CN114248830A - Vehicle steering control method and device and vehicle - Google Patents

Vehicle steering control method and device and vehicle Download PDF

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Publication number
CN114248830A
CN114248830A CN202011004877.XA CN202011004877A CN114248830A CN 114248830 A CN114248830 A CN 114248830A CN 202011004877 A CN202011004877 A CN 202011004877A CN 114248830 A CN114248830 A CN 114248830A
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steering
target
vehicle
steering angle
target steering
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CN114248830B (en
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曹书源
唐玉晓
靳荣
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Hebei Leisa Heavy Construction Machinery Co ltd
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Hebei Leisa Heavy Construction Machinery Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/02—Power-assisted or power-driven steering mechanical, e.g. using a power-take-off mechanism for taking power from a rotating shaft of the vehicle and applying it to the steering gear
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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

Abstract

The disclosure relates to a steering control method and device of a vehicle and the vehicle, wherein the method comprises the following steps: when the mode control signal is acquired, acquiring current vehicle information of the vehicle, determining whether the vehicle meets a preset mode control condition according to the vehicle information, if the vehicle meets the mode control condition, setting the vehicle to be a target steering mode, if a steering wheel rotates, acquiring a first target steering angle of a mechanical steering shaft, determining a second target steering angle and a target rotating direction of an electric control steering shaft according to the target steering mode and the first target steering angle, and controlling the electric control steering shaft to rotate to the second target steering angle according to the target rotating direction. According to the electric control steering device, different target steering modes are selected through the mode control signal, and the rotation of the electric control steering shaft is adjusted according to the different target steering modes, so that the steering requirements under different driving scenes can be met, and the passability and the control flexibility of a vehicle are improved.

Description

Vehicle steering control method and device and vehicle
Technical Field
The disclosure relates to the technical field of vehicle control, in particular to a steering control method and device of a vehicle and the vehicle.
Background
With the continuous development of engineering machinery, engineering vehicles have been widely used in the engineering field. With the increasing volume and weight of engineering vehicles, the number of axles of the whole vehicle is also increasing, and at the moment, in order to improve the passability of the vehicle and enable the vehicle to run in a narrow space, the demands on multi-wheel electric control steering and all-wheel steering technologies are increasingly strong. In the related art, the multi-axis steering is mainly controlled through an electro-hydraulic proportional steering technology. However, a user may face a plurality of different driving scenarios in the process of driving a vehicle, the requirement for the minimum steering radius of the vehicle is different in each driving scenario, and the current multi-axis electronically controlled steering system can only steer the vehicle with a fixed minimum steering radius, so that the adaptability to different driving scenarios is poor, the passability of the vehicle is affected, and the flexibility of vehicle control is low.
Disclosure of Invention
In order to solve the problems in the related art, the present disclosure provides a steering control method and apparatus for a vehicle, and a vehicle.
In order to achieve the above object, according to a first aspect of embodiments of the present disclosure, there is provided a steering control method of a vehicle including a mechanical steering shaft and an electrically controlled steering shaft located in a first direction of the mechanical steering shaft, the mechanical steering shaft being a steering shaft of front wheels of the vehicle controlled by a steering wheel of the vehicle, the electrically controlled steering shaft being a steering shaft of rear wheels of the vehicle controlled by a motor of the vehicle, the first direction being a direction pointing from a head of the vehicle to a tail of the vehicle, the method including:
when a mode control signal is acquired, acquiring current vehicle information of the vehicle, and determining whether the vehicle meets a preset mode control condition according to the vehicle information; the mode control signal comprises a target steering mode, and the vehicle information comprises the vehicle speed of the vehicle, the steering angle of the mechanical steering shaft and the steering angle of the electric control steering shaft;
if the vehicle meets the mode control condition, setting the vehicle as the target steering mode;
if the steering wheel rotates, a first target steering angle of the mechanical steering shaft is obtained, and a second target steering angle and a target rotating direction of the electric control steering shaft are determined according to the target steering mode and the first target steering angle;
and controlling the electric control steering shaft to rotate to the second target steering angle according to the target rotating direction.
Optionally, the determining whether the vehicle meets a preset mode control condition according to the vehicle information includes:
and if the vehicle speed is less than or equal to a preset speed threshold value, and the steering angle of the mechanical steering shaft and the steering angle of the electric control steering shaft are both less than or equal to a preset angle threshold value, determining that the vehicle meets the mode control condition.
Optionally, the determining a second target steering angle and a target rotation direction of the electronically controlled steering shaft according to the target steering mode and the first target steering angle includes:
and determining the second target steering angle and the target rotating direction by utilizing a corner formula corresponding to the target steering mode according to the first target steering angle.
Optionally, the determining, by using a steering angle formula corresponding to the target steering mode according to the first target steering angle, the second target steering angle and the target rotating direction includes:
determining the target rotation direction and each second target steering angle by using a steering angle formula corresponding to the common steering mode according to the vehicle speed and the first target steering angle;
the rotation angle formula corresponding to the ordinary steering mode comprises the following steps:
Figure BDA0002695556200000021
where θ is the first target steering angle, δiIs a plurality ofAn ith second target steering angle, A, of the second target steering anglesiA first constant corresponding to the ith second target steering angle, i is an integer greater than 0, v1Is said vehicle speed, v2A first vehicle speed threshold;
if the second target steering angle is greater than or equal to 0, determining that the direction of the second target steering angle is the same as that of the first target steering angle;
and if the second target steering angle is smaller than 0, determining that the direction of the second target steering angle is opposite to that of the first target steering angle.
Optionally, the determining, by using a steering angle formula corresponding to the target steering mode according to the first target steering angle when the target steering mode is the limit steering mode, the second target steering angle and the target rotating direction includes:
determining the target rotation direction and each second target steering angle by using a steering angle formula corresponding to the limit steering mode according to the first target steering angle;
the corner formula corresponding to the limit steering mode comprises:
Figure BDA0002695556200000031
where θ is the first target steering angle, δiFor the ith second target steering angle, B, of a plurality of said second target steering anglesiA second constant corresponding to the ith second target steering angle, i being an integer greater than 0;
if the second target steering angle is greater than or equal to 0, determining that the direction of the second target steering angle is the same as that of the first target steering angle;
and if the second target steering angle is smaller than 0, determining that the direction of the second target steering angle is opposite to that of the first target steering angle.
Optionally, the second target steering angle is plural, and in a case where the target steering mode is the same steering mode, after the setting of the vehicle to the target steering mode, the method further includes:
controlling the vehicle speed to be less than or equal to a second vehicle speed threshold value;
the determining a second target steering angle and a target rotation direction of the electronically controlled steering shaft according to the target steering mode and the first target steering angle includes:
determining the target rotation direction and each second target steering angle by using a steering angle formula corresponding to the same steering mode according to the first target steering angle;
the rotation angle formula corresponding to the same steering mode comprises the following steps:
δi＝θ，
where θ is the first target steering angle, δiThe second target steering angle is the ith second target steering angle of the plurality of second target steering angles, and the direction of the second target steering angle is the same as that of the first target steering angle.
