CN116572940A - Method and device for recovering steering of rear wheel, electronic equipment and storage medium - Google Patents

Method and device for recovering steering of rear wheel, electronic equipment and storage medium Download PDF

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Publication number
CN116572940A
CN116572940A CN202310455116.3A CN202310455116A CN116572940A CN 116572940 A CN116572940 A CN 116572940A CN 202310455116 A CN202310455116 A CN 202310455116A CN 116572940 A CN116572940 A CN 116572940A
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CN
China
Prior art keywords
vehicle
steering
specified
rear wheel
wheel steering
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Pending
Application number
CN202310455116.3A
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Chinese (zh)
Inventor
顾兵
杨小步
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Human Horizons Shanghai Autopilot Technology Co Ltd
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Human Horizons Shanghai Autopilot Technology Co Ltd
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Priority to CN202310455116.3A priority Critical patent/CN116572940A/en
Publication of CN116572940A publication Critical patent/CN116572940A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/02—Control of vehicle driving stability
    • B60W30/045—Improving turning performance
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/112—Roll movement
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/143—Alarm means
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/146—Display means
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/109—Lateral acceleration
    • 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)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Human Computer Interaction (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

The application provides a method and a device for recovering steering of rear wheels, electronic equipment and a storage medium, wherein the method for recovering steering of the rear wheels comprises the following steps: determining a steering parameter of the vehicle under the condition that the rear wheel steering recovery of the vehicle is monitored; and if the steering parameters of the vehicle meet the specified conditions within the specified time, controlling the vehicle to resume the steering of the rear wheels. Therefore, the problem that the control risk of vehicle stability of the vehicle can be generated after the rear wheel steering is restored to the normal working state from the degraded state in response to the control of the vehicle is avoided. The method for recovering the rear wheel steering ensures that the vehicle is in a stable state and then recovers the rear wheel steering of the vehicle, ensures that the vehicle recovers the rear wheel steering of the vehicle in a safe and stable control state, and improves the safety and stability of the vehicle.

Description

Method and device for recovering steering of rear wheel, electronic equipment and storage medium
Technical Field
The present application relates to the technical field of vehicle gradient calculation, and in particular, to a method and apparatus for recovering rear wheel steering, an electronic device, and a storage medium.
Background
In the running process of the vehicle, after the rear wheel steering fails, the vehicle can perform function degradation on the rear wheel steering, and the vehicle can return to the middle with a certain steady-state gradient, so that the condition that the rear wheel is positioned and kept in a straight running state is met. After the failure of the rear wheel steering is eliminated, if the vehicle is directly returned to the rear wheel steering, there is caused a great risk in controlling the vehicle.
Disclosure of Invention
The embodiment of the application provides a method and a device for recovering steering of a rear wheel, electronic equipment and a storage medium, which are used for solving the problems of the related technology, and the technical scheme is as follows:
in a first aspect, an embodiment of the present application provides a method for recovering steering of a rear wheel, including:
determining a steering parameter of the vehicle under the condition that the rear wheel steering recovery of the vehicle is monitored;
and if the steering parameters of the vehicle meet the specified conditions within the specified time, controlling the vehicle to resume the steering of the rear wheels.
In one embodiment, the steering parameter of the vehicle includes a yaw rate, and controlling the vehicle to resume rear-wheel steering if the steering parameter of the vehicle satisfies a specified condition during a specified time includes:
and controlling the vehicle to resume the rear wheel steering when the yaw rate is equal to or less than the specified angular rate within the specified time.
In one embodiment, the steering parameters of the vehicle further include lateral acceleration, and controlling the vehicle to resume rear-wheel steering in the case where the yaw rate is equal to or less than the specified angular rate for the specified time includes:
and controlling the vehicle to resume the rear wheel steering under the condition that the yaw rate is less than or equal to the specified angular rate and the lateral acceleration is less than or equal to the specified acceleration in the specified time.
