverse control instruction sent by the ADAS;
wherein, acquire rear wheel steering angle and rear wheel steering state of the vehicle includes:
and if the running state information representing that the EPS runs normally is received, acquiring the rear wheel steering angle and the rear wheel steering state of the vehicle.
3. The method of claim 2, further comprising, prior to obtaining a rear wheel steering angle and a rear wheel steering state of the vehicle:
sending a steering reset instruction to a rear wheel steering actuator, wherein the steering reset instruction is used for indicating the rear wheel steering actuator to control the rear wheel of the vehicle to reset and fix the steering angle of the reset rear wheel;
wherein, acquire rear wheel steering angle and rear wheel steering state of the vehicle includes:
and determining the rear wheel steering angle and the rear wheel steering state of the vehicle according to the information fed back by the rear wheel steering actuator.
4. The method of claim 3, wherein determining a rear-wheel steering angle and a rear-wheel steering state of the vehicle based on information fed back by the rear-wheel steering actuator comprises:
if the received information fed back by the rear wheel steering actuator comprises a first steering angle and a rear wheel steering state representing that the rear wheel steering angle of the vehicle is fixed, determining that the rear wheel steering angle of the vehicle is the first steering angle and the rear wheel steering state is a fixed state;
generating an LKA function execution instruction according to the rear wheel steering angle, wherein the LKA function execution instruction comprises the following steps:
and generating an LKA function execution instruction carrying the first steering angle, wherein the LKA function execution instruction carrying the first steering angle is used for instructing the ADAS to control the front wheels of the vehicle to execute steering according to the rear wheels at the first steering angle.
5. The method of claim 3, wherein determining a rear-wheel steering angle and a rear-wheel steering state of the vehicle based on information fed back by the rear-wheel steering actuator comprises:
if the received information fed back by the rear wheel steering actuator comprises a rear wheel steering state representing that the rear wheel steering angle of the vehicle is fixed and does not comprise a steering angle, determining that the rear wheel steering angle of the vehicle is a reset steering angle and the rear wheel steering state is a fixed state;
generating an LKA function execution instruction according to the rear wheel steering angle, wherein the LKA function execution instruction comprises the following steps:
and generating an LKA function execution instruction representing the success of the rear wheel steering reset, wherein the LKA function execution instruction representing the success of the rear wheel steering reset is used for indicating the ADAS to control the front wheels of the vehicle to execute steering according to the rear wheels at the steering angle after reset.
6. A method according to any of claims 2 to 5, wherein the LKA function execution command is configured to instruct the ADAS to send a lateral control command to the EPS according to a steering angle of a rear wheel of the vehicle, the lateral control command comprising a torque control command and/or a steering angle control command for controlling a front wheel of the vehicle to perform steering.
7. A method according to any of claims 2-5, further comprising, after sending a lateral control request to an electronic power steering system (EPS) of the vehicle:
and if EPS feedback information representing EPS abnormity is received, an LKA control command is sent to the ADAS according to the EPS feedback information, and the LKA control command is used for forbidding the ADAS to control the vehicle to run.
8. A vehicle steering control apparatus, characterized by comprising:
the system comprises a receiving module, a judging module and a judging module, wherein the receiving module is used for receiving a lane keeping auxiliary LKA request triggered by an advanced driving auxiliary system ADAS of a vehicle;
the acquisition module is used for acquiring a rear wheel steering angle and a rear wheel steering state of the vehicle, wherein the rear wheel steering state is used for representing whether the rear wheel steering angle of the vehicle is fixed or not;
the generating module is used for generating an LKA function executing instruction according to the rear wheel steering angle if the rear wheel steering state represents that the rear wheel steering angle of the vehicle is fixed, wherein the LKA function executing instruction is used for indicating the ADAS to control the front wheels of the vehicle to execute steering;
and the sending module is used for sending the LKA function execution instruction to the ADAS so as to instruct the ADAS to control the vehicle to run.
9. An electronic device, comprising: memory, processor and computer program stored on the memory and executable on the processor, which computer program, when executed by the processor, carries out the steps of the method according to any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, which computer program, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
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| CN202111007765.4A CN113581176A (en) | 2021-08-30 | 2021-08-30 | Method and device for assisting vehicle in running |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111007765.4A CN113581176A (en) | 2021-08-30 | 2021-08-30 | Method and device for assisting vehicle in running |
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| CN202111007765.4A Pending CN113581176A (en) | 2021-08-30 | 2021-08-30 | Method and device for assisting vehicle in running |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116062030A (en) * | 2023-03-23 | 2023-05-05 | 中国第一汽车股份有限公司 | Rear wheel steering control system, method, electronic equipment and storage medium |
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