Optionally, the second target steering angle is plural, and in a case where the target steering mode is the no-yaw steering mode, after the setting of the vehicle to the target steering mode, the method further includes:
controlling the vehicle speed to be less than or equal to a third vehicle speed threshold value;
the determining a second target steering angle and a target rotation direction of the electronically controlled steering shaft according to the target steering mode and the first target steering angle includes:
determining the target rotation direction and each second target steering angle by using a corner formula corresponding to the swing-out-free steering mode according to the first target steering angle;
the corner formula corresponding to the no-swing steering mode comprises:
δi＝arctg(Ci×tgθ)，
where θ is the first target steering angle, δiFor the second of a plurality of said second target steering anglesi second target steering angles, CiAnd a third constant corresponding to the ith second target steering angle, wherein i is an integer greater than 0, and the direction of the second target steering angle is the same as that of the first target steering angle.
Optionally, a first steering button and a second steering button are disposed on the vehicle, the target steering mode further includes a double-control steering mode, and after the vehicle is set to the target steering mode, the method further includes:
if the target steering mode is the double-control steering mode, controlling the vehicle speed to be less than or equal to a fourth vehicle speed threshold value;
after the first steering button is pressed, controlling the electric control steering shaft to rotate clockwise until the first steering button is released; alternatively, the first and second electrodes may be,
and after the second steering button is pressed, controlling the electric control steering shaft to rotate in a counterclockwise direction until the second steering button is released.
According to a second aspect of the embodiments of the present disclosure, there is provided a steering control apparatus of a vehicle including a mechanical steering shaft and an electrically controlled steering shaft in a first direction of the mechanical steering shaft, the mechanical steering shaft being a steering shaft of front wheels of the vehicle controlled by a steering wheel of the vehicle, the electrically controlled steering shaft being a steering shaft of rear wheels of the vehicle controlled by a motor of the vehicle, the first direction being a direction pointing from a head of the vehicle to a tail of the vehicle, the apparatus comprising:
the judging module is used for acquiring the current vehicle information of the vehicle when the mode control signal is acquired, and determining whether the vehicle meets a preset mode control condition or not according to the vehicle information; the mode control signal comprises a target steering mode, and the vehicle information comprises the vehicle speed of the vehicle, the steering angle of the mechanical steering shaft and the steering angle of the electric control steering shaft;
a determination module configured to set the vehicle to the target steering mode if the vehicle satisfies the mode control condition;
the determining module is further configured to obtain a first target steering angle of the mechanical steering shaft if the steering wheel rotates, and determine a second target steering angle and a target rotating direction of the electrically controlled steering shaft according to the target steering mode and the first target steering angle;
and the control module is used for controlling the electric control steering shaft to rotate to the second target steering angle according to the target rotating direction.
Optionally, the determining module is configured to:
and if the vehicle speed is less than or equal to a preset speed threshold value, and the steering angle of the mechanical steering shaft and the steering angle of the electric control steering shaft are both less than or equal to a preset angle threshold value, determining that the vehicle meets the mode control condition.
Optionally, the target steering mode includes any one of a normal steering mode, a limit steering mode, a co-steering mode and a no-yaw steering mode, and the determining module is configured to:
and determining the second target steering angle and the target rotating direction by utilizing a corner formula corresponding to the target steering mode according to the first target steering angle.
Optionally, the second target steering angle is multiple, and in a case that the target steering mode is the normal steering mode, the determining module is configured to:
determining the target rotation direction and each second target steering angle by using a steering angle formula corresponding to the common steering mode according to the vehicle speed and the first target steering angle;
the rotation angle formula corresponding to the ordinary steering mode comprises the following steps:
Figure BDA0002695556200000051
where θ is the first target steering angle, δiFor the ith second target steering angle, A, of a plurality of said second target steering anglesiA first constant corresponding to the ith second target steering angle,i is an integer greater than 0, v1Is said vehicle speed, v2A first vehicle speed threshold;
if the second target steering angle is greater than or equal to 0, determining that the direction of the second target steering angle is the same as that of the first target steering angle;
and if the second target steering angle is smaller than 0, determining that the direction of the second target steering angle is opposite to that of the first target steering angle.
Optionally, the second target steering angle is plural, and in the case that the target steering mode is the extreme steering mode, the determining module is configured to:
determining the target rotation direction and each second target steering angle by using a steering angle formula corresponding to the limit steering mode according to the first target steering angle;
the corner formula corresponding to the limit steering mode comprises:
Figure BDA0002695556200000052
where θ is the first target steering angle, δiFor the ith second target steering angle, B, of a plurality of said second target steering anglesiA second constant corresponding to the ith second target steering angle, i being an integer greater than 0;
if the second target steering angle is greater than or equal to 0, determining that the direction of the second target steering angle is the same as that of the first target steering angle;
and if the second target steering angle is smaller than 0, determining that the direction of the second target steering angle is opposite to that of the first target steering angle.
Optionally, the second target steering angle is multiple, and in a case that the target steering mode is the same steering mode, the control module is further configured to:
controlling the vehicle speed to be less than or equal to a second vehicle speed threshold after the setting of the vehicle to the target steering mode;
the determination module is to:
determining the target rotation direction and each second target steering angle by using a steering angle formula corresponding to the same steering mode according to the first target steering angle;
the rotation angle formula corresponding to the same steering mode comprises the following steps:
δi＝θ，
where θ is the first target steering angle, δiThe second target steering angle is the ith second target steering angle of the plurality of second target steering angles, and the direction of the second target steering angle is the same as that of the first target steering angle.
Optionally, the second target steering angle is multiple, and in a case that the target steering mode is the no-yaw steering mode, the control module is further configured to:
controlling the vehicle speed to be less than or equal to a third vehicle speed threshold after the setting of the vehicle to the target steering mode;
the determination module is to:
determining the target rotation direction and each second target steering angle by using a corner formula corresponding to the swing-out-free steering mode according to the first target steering angle;
the corner formula corresponding to the no-swing steering mode comprises:
δi＝arctg(Ci×tgθ)，
where θ is the first target steering angle, δiFor the ith second target steering angle, C, of a plurality of said second target steering anglesiAnd a third constant corresponding to the ith second target steering angle, wherein i is an integer greater than 0, and the direction of the second target steering angle is the same as that of the first target steering angle.
Optionally, the vehicle is provided with a first steering button and a second steering button, the target steering mode further includes a dual-control steering mode, and the control module includes:
the first control sub-module is used for controlling the vehicle speed to be less than or equal to a fourth vehicle speed threshold value if the target steering mode is the double-control steering mode after the vehicle is set to be the target steering mode;
the second control submodule is used for controlling the electric control steering shaft to rotate clockwise after the first steering button is pressed until the first steering button is released; or, the electronic control steering shaft is controlled to rotate in the anticlockwise direction after the second steering button is pressed until the second steering button is released.
According to a third aspect of the embodiments of the present disclosure, there is provided a vehicle on which the steering control apparatus of the vehicle of the second aspect is provided.