In one embodiment, the steering parameters of the vehicle further include a target steering angle, and controlling the vehicle to resume the rear wheel steering in the case where the yaw rate is equal to or less than the specified angular rate and the lateral acceleration is equal to or less than the specified acceleration for the specified time includes:
and controlling the vehicle to resume the rear wheel steering under the condition that the yaw rate is less than or equal to the specified angular rate, the lateral acceleration is less than or equal to the specified acceleration and the target turning angle is less than or equal to the specified threshold value in the specified time.
In one embodiment, the method further comprises:
under the condition of controlling the vehicle to resume the rear wheel steering, generating prompt information, wherein the prompt information is used for reminding a driver of the current resume of the vehicle to the four-wheel working mode.
In one embodiment, controlling the vehicle to resume rear-wheel steering if the steering parameter of the vehicle satisfies a specified condition within a specified time includes:
if the steering parameters of the vehicle meet the specified conditions in the specified time, determining a target value;
according to the target value, the rear wheel steering of the vehicle is controlled to rotate along with the target value so as to recover the rear wheel steering of the vehicle.
In one embodiment, the current operation mode of the vehicle is front wheel steering, and if the steering parameter of the vehicle meets a specified condition in a specified time, controlling the vehicle to resume rear wheel steering comprises:
and if the steering parameters of the vehicle meet the specified conditions within the specified time, switching the current working mode of the vehicle from front wheel steering to four wheel steering.
In a second aspect, an embodiment of the present application provides a device for restoring steering of a rear wheel, including:
the first determining module is used for determining steering parameters of the vehicle under the condition that the steering recovery of the rear wheel of the vehicle is monitored;
and the first control module is used for controlling the vehicle to resume the steering of the rear wheels if the steering parameters of the vehicle meet the specified conditions within the specified time.
In a third aspect, an embodiment of the present application provides an electronic device, including: at least one processor; and a memory communicatively coupled to the at least one processor; the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of restoring rear wheel steering.
In a fourth aspect, embodiments of the present application provide a computer-readable storage medium storing computer instructions that, when executed on a computer, perform a method according to any one of the above-described embodiments.
The advantages or beneficial effects in the technical scheme at least comprise:
in the present embodiment, the operating state of the rear wheel steering of the vehicle is monitored, and in the case where the restoration of the rear wheel steering of the vehicle is monitored, that is, the rear wheel steering can be operated again. Determining the steering parameters of the vehicle by means of detection and the like, judging the steering parameters of the vehicle, controlling the vehicle to resume the steering of the rear wheels if the steering parameters of the vehicle meet the specified conditions within the specified time, namely, comparing and judging the steering parameters of the vehicle with the specified conditions, determining that the front wheels of the vehicle return to the middle position, the vehicle is in straight running and keeps a certain stable state, and controlling the vehicle again to resume the steering of the rear wheels. Therefore, the problem that the control risk of vehicle stability of the vehicle can be generated after the rear wheel steering is restored to the normal working state from the degraded state in response to the control of the vehicle is avoided. The method for recovering the rear wheel steering ensures that the vehicle is in a stable state and then recovers the rear wheel steering of the vehicle, ensures that the vehicle recovers the rear wheel steering of the vehicle in a safe and stable control state, and improves the safety and stability of the vehicle.
The foregoing summary is for the purpose of the specification only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of the present application will become apparent by reference to the drawings and the following detailed description.
Drawings
In the drawings, the same reference numerals refer to the same or similar parts or elements throughout the several views unless otherwise specified. The figures are not necessarily drawn to scale. It is appreciated that these drawings depict only some embodiments according to the disclosure and are not therefore to be considered limiting of its scope.
FIG. 1 illustrates a flow chart of a method of restoring rear wheel steering in accordance with an embodiment of the present application;
fig. 2 is a state diagram showing a method of restoring rear wheel steering according to another embodiment of the present application;
FIG. 3 is a flowchart showing a method of restoring rear wheel steering according to another embodiment of the present application;
fig. 4 is a block diagram showing a structure of a rear wheel steering restoring apparatus according to an embodiment of the present application;
fig. 5 shows a block diagram of an electronic device according to an embodiment of the application.