According to the technical scheme, the method comprises the steps of firstly obtaining current vehicle information of a vehicle when a mode control signal is obtained, and determining whether the vehicle meets a preset mode control condition according to the vehicle information, wherein the mode control signal comprises a target steering mode, the vehicle information comprises the vehicle speed of the vehicle, the steering angle of a mechanical steering shaft and the steering angle of an electric control steering shaft, if the vehicle meets the mode control condition, the vehicle is set to be in the target steering mode, if a steering wheel rotates, a first target steering angle of the mechanical steering shaft is obtained, a second target steering angle and a target rotating direction of the electric control steering shaft are determined according to the target steering mode and the first target steering angle, and finally the electric control steering shaft is controlled to rotate to the second target steering angle according to the target rotating direction. According to the electric control steering device, different target steering modes are selected through the mode control signal, and the rotation of the electric control steering shaft is adjusted according to the different target steering modes, so that the steering requirements under different driving scenes can be met, and the passability and the control flexibility of a vehicle are improved.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
FIG. 1 is a flow chart illustrating a method of steering control of a vehicle according to an exemplary embodiment;
FIG. 2 is a schematic illustration of a preset center of steering for one steering mode, according to an exemplary embodiment;
FIG. 3 is a flow chart of one step 103 shown in the embodiment of FIG. 1;
FIG. 4 is a schematic illustration of vehicle speed versus a second target steering angle;
FIG. 5 is a flow chart illustrating another step 103 of the embodiment shown in FIG. 1;
FIG. 6 is a schematic illustration of a first target steering angle versus a second target steering angle, according to an exemplary embodiment;
FIG. 7 is a flow chart illustrating another method of steering control of a vehicle according to an exemplary embodiment;
FIG. 8 is a flow chart illustrating another method of steering control for a vehicle according to an exemplary embodiment;
FIG. 9 is a flow chart illustrating yet another method of steering control for a vehicle, according to an exemplary embodiment;
FIG. 10 is a schematic illustration of a preset center of steering for one mechanical steering mode, according to an exemplary embodiment;
FIG. 11 is a block diagram illustrating a steering control apparatus of a vehicle according to an exemplary embodiment;
FIG. 12 is a block diagram of a control module shown in the embodiment of FIG. 11;
FIG. 13 is a block diagram of a vehicle shown in accordance with an exemplary embodiment.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
Before describing the vehicle steering control method and device and the vehicle provided by the present disclosure, an application scenario related to various embodiments of the present disclosure is first described. The application scenario may include a vehicle provided with a controller, wherein the controller may collect vehicle information of the vehicle through various types of sensors (such as an angle sensor and a vehicle speed sensor), and the vehicle information may include, for example: the vehicle speed of the vehicle and the steering angle of the steering shaft. The controller may be a processor having a Control function, such as an MCU (micro controller Unit, chinese), an ECU (Electronic Control Unit, chinese), or a VCU (Vehicle Control Unit, chinese). The vehicle can be an automobile, and the automobile is not limited to a traditional automobile, a pure electric automobile or a hybrid automobile, and can also be other types of motor vehicles or non-motor vehicles.
FIG. 1 is a flow chart illustrating a method of steering control of a vehicle according to an exemplary embodiment. As shown in fig. 1, the vehicle includes a mechanical steering shaft that is a steering shaft of front wheels of the vehicle controlled by a steering wheel of the vehicle, and an electric steering shaft that is a steering shaft of rear wheels of the vehicle controlled by a motor of the vehicle, in a first direction from a head of the vehicle toward a tail of the vehicle. The front wheels of the vehicle can be a first number of front groups of wheels along a first direction from the head of the vehicle, each group of wheels in the first number of front groups of wheels comprises at least two front wheels of the vehicle, and the group of wheels is connected by a mechanical steering shaft. The vehicle rear wheels may be a second plurality of wheels in a first direction of a target wheel set (the target wheel set being a last plurality of vehicle front wheels in the first direction), each of the second plurality of wheels comprising at least two vehicle rear wheels, the plurality of wheels being connected by an electrically controlled steering shaft. For example, when the vehicle includes one mechanical steering shaft, and two electronically controlled steering shafts (i.e., the first number is 1 and the second number is 2), the 1 st set of wheels in the first direction are the front wheels of the vehicle, and the 2 nd and 3 rd sets of wheels are the rear wheels of the vehicle.
The method may comprise the steps of:
step 101, when the mode control signal is acquired, acquiring current vehicle information of the vehicle, and determining whether the vehicle meets a preset mode control condition according to the vehicle information.
The mode control signal comprises a target steering mode, and the vehicle information comprises the vehicle speed of the vehicle, the steering angle of the mechanical steering shaft and the steering angle of the electric control steering shaft.
For example, when a user drives a vehicle, the user may encounter various different driving scenarios (for example, the vehicle needs to steer in a narrow space, the vehicle needs to run obliquely forward, or the vehicle needs to avoid swinging, etc.), and may select one steering mode as a target steering mode to control an electronically controlled steering shaft from a plurality of preset steering modes (each steering mode may correspond to one corresponding driving scenario) according to the different driving scenarios to be faced, so as to adjust the minimum steering radius of the vehicle, so that the vehicle can cope with different driving scenarios, thereby improving the passability and the flexibility of control of the vehicle. For example, the user may set the steering mode of the vehicle by sending a mode control signal including the target steering mode to the controller. The mode control signal may be a mode control signal that is transmitted to the controller by setting a plurality of selection buttons corresponding to different steering modes on the vehicle, and when a user presses a certain selection button, the steering mode corresponding to the selection button is set as a target steering mode. Furthermore, the vehicle can be further provided with an enabling button, and a user can successfully select the target steering mode only by pressing the enabling button and a selection button corresponding to the steering mode to be set at the same time so as to trigger the mode control signal, and the selection button is independently operated without triggering the mode control signal.
When the controller acquires the mode control signal, in order to ensure that the steering mode of the vehicle can be safely set, the controller may acquire the current vehicle information of the vehicle and detect the current vehicle information so as to ensure that the steering mode of the vehicle is set in a running state with a low speed and a low steering angle. For example, a mode control condition may be set in the controller in advance, and after the vehicle information is acquired, it may be determined whether the vehicle satisfies the mode control condition according to the vehicle information. Wherein the mode control condition may be: if the vehicle speed is less than or equal to a preset speed threshold (the speed threshold may be 2km/h, for example), and the steering angle of the mechanical steering shaft and the steering angle of the electric steering shaft are both less than or equal to a preset angle threshold (the angle threshold may be 1 ° for example), it is determined that the vehicle satisfies the mode control condition, otherwise, it is determined that the vehicle does not satisfy the mode control condition.
And 102, if the vehicle meets the mode control condition, setting the vehicle as a target steering mode.
Further, if the vehicle satisfies the mode control condition, which indicates that the vehicle is currently in a low-speed and low-steering-angle driving state, the controller determines that the steering mode of the vehicle can be safely set, and sets the vehicle as the target steering mode. If the vehicle does not meet the mode control condition, which indicates that the vehicle is not in a running state with low speed and low steering angle currently, the controller determines that the steering mode of the vehicle cannot be safely set, and cannot set the vehicle to the target steering mode. The manner of sending the prompt information may be through displaying on a display interface of the vehicle, or through controlling an indicator light on the vehicle to flash according to a preset manner (for example, controlling the indicator light to flash according to a preset frequency and color), or through controlling a speaker on the vehicle to send a voice prompt, which is not limited in this disclosure.
Step 103, if the steering wheel rotates, obtaining a first target steering angle of the mechanical steering shaft, and determining a second target steering angle and a target rotating direction of the electric control steering shaft according to the target steering mode and the first target steering angle.
For example, when the user steers the vehicle, if the controller detects that the steering wheel is turned, the first target steering angle of the mechanical steering shaft may be obtained by an angle sensor disposed on the mechanical steering shaft. And then the controller can determine a second target steering angle and a target rotating direction of the electric control steering shaft by using a preset formula corresponding to the target steering mode according to the target steering mode and the first target steering angle.
And 104, controlling the electric control steering shaft to rotate to a second target steering angle according to the target rotating direction.
In this step, the controller may obtain a current steering angle and a current rotating direction of the electronically controlled steering shaft through an angle sensor disposed on the electronically controlled steering shaft, and control the electronically controlled steering shaft to rotate to a second target steering angle according to the current steering angle and the current rotating direction of the electronically controlled steering shaft. For example, in the case where the target turning direction is clockwise turning and the second target steering angle is 60 °, if the current steering angle of the electronically controlled steering shaft is 30 ° and the turning direction is clockwise turning, the controller needs to control the electronically controlled steering shaft to turn clockwise by 30 ° again.
In summary, according to the present disclosure, first, when a mode control signal is obtained, current vehicle information of a vehicle is obtained, and whether the vehicle meets a preset mode control condition is determined according to the vehicle information, where the mode control signal includes a target steering mode, the vehicle information includes a vehicle speed of the vehicle, a steering angle of a mechanical steering shaft, and a steering angle of an electronically controlled steering shaft, if the vehicle meets the mode control condition, the vehicle is set to the target steering mode, if a steering wheel is turned, a first target steering angle of the mechanical steering shaft is obtained, a second target steering angle and a target turning direction of the electronically controlled steering shaft are determined according to the target steering mode and the first target steering angle, and finally, the electronically controlled steering shaft is controlled to turn to the second target steering angle according to the target turning direction. According to the electric control steering device, different target steering modes are selected through the mode control signal, and the rotation of the electric control steering shaft is adjusted according to the different target steering modes, so that the steering requirements under different driving scenes can be met, and the passability and the control flexibility of a vehicle are improved.
Alternatively, the target steering mode includes any one of a normal steering mode, a limit steering mode, a co-steering mode and a no-yaw steering mode, and step 103 may be implemented by:
and determining a second target steering angle and a target rotating direction by utilizing a corner formula corresponding to the target steering mode according to the first target steering angle.
The steering angle formula is determined by Ackerman's theorem according to a preset steering center corresponding to the target steering mode, and the preset steering center is a central point around which wheels of the mechanical steering shaft and the electric control steering shaft need to rotate when the vehicle is steered in the target steering mode.
For example, different steering modes may be set according to different driving scenarios, and each steering mode corresponds to a corresponding driving scenario. The steering mode can comprise a common steering mode, a limit steering mode, a co-steering mode and a no-sway steering mode, the common steering mode is suitable for a general driving scene in which the vehicle runs, the limit steering mode is suitable for a driving scene in which the vehicle needs to steer in a narrow space, the co-steering mode is suitable for a driving scene in which the vehicle needs to run obliquely forwards, and the no-sway steering mode is suitable for a driving scene in which the vehicle needs to be prevented from swaying outwards.
Secondly, according to the specific requirement of each driving scene on the minimum steering radius, a preset steering center of a steering mode corresponding to the driving scene can be set, and the preset steering center is a central point around which wheels of a mechanical steering shaft and wheels of an electric control steering shaft need to rotate when the vehicle steers in the steering mode. Taking a vehicle including a mechanical steering shaft and two electric control steering shafts as an example, as shown in fig. 2 (a vertical line in fig. 2 is a steering center line, a preset steering center is disposed on the steering center line, and a hollow circle represents a position of a center of mass of the vehicle), fig. 2 (a) is a schematic diagram of a preset steering center corresponding to a normal steering mode, the steering center line of fig. 2 (a) may be disposed on a side of the center of mass of the vehicle close to the electric control steering shaft, and may follow a change of a vehicle speed, and the position of the steering center line gradually moves to a first direction as the vehicle speed is higher, so as to ensure driving safety of the vehicle and reduce a probability that a user slams a steering wheel to cause the vehicle to roll over. Fig. 2 (b) is a schematic diagram of a preset steering center corresponding to the extreme steering mode, and the steering center line of fig. 2 (b) may be set to pass through the center of the entire vehicle to obtain the minimum steering radius and the optimal passability. Fig. 2 (c) is a schematic diagram of a preset steering center corresponding to the no-yaw steering mode, and the steering center line of fig. 2 (c) may be disposed after the last electrically controlled steering shaft in the first direction of the vehicle, and the same-direction steering mode has no preset steering center.
Further, the rotation angle formula corresponding to each steering mode can be calculated according to the preset steering center corresponding to each steering mode by using ackerman's theorem. And finally, storing the corner formula corresponding to each steering mode in the controller, so that after the controller acquires the first target steering angle, determining a second target steering angle and a target rotating direction by using the corner formula corresponding to the target steering mode according to the first target steering angle.
Fig. 3 is a flow chart illustrating one step 103 of the embodiment shown in fig. 1. As shown in fig. 3, the second target steering angle is plural, and in the case where the target steering mode is the normal steering mode, the step 103 may include the steps of:
and step 1031, determining the target rotation direction and each second target steering angle by using a steering angle formula corresponding to the common steering mode according to the vehicle speed and the first target steering angle.
The rotation angle formula corresponding to the ordinary steering mode includes:
Figure BDA0002695556200000121
where θ is a first target steering angle, δiFor the ith second target steering angle of the plurality of second target steering angles, AiA first constant corresponding to the ith second target steering angle, i is an integer greater than 0, v1As the speed of the vehicle, v2Is the first vehicle speed threshold.
In step 1032, if the second target steering angle is greater than or equal to 0, it is determined that the direction of the second target steering angle is the same as that of the first target steering angle.
Step 1033, if the second target steering angle is smaller than 0, determining that the second target steering angle is opposite to the first target steering angle.
In one scenario, the vehicle generally has a plurality of electronically controlled steering shafts, and each electronically controlled steering shaft corresponds to one second target steering angle, that is, the second target steering angle is plural. The plurality of electrically controlled steering shafts may be sequentially ordered according to a first direction, a second target steering angle corresponding to a 1 st electrically controlled steering shaft located in the first direction of the mechanical steering shaft is used as a 1 st second target steering angle, a second target steering angle corresponding to a 2 nd electrically controlled steering shaft located in the first direction of the mechanical steering shaft is used as a 2 nd second target steering angle, and so on until the plurality of second target steering angles are ordered according to the first direction, that is, an ith second target steering angle of the plurality of second target steering angles is a second target steering angle corresponding to an ith electrically controlled steering shaft along the first direction. In the case that the target steering mode is the normal steering mode, the controller may use a steering angle formula corresponding to the normal steering mode according to the vehicle speed and the first target steering angle
Figure BDA0002695556200000122
A target turning direction and each of the second target steering angles are determined. The vehicle comprises a mechanical steering shaft and two electric control steering shafts, and the first vehicle speed threshold value v2For example, 35km/h, the 1 st second target steering angle corresponding to the 1 st electrically controlled steering shaft in the first direction may be
Figure BDA0002695556200000131
That is, the 1 st second target steering angle may correspond to a first constant of 0.156 and the 2 nd second target steering angle may be
Figure BDA0002695556200000132
That is, the first constant corresponding to the 2 nd second target steering angle is 0.467.