Detailed Description
Hereinafter, only certain exemplary embodiments are briefly described. As will be recognized by those of skill in the pertinent art, the described embodiments may be modified in various different ways without departing from the spirit or scope of the present application. Accordingly, the drawings and description are to be regarded as illustrative in nature and not as restrictive.
Fig. 1 shows a flowchart of a method of restoring rear wheel steering according to an embodiment of the present application. As shown in fig. 1, in a first aspect, an embodiment of the present application provides a method for recovering a rear wheel steering, where the method for recovering a rear wheel steering may include:
s110: determining a steering parameter of the vehicle under the condition that the rear wheel steering recovery of the vehicle is monitored;
s120: and if the steering parameters of the vehicle meet the specified conditions within the specified time, controlling the vehicle to resume the steering of the rear wheels.
The method for recovering the rear wheel steering in the embodiment can be executed by an Electronic Control Unit (ECU) of the vehicle, can be executed by other domain controllers with computing capability on the vehicle, and can also be executed by combining a server side with the domain controllers or the electronic control units of the vehicle, and can monitor the state of the rear wheel steering of the vehicle by the domain controllers or the electronic control units of the vehicle, so that the vehicle can be switched to the working mode of the front wheel steering in time under the condition that the rear wheel steering of the vehicle fails. The steering parameters of the vehicle are acquired by the domain controller or the electronic control unit of the vehicle, the steering parameters of the vehicle can be yaw rate of the vehicle, lateral acceleration of the vehicle, target rotation angle of the vehicle and the like, and the steering parameters of the vehicle are determined by the domain controller or the electronic control unit of the vehicle through the modes of acquisition, reading, identification and the like. And judging the steering parameters of the vehicle through a domain controller or an electronic control unit of the vehicle, determining that the vehicle is controlled to resume the rotation of the rear wheels if the steering parameters of the vehicle meet the specified conditions within the specified time. Wherein for traveling in which it is determined that the front wheels of the vehicle have been returned to the neutral position and the vehicle is traveling in a straight line and the stability for a certain time is maintained for the purpose of improving the stability of the vehicle in a specified time, the restoration of the rear wheel rotation of the vehicle is performed.
In step S110, in the case where the rear-wheel steering restoration of the vehicle is monitored, the steering parameter of the vehicle is determined.
The front wheel steering and the rear wheel steering of the vehicle are monitored through a domain controller of the vehicle or an electronic control unit of the vehicle, and under normal conditions, the vehicle performs steering operation in a four-wheel steering operation mode, specifically, the front wheel steering and the rear wheel steering work together, so as to complete the steering operation of the vehicle. The four-wheel steering has better steering capability, can cope with steering of various scenes, and has higher stability and safety.
Under the condition that the rear wheel steering machine or a program fails, the domain controller or the electronic control unit of the vehicle controls the rear wheel steering to degrade, meanwhile, the vehicle can switch back to the front wheel steering from the four-wheel steering, the recovery starting point also transits from the four-wheel steering to the front wheel steering, and a certain straight running process is kept after the steering wheel returns, so that the vehicle can safely run. When the rear wheel steering is degraded, the main rear wheel steering controller always sends an effective target value to the rear wheel steering to ensure that the intention of a driver is always followed, and meanwhile, the state of the rear wheel steering is monitored, and once the degradation of the rear wheel steering actuator is recovered, the rear wheel steering can be recovered better. However, if the steering control is switched back to the four-wheel conversion directly after the function of the rear wheel steering is recovered, the stability of the steering control of the vehicle is lowered, and the safety is lowered, which tends to cause a risk of steering control.
The vehicle is monitored after the rear-wheel steering is degraded, and after the failure of the rear-wheel steering is eliminated, that is, after the rear-wheel steering resumes its function. At this time, it is necessary to determine the stability of the vehicle, and control the vehicle to resume the rear wheel steering after the stability of the vehicle is determined, so that the stability and safety of the vehicle can be ensured.