Corner formula corresponding to ordinary steering mode and vehicle speed v1In relation to this, as shown in FIG. 4, when the vehicle speed v is1Greater than or equal to a first vehicle speed threshold v2At the time (the first vehicle speed threshold may be 35km/h, for example), the second target steering angle is greater than or equal to 0, and it is determined that the second target steering angle is in the same direction as the first target steering angle, that is, the electronically controlled steering shaft is in the same direction as the mechanically steered shaft. When the vehicle speed v is1Less than a first vehicle speed threshold v2And if the second target steering angle is smaller than 0, determining that the direction of the second target steering angle is opposite to that of the first target steering angle, namely the direction of the electric control steering shaft is opposite to that of the mechanical steering shaft. In the ordinary steering mode, the direction of an electric steering shaft and a mechanical steering shaft is matched with the vehicle speed v1In this way, the direction of the electrically controlled steering shaft can be made opposite to that of the mechanically steered shaft when the vehicle is traveling at a low speed, and the direction of the electrically controlled steering shaft can be made the same as that of the mechanically steered shaft when the vehicle is traveling at a high speed, thereby ensuring the maneuverability of the vehicle when traveling at a low speed and the stability when traveling at a high speed.
Fig. 5 is a flow chart illustrating another step 103 of the embodiment shown in fig. 1. As shown in fig. 5, the second target steering angle is plural, and in the case where the target steering mode is the limit steering mode, the step 103 may include the steps of:
step 1034, determining the target rotation direction and each second target steering angle by using a steering angle formula corresponding to the extreme steering mode according to the first target steering angle.
The corner formula corresponding to the limit steering mode includes:
Figure BDA0002695556200000133
where θ is a first target steering angle, δiFor the ith second target steering angle of the plurality of second target steering angles, BiAnd a second constant corresponding to the ith second target steering angle, wherein i is an integer greater than 0.
In step 1035, if the second target steering angle is greater than or equal to 0, it is determined that the second target steering angle is in the same direction as the first target steering angle.
In step 1036, if the second target steering angle is smaller than 0, it is determined that the direction of the second target steering angle is opposite to that of the first target steering angle.
In another scenario, when the second target steering angles are multiple, the multiple second target steering angles may be sorted according to the first direction, that is, an ith second target steering angle of the multiple second target steering angles is a second target steering angle corresponding to an ith electronically controlled steering shaft along the first direction. In the case that the target steering mode is the limit steering mode, the controller may use a steering angle formula corresponding to the limit steering mode according to the first target steering angle
Figure BDA0002695556200000141
A target turning direction and each of the second target steering angles are determined. Taking the vehicle including one mechanical steering shaft and two electrically controlled steering shafts as an example, the 1 st second target steering angle corresponding to the 1 st electrically controlled steering shaft in the first direction of the vehicle may be
Figure BDA0002695556200000142
That is, the second constant corresponding to the 1 st second target steering angle is 20, and the 2 nd second target steering angle may be
Figure BDA0002695556200000143
That is, the second constant corresponding to the 2 nd second target steering angle is 15.
The steering angle formula corresponding to the limit steering mode is associated with the first target steering angle theta, as shown in fig. 6, when the first target steering angle theta is less than or equal to the second constant B corresponding to the first target steering angleiAnd if so, determining that the second target steering angle is the same as the first target steering angle, namely the direction of the electric control steering shaft is the same as that of the mechanical steering shaft. When the first target steering angle theta is larger than the second constant B corresponding to the first target steering angle thetaiAnd if the second target steering angle is smaller than 0, determining that the direction of the second target steering angle is opposite to that of the first target steering angle, namely the direction of the electric control steering shaft is opposite to that of the mechanical steering shaft. In the limit steering mode, the direction of an electric control steering shaft and a mechanical steering shaft is matched with the first targetThe steering angle θ is correlated with each other, and the directions of the electronically controlled steering shaft and the mechanical steering shaft can be made opposite to each other when the first target steering angle is large, and the directions of the electronically controlled steering shaft and the mechanical steering shaft can be made the same when the first target steering angle is small, thereby ensuring the controllability and maneuverability of the vehicle.
FIG. 7 is a flow chart illustrating another method of steering control for a vehicle according to an exemplary embodiment. As shown in fig. 7, the second target steering angle is plural, and in the case where the target steering mode is the same-direction steering mode, after step 102, the method further includes the steps of:
and step 105, controlling the vehicle speed to be less than or equal to a second vehicle speed threshold value.
For example, in the case where the target steering mode is the same steering mode, the controller may control the vehicle speed to be less than or equal to a second vehicle speed threshold, which may be, for example, 5km/h, by limiting the engine speed, the gear position of the transmission, and the like, in order to ensure the traveling safety of the vehicle.
Step 103 may be implemented by:
and determining the target rotating direction and each second target steering angle by using a steering angle formula corresponding to the same steering mode according to the first target steering angle.
The rotation angle formula corresponding to the same steering mode comprises the following steps:
δi＝θ，
where θ is a first target steering angle, δiThe second target steering angle is the ith second target steering angle of the plurality of second target steering angles, and the direction of the second target steering angle is the same as that of the first target steering angle.
For example, when the second target steering angle is multiple, the multiple second target steering angles may be sorted according to the first direction, that is, an ith one of the multiple second target steering angles is a second target steering angle corresponding to an ith electronically controlled steering shaft in the first direction. In the case where the target steering mode is the same-direction steering mode, the controller may use a steering angle formula δ corresponding to the same-direction steering mode according to the first target steering angleiDetermining a target rotation direction and eachA second target steering angle. Taking the example that the vehicle includes one mechanical steering shaft and two electrically controlled steering shafts as an example, the 1 st second target steering angle corresponding to the 1 st electrically controlled steering shaft in the first direction of the vehicle may be δ1The 2 nd second target steering angle may be δ2＝θ。
FIG. 8 is a flow chart illustrating another method of steering control for a vehicle according to an exemplary embodiment. As shown in fig. 8, the second target steering angle is plural, and in the case where the target steering mode is the no-yaw steering mode, after step 102, the method further includes the steps of:
and step 106, controlling the vehicle speed to be less than or equal to a third vehicle speed threshold value.
For example, in the case where the target steering mode is the no-yaw steering mode, the controller may control the vehicle speed to be less than or equal to a second vehicle speed threshold, which may be, for example, 30km/h, by limiting the engine speed, the transmission gear, and the like, in order to ensure the traveling safety of the vehicle.
Step 103 may be implemented by:
and determining the target rotation direction and each second target steering angle by using a corner formula corresponding to the swing-out-free steering mode according to the first target steering angle.
The corner formula corresponding to the no-outer swing steering mode comprises the following steps:
δi＝arctg(Ci×tgθ)，
where θ is a first target steering angle, δiFor the ith second target steering angle, C, of the plurality of second target steering anglesiAnd a third constant corresponding to the ith second target steering angle, wherein i is an integer greater than 0, and the second target steering angle is in the same direction as the first target steering angle.
For example, when the second target steering angle is multiple, the multiple second target steering angles may be sorted according to the first direction, that is, an ith one of the multiple second target steering angles is a second target steering angle corresponding to an ith electronically controlled steering shaft in the first direction. No outer pendulum in target steering modeIn the case of the steering mode, the controller may utilize a steering angle formula δ corresponding to the yaw-free steering mode according to the first target steering anglei＝arctg(CiX tg θ), the target turning direction and each of the second target steering angles are determined. Taking the example that the vehicle includes one mechanical steering shaft and two electrically controlled steering shafts as an example, the 1 st second target steering angle corresponding to the 1 st electrically controlled steering shaft in the first direction of the vehicle may be δ1That is, the third constant corresponding to the 1 st second target steering angle is 0.37, and the 2 nd second target steering angle may be δ (0.37 × tg θ)2The third constant for the 2 nd second target steering angle is 0.12 (0.12 × tg θ). Under the mode of no-swing steering, a second target steering angle corresponding to an electric control steering shaft of the vehicle is gradually reduced along a first direction, the swing-out value of the vehicle in the steering process can be reduced, the swing-out of the rear side of the vehicle is prevented from touching pedestrians or other obstacles, and the running safety of the vehicle is improved.
FIG. 9 is a flow chart illustrating yet another method of steering control for a vehicle, according to an exemplary embodiment. As shown in fig. 9, the vehicle is provided with a first steering button and a second steering button, the target steering mode further comprises a double-control steering mode, and after step 102, the method further comprises the following steps:
and step 107, if the target steering mode is the double-control steering mode, controlling the vehicle speed to be less than or equal to a fourth vehicle speed threshold value.
For example, in the case where the target steering mode is the double-steering mode, the controller may control the vehicle speed to be less than or equal to a second vehicle speed threshold, which may be, for example, 5km/h, by limiting the engine speed, the transmission gear, and the like, in order to ensure the traveling safety of the vehicle.
And step 108, after the first steering button is pressed, controlling the electrically controlled steering shaft to rotate clockwise until the first steering button is released. Alternatively, the first and second electrodes may be,
and step 109, after the second steering button is pressed, controlling the electric control steering shaft to rotate in the anticlockwise direction until the second steering button is released.
For example, when a user steers a vehicle, the user may face a driving scenario in which none of the above steering modes is applicable, and in order to further improve the passability of the vehicle and the convenience of driving the vehicle, the steering modes may further include a double-control steering mode. When the user selects the double-control steering mode as the target steering mode, the user can rotate the steering wheel to enable the mechanical connecting device to control the mechanical steering shaft to perform mechanical steering, and the first steering button and the second steering button arranged on the vehicle are used for controlling the electric control steering shaft to rotate so as to realize electric control steering. For example, in the case that the first steering button is used for controlling an electrically controlled steering shaft of the vehicle to realize left turning of the vehicle, and the second steering button is used for controlling the electrically controlled steering shaft of the vehicle to realize right turning of the vehicle, the user can control the electrically controlled steering shaft to continuously rotate clockwise by continuously pressing the first steering button to control the vehicle to continuously make left turning until the first steering button is released. The user can control the electric control steering shaft to rotate in the anticlockwise direction continuously by pressing the second steering button continuously so as to control the vehicle to rotate to the right continuously until the second steering button is released. In the double-control steering mode, a user can control the steering angle of each steering shaft at will by operating the steering wheel, the first steering button and the second steering button according to the specific requirements of the current vehicle.
Optionally, in order to ensure the running safety of the vehicle, when the controller is abnormal (for example, the controller cannot detect the steering angles of the steering shafts, or detects that the difference between the steering angles of the steering shafts is too large), the electrically controlled steering shafts are prevented from being out of control, and the running safety of the vehicle is prevented from being affected. The steering modes of the vehicle can also comprise a mechanical steering mode, the preset steering center corresponding to the mechanical steering mode is shown in fig. 10, the vertical line in fig. 10 is the steering center line, the circle represents the position of the center of mass of the vehicle, and the steering center line can pass through the center position of the electrically controlled steering shaft. When the user operates the vehicle to steer, if the controller is found to be abnormal, the mechanical steering mode can be selected as the target steering mode so as to ensure that the vehicle can safely run. In the mechanical steering mode, the electric control steering shaft does not participate in the steering of the vehicle, and the vehicle is controlled to steer only through the mechanical steering shaft.
In summary, according to the present disclosure, first, when a mode control signal is obtained, current vehicle information of a vehicle is obtained, and whether the vehicle meets a preset mode control condition is determined according to the vehicle information, where the mode control signal includes a target steering mode, the vehicle information includes a vehicle speed of the vehicle, a steering angle of a mechanical steering shaft, and a steering angle of an electronically controlled steering shaft, if the vehicle meets the mode control condition, the vehicle is set to the target steering mode, if a steering wheel is turned, a first target steering angle of the mechanical steering shaft is obtained, a second target steering angle and a target turning direction of the electronically controlled steering shaft are determined according to the target steering mode and the first target steering angle, and finally, the electronically controlled steering shaft is controlled to turn to the second target steering angle according to the target turning direction. According to the electric control steering device, different target steering modes are selected through the mode control signal, and the rotation of the electric control steering shaft is adjusted according to the different target steering modes, so that the steering requirements under different driving scenes can be met, and the passability and the control flexibility of a vehicle are improved.
FIG. 11 is a block diagram illustrating a steering control apparatus of a vehicle according to an exemplary embodiment. As shown in fig. 11, the vehicle includes a mechanical steering shaft and an electric steering shaft located in a first direction of the mechanical steering shaft, the mechanical steering shaft being a steering shaft of front wheels of the vehicle controlled by a steering wheel of the vehicle, the electric steering shaft being a steering shaft of rear wheels of the vehicle controlled by a motor of the vehicle, the first direction being a direction pointing from a front end of the vehicle to a rear end of the vehicle, the apparatus 200 includes:
the determining module 201 is configured to, when the mode control signal is acquired, acquire current vehicle information of the vehicle, and determine whether the vehicle meets a preset mode control condition according to the vehicle information.
The mode control signal comprises a target steering mode, and the vehicle information comprises the vehicle speed of the vehicle, the steering angle of the mechanical steering shaft and the steering angle of the electric control steering shaft.
The determining module 202 is configured to set the vehicle to the target steering mode if the vehicle satisfies the mode control condition.
The determining module 202 is further configured to, if the steering wheel rotates, obtain a first target steering angle of the mechanical steering shaft, and determine a second target steering angle and a target rotation direction of the electrically controlled steering shaft according to the target steering mode and the first target steering angle.
And the control module 203 is used for controlling the electric control steering shaft to rotate to a second target steering angle according to the target rotating direction.