In case that the restoration of the rear wheel steering of the vehicle is monitored, the steering parameters of the vehicle may be read by a domain controller of the vehicle or an electronic control unit of the vehicle, and the steering parameters of the vehicle may characterize the current steering conditions of the vehicle, such as the lateral acceleration of the vehicle, the yaw rate of the vehicle, and the target turning angle of the vehicle.
In step S120, if the steering parameter of the vehicle satisfies the specified condition within the specified time, the vehicle is controlled to resume the rear wheel steering.
And comparing and judging the steering parameters of the vehicle with the specified conditions, and determining that the front wheel steering of the vehicle is in the middle position and the vehicle is in straight running and stable running in the specified time is maintained under the condition that the steering parameters of the vehicle meet the specified conditions in the specified time.
As shown in fig. 2, in an example, the yaw rate, the lateral acceleration, and the target rotation angle of the vehicle are determined, and the yaw rate, the lateral acceleration, and the target rotation angle of the vehicle are compared with corresponding specified conditions, and if the yaw rate of the vehicle satisfies the specified conditions, it is indicated that the vehicle satisfies the specified conditions in the direction in which the vehicle moves laterally, that is, the swing width of the vehicle in the lateral direction is smaller than a certain threshold, which indicates that the vehicle is in a straight running state. The lateral acceleration of the vehicle characterizes the steering situation of the vehicle, in the case that the lateral acceleration meets the specified conditions, i.e. the vehicle is not being steered or is being steered very little. The target turning angle of the vehicle characterizes the moving path of the vehicle, and the running condition of the vehicle can be determined through the target turning angle of the vehicle, so that the running stability of the vehicle is determined.
In the present embodiment, the operating state of the rear wheel steering of the vehicle is monitored, and in the case where the restoration of the rear wheel steering of the vehicle is monitored, that is, the rear wheel steering can be operated again. Determining the steering parameters of the vehicle by means of detection and the like, judging the steering parameters of the vehicle, controlling the vehicle to resume the steering of the rear wheels if the steering parameters of the vehicle meet the specified conditions within the specified time, namely comparing and judging the steering parameters of the vehicle with the specified conditions, determining that the steering of the front wheels of the vehicle is returned to the middle position, and controlling the vehicle to resume the steering of the rear wheels again after the vehicle is in straight running and keeps a certain stable state. Therefore, the problem that the control risk of vehicle stability of the vehicle can be generated after the rear wheel steering is restored to the normal working state from the degraded state in response to the control of the vehicle is avoided. The method for recovering the rear wheel steering ensures that the vehicle is in a stable state and then recovers the rear wheel steering of the vehicle, ensures that the vehicle recovers the rear wheel steering of the vehicle in a safe and stable control state, and improves the safety and stability of the vehicle.
In one embodiment, the steering parameter of the vehicle includes a yaw rate, and controlling the vehicle to resume rear-wheel steering if the steering parameter of the vehicle satisfies a specified condition during a specified time includes:
and controlling the vehicle to resume the rear wheel steering when the yaw rate is equal to or less than the specified angular rate within the specified time.
The steering parameters of the vehicle include a yaw rate, wherein the yaw rate of the vehicle is used as a condition for indicating the steering state of the vehicle, and the yaw rate can indicate whether the vehicle is in a steering state or a straight line state, and when the yaw rate is less than or equal to a specified angular rate, it indicates that the vehicle is not steered, and at the same time, for example, 2 seconds, 4 seconds, 5 seconds, 10 seconds, 30 seconds, etc., the specified angular rate can be 1rad/s, 3rad/s, 5rad/s, etc., and can be selected according to the actual condition.
Through determining that the yaw rate of the vehicle is smaller than the specified angular rate in the specified time, the vehicle can be actually determined to be in a straight running state, at the moment, the vehicle is restored to the rear wheel steering, the front wheel steering is switched to the four-wheel steering, the vehicle is in a safer and stable state, dangerous situations are not easy to occur, and the steering control risk of the vehicle is reduced.