Optionally, the determining module 201 is configured to:
and if the vehicle speed is less than or equal to a preset speed threshold value, and the steering angle of the mechanical steering shaft and the steering angle of the electric control steering shaft are both less than or equal to a preset angle threshold value, determining that the vehicle meets the mode control condition.
Optionally, the target steering mode includes any one of a normal steering mode, a limit steering mode, a co-steering mode and a no-yaw steering mode, and the determining module 202 is configured to:
and determining a second target steering angle and a target rotating direction by utilizing a corner formula corresponding to the target steering mode according to the first target steering angle.
The steering angle formula is determined by Ackerman's theorem according to a preset steering center corresponding to the target steering mode, and the preset steering center is a central point around which wheels of the mechanical steering shaft and the electric control steering shaft need to rotate when the vehicle is steered in the target steering mode.
Optionally, the second target steering angle is multiple, and in the case that the target steering mode is the normal steering mode, the determining module 202 is configured to:
and determining the target rotating direction and each second target steering angle by using a steering angle formula corresponding to the common steering mode according to the vehicle speed and the first target steering angle.
The rotation angle formula corresponding to the ordinary steering mode includes:
Figure BDA0002695556200000181
where θ is a first target steering angle, δiFor the ith of the plurality of second target steering anglesSecond target steering angle, AiA first constant corresponding to the ith second target steering angle, i is an integer greater than 0, v1As the speed of the vehicle, v2Is the first vehicle speed threshold.
And if the second target steering angle is greater than or equal to 0, determining that the second target steering angle is the same as the first target steering angle in direction.
And if the second target steering angle is smaller than 0, determining that the direction of the second target steering angle is opposite to that of the first target steering angle.
Optionally, the second target steering angle is multiple, and in the case that the target steering mode is the extreme steering mode, the determining module 202 is configured to:
and determining the target rotating direction and each second target steering angle by using a steering angle formula corresponding to the limit steering mode according to the first target steering angle.
The corner formula corresponding to the limit steering mode includes:
Figure BDA0002695556200000182
where θ is a first target steering angle, δiFor the ith second target steering angle of the plurality of second target steering angles, BiAnd a second constant corresponding to the ith second target steering angle, wherein i is an integer greater than 0.
And if the second target steering angle is greater than or equal to 0, determining that the second target steering angle is the same as the first target steering angle in direction.
And if the second target steering angle is smaller than 0, determining that the direction of the second target steering angle is opposite to that of the first target steering angle.
Optionally, the second target steering angle is multiple, and in the case that the target steering mode is the same-direction steering mode, the control module 203 is further configured to:
after the vehicle is set to the target steering mode, the vehicle speed is controlled to be less than or equal to a second vehicle speed threshold.
The determination module 202 is configured to:
and determining the target rotating direction and each second target steering angle by using a steering angle formula corresponding to the same steering mode according to the first target steering angle.
The rotation angle formula corresponding to the same steering mode comprises the following steps:
δi＝θ，
where θ is a first target steering angle, δiThe second target steering angle is the ith second target steering angle of the plurality of second target steering angles, and the direction of the second target steering angle is the same as that of the first target steering angle.
Optionally, the second target steering angle is multiple, and in the case that the target steering mode is the no-yaw steering mode, the control module 203 is further configured to:
after the vehicle is set to the target steering mode, the vehicle speed is controlled to be less than or equal to a third vehicle speed threshold.
The determination module 202 is configured to:
and determining the target rotation direction and each second target steering angle by using a corner formula corresponding to the swing-out-free steering mode according to the first target steering angle.
The corner formula corresponding to the no-outer swing steering mode comprises the following steps:
δi＝arctg(Ci×tgθ)，
where θ is a first target steering angle, δiFor the ith second target steering angle, C, of the plurality of second target steering anglesiAnd a third constant corresponding to the ith second target steering angle, wherein i is an integer greater than 0, and the second target steering angle is in the same direction as the first target steering angle.
FIG. 12 is a block diagram of a control module shown in the embodiment of FIG. 11. As shown in fig. 12, the vehicle is provided with a first steering button and a second steering button, the target steering mode further includes a double-control steering mode, and the control module 203 includes:
the first control sub-module 2031 is configured to, after the vehicle is set to the target steering mode, control the vehicle speed to be less than or equal to the fourth vehicle speed threshold if the target steering mode is the double-steering mode.
And a second control sub-module 2032 configured to control the electronically controlled steering shaft to rotate clockwise after the first steering button is pressed until the first steering button is released. Or the electronic control steering shaft is controlled to rotate in the anticlockwise direction after the second steering button is pressed until the second steering button is released.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
In summary, according to the present disclosure, first, when a mode control signal is obtained, current vehicle information of a vehicle is obtained, and whether the vehicle meets a preset mode control condition is determined according to the vehicle information, where the mode control signal includes a target steering mode, the vehicle information includes a vehicle speed of the vehicle, a steering angle of a mechanical steering shaft, and a steering angle of an electronically controlled steering shaft, if the vehicle meets the mode control condition, the vehicle is set to the target steering mode, if a steering wheel is turned, a first target steering angle of the mechanical steering shaft is obtained, a second target steering angle and a target turning direction of the electronically controlled steering shaft are determined according to the target steering mode and the first target steering angle, and finally, the electronically controlled steering shaft is controlled to turn to the second target steering angle according to the target turning direction. According to the electric control steering device, different target steering modes are selected through the mode control signal, and the rotation of the electric control steering shaft is adjusted according to the different target steering modes, so that the steering requirements under different driving scenes can be met, and the passability and the control flexibility of a vehicle are improved.
The present disclosure also relates to a vehicle, as shown in fig. 13, in which a steering control device 200 of any one of the above-described vehicles is provided to the vehicle 300.
With regard to the vehicle 300 in the above-described embodiment, the specific manner in which the steering control device 200 of the vehicle performs the operation has been described in detail in the embodiment relating to the steering control method of the vehicle, and will not be elaborated here.
In summary, according to the present disclosure, first, when a mode control signal is obtained, current vehicle information of a vehicle is obtained, and whether the vehicle meets a preset mode control condition is determined according to the vehicle information, where the mode control signal includes a target steering mode, the vehicle information includes a vehicle speed of the vehicle, a steering angle of a mechanical steering shaft, and a steering angle of an electronically controlled steering shaft, if the vehicle meets the mode control condition, the vehicle is set to the target steering mode, if a steering wheel is turned, a first target steering angle of the mechanical steering shaft is obtained, a second target steering angle and a target turning direction of the electronically controlled steering shaft are determined according to the target steering mode and the first target steering angle, and finally, the electronically controlled steering shaft is controlled to turn to the second target steering angle according to the target turning direction. According to the electric control steering device, different target steering modes are selected through the mode control signal, and the rotation of the electric control steering shaft is adjusted according to the different target steering modes, so that the steering requirements under different driving scenes can be met, and the passability and the control flexibility of a vehicle are improved.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that, in the foregoing embodiments, various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various combinations that are possible in the present disclosure are not described again.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.

Claims (10)

1. A steering control method of a vehicle, characterized in that the vehicle includes a mechanical steering shaft that is a steering shaft of vehicle front wheels controlled by a steering wheel of the vehicle, and an electric control steering shaft that is a steering shaft of vehicle rear wheels controlled by a motor of the vehicle, the method comprising:
when a mode control signal is acquired, acquiring current vehicle information of the vehicle, and determining whether the vehicle meets a preset mode control condition according to the vehicle information; the mode control signal comprises a target steering mode, and the vehicle information comprises the vehicle speed of the vehicle, the steering angle of the mechanical steering shaft and the steering angle of the electric control steering shaft;
if the vehicle meets the mode control condition, setting the vehicle as the target steering mode;
if the steering wheel rotates, a first target steering angle of the mechanical steering shaft is obtained, and a second target steering angle and a target rotating direction of the electric control steering shaft are determined according to the target steering mode and the first target steering angle;
and controlling the electric control steering shaft to rotate to the second target steering angle according to the target rotating direction.
2. The method of claim 1, wherein the determining whether the vehicle satisfies a preset mode control condition according to the vehicle information comprises:
and if the vehicle speed is less than or equal to a preset speed threshold value, and the steering angle of the mechanical steering shaft and the steering angle of the electric control steering shaft are both less than or equal to a preset angle threshold value, determining that the vehicle meets the mode control condition.
3. The method according to claim 1, wherein the target steering mode includes any one of a normal steering mode, a limit steering mode, a co-steering mode, and a no-yaw steering mode, and the determining a second target steering angle and a target turning direction of the electronically controlled steering shaft according to the target steering mode and the first target steering angle includes:
and determining the second target steering angle and the target rotating direction by utilizing a corner formula corresponding to the target steering mode according to the first target steering angle.
4. The method according to claim 3, wherein the second target steering angle is plural, and in a case where the target steering mode is the normal steering mode, the determining the second target steering angle and the target turning direction using the steering angle formula corresponding to the target steering mode based on the first target steering angle comprises:
determining the target rotation direction and each second target steering angle by using a steering angle formula corresponding to the common steering mode according to the vehicle speed and the first target steering angle;
the rotation angle formula corresponding to the ordinary steering mode comprises the following steps:
Figure FDA0002695556190000021
where θ is the first target steering angle, δiFor the ith second target steering angle, A, of a plurality of said second target steering anglesiA first constant corresponding to the ith second target steering angle, i is an integer greater than 0, v1Is said vehicle speed, v2A first vehicle speed threshold;
if the second target steering angle is greater than or equal to 0, determining that the direction of the second target steering angle is the same as that of the first target steering angle;
and if the second target steering angle is smaller than 0, determining that the direction of the second target steering angle is opposite to that of the first target steering angle.
5. The method according to claim 3, wherein the second target steering angle is plural, and in the case where the target steering mode is the extreme steering mode, the determining the second target steering angle and the target turning direction using the steering angle formula corresponding to the target steering mode based on the first target steering angle comprises:
determining the target rotation direction and each second target steering angle by using a steering angle formula corresponding to the limit steering mode according to the first target steering angle;
the corner formula corresponding to the limit steering mode comprises:
Figure FDA0002695556190000031
where θ is the first target steering angle, δiFor the ith second target steering angle, B, of a plurality of said second target steering anglesiA second constant corresponding to the ith second target steering angle, i being an integer greater than 0;
if the second target steering angle is greater than or equal to 0, determining that the direction of the second target steering angle is the same as that of the first target steering angle;
and if the second target steering angle is smaller than 0, determining that the direction of the second target steering angle is opposite to that of the first target steering angle.
6. The method according to claim 3, wherein the second target steering angle is plural, and in the case where the target steering mode is the same-direction steering mode, after the setting of the vehicle to the target steering mode, the method further comprises:
controlling the vehicle speed to be less than or equal to a second vehicle speed threshold value;
the determining a second target steering angle and a target rotation direction of the electronically controlled steering shaft according to the target steering mode and the first target steering angle includes:
determining the target rotation direction and each second target steering angle by using a steering angle formula corresponding to the same steering mode according to the first target steering angle;
the rotation angle formula corresponding to the same steering mode comprises the following steps:
δi＝θ，
where θ is the first target steering angle, δiFor the ith second target steering angle of the plurality of second target steering angles, the second target steering angle is equal toThe first target steering angle is in the same direction.
7. The method according to claim 3, wherein the second target steering angle is plural, and in the case where the target steering mode is the no-yaw steering mode, after the setting of the vehicle to the target steering mode, the method further comprises:
controlling the vehicle speed to be less than or equal to a third vehicle speed threshold value;
the determining a second target steering angle and a target rotation direction of the electronically controlled steering shaft according to the target steering mode and the first target steering angle includes:
determining the target rotation direction and each second target steering angle by using a corner formula corresponding to the swing-out-free steering mode according to the first target steering angle;
the corner formula corresponding to the no-swing steering mode comprises:
δi＝arctg(Ci×tgθ)，
where θ is the first target steering angle, δiFor the ith second target steering angle, C, of a plurality of said second target steering anglesiAnd a third constant corresponding to the ith second target steering angle, wherein i is an integer greater than 0, and the direction of the second target steering angle is the same as that of the first target steering angle.
8. The method of claim 3, wherein a first steering button and a second steering button are provided on the vehicle, the target steering mode further comprises a steer-by-steer mode, and after the setting the vehicle to the target steering mode, the method further comprises:
if the target steering mode is the double-control steering mode, controlling the vehicle speed to be less than or equal to a fourth vehicle speed threshold value;
after the first steering button is pressed, controlling the electric control steering shaft to rotate clockwise until the first steering button is released; alternatively, the first and second electrodes may be,
and after the second steering button is pressed, controlling the electric control steering shaft to rotate in a counterclockwise direction until the second steering button is released.
9. A steering control apparatus of a vehicle, characterized in that the vehicle includes a mechanical steering shaft that is a steering shaft of front wheels of the vehicle controlled by a steering wheel of the vehicle, and an electric control steering shaft that is a steering shaft of rear wheels of the vehicle controlled by a motor of the vehicle, the apparatus (200) comprising:
the judging module (201) is used for acquiring the current vehicle information of the vehicle when the mode control signal is acquired, and determining whether the vehicle meets a preset mode control condition or not according to the vehicle information; the mode control signal comprises a target steering mode, and the vehicle information comprises the vehicle speed of the vehicle, the steering angle of the mechanical steering shaft and the steering angle of the electric control steering shaft;
a determining module (202) for setting the vehicle to the target steering mode if the vehicle satisfies the mode control condition;
the determining module (202) is further configured to, if the steering wheel rotates, obtain a first target steering angle of the mechanical steering shaft, and determine a second target steering angle and a target rotating direction of the electrically controlled steering shaft according to the target steering mode and the first target steering angle;
and the control module (203) is used for controlling the electric control steering shaft to rotate to the second target steering angle according to the target rotating direction.
10. A vehicle characterized in that the vehicle (300) is provided with the steering control device (200) of the vehicle according to claim 9.
CN202011004877.XA 2020-09-22 2020-09-22 Steering control method and device for vehicle and vehicle Active CN114248830B (en)

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