In one embodiment, the steering parameters of the vehicle further include lateral acceleration, and controlling the vehicle to resume rear-wheel steering in the case where the yaw rate is equal to or less than the specified angular rate for the specified time includes:
and controlling the vehicle to resume the rear wheel steering under the condition that the yaw rate is less than or equal to the specified angular rate and the lateral acceleration is less than or equal to the specified acceleration in the specified time.
With the yaw rate of the above embodiment, in this embodiment, the lateral acceleration is further increased as the steering parameter of the vehicle, so that the stability of the vehicle in the running process and the safe straight running process of the vehicle can be more accurately determined, and the steering of the rear wheels of the vehicle can be recovered, that is, the steering is switched from the front wheel steering to the four-wheel steering.
The lateral acceleration of the vehicle represents the steering condition of the vehicle, and when the lateral acceleration of the vehicle is smaller than or equal to the specified acceleration in the specified time, namely the vehicle is not steered or is extremely small in steering. The specified acceleration may be 1m/s 2 、3m/s 2 、5m/s 2 Or 10m/s 2 And the like can be selected according to actual conditions, and different appointed angular speeds and different appointed accelerations can be selected according to different vehicle types.
In one embodiment, the steering parameters of the vehicle further include a target steering angle, and controlling the vehicle to resume the rear wheel steering in the case where the yaw rate is equal to or less than the specified angular rate and the lateral acceleration is equal to or less than the specified acceleration for the specified time includes:
and controlling the vehicle to resume the rear wheel steering under the condition that the yaw rate is less than or equal to the specified angular rate, the lateral acceleration is less than or equal to the specified acceleration and the target turning angle is less than or equal to the specified threshold value in the specified time.
As shown in fig. 2, following the above-described embodiment, the present embodiment further increases the target turning angle as the steering parameter of the vehicle, and the target turning angle characterizes the target turning angle of the vehicle after the rear-wheel steering is resumed, by increasing the target turning angle. In this embodiment, on the basis of the yaw rate being equal to or less than the specified angular rate and the lateral acceleration being equal to or less than the specified acceleration, the target turning angle is further required to be equal to or less than the specified threshold value in the specified time, so that it can be further determined that the vehicle does not directly perform large turning after the rear wheel turning is resumed, stable straight running is maintained as much as possible after the vehicle is switched from front wheel turning to four wheel turning, and high stability and reliability of turning after the rear wheel turning is resumed can be ensured.
In one embodiment, the method for restoring the steering of the rear wheels further includes:
under the condition of controlling the vehicle to resume the rear wheel steering, generating prompt information, wherein the prompt information is used for reminding a driver of the current resume of the vehicle to the four-wheel working mode.
And when the vehicle is controlled to resume steering by an electronic control unit of the vehicle or a domain controller of the vehicle, generating prompt information, and reminding a driver of the current resumption of the vehicle to the four-wheel working mode by the prompt information. The prompt information can be a prompt word corresponding to the HMI to remind the driver that the vehicle is restored to the four-wheel steering working mode at present, or can remind the driver in a voice broadcasting mode and the like, so that the driver has a certain psychological expectation to perform proper operation. Thus, the driver can be ensured to clearly know the current working mode of the steering system of the vehicle in the running process of the vehicle, and the vehicle can be operated better.
As shown in fig. 3, in one embodiment, if the steering parameter of the vehicle satisfies a specified condition within a specified time, controlling the vehicle to resume the rear wheel steering includes:
s310: if the steering parameters of the vehicle meet the specified conditions in the specified time, determining a target value;
s320: according to the target value, the rear wheel steering of the vehicle is controlled to rotate along with the target value so as to recover the rear wheel steering of the vehicle.
The target value is determined by determining that the vehicle satisfies the condition of restoring the rear wheel steering if the steering parameter of the vehicle satisfies the specified condition within the specified time. By controlling the rear wheels of the vehicle to rotate to the designated positions along with the target values, the vehicle can realize four-wheel steering, so that the purpose of recovering the steering of the rear wheels of the vehicle is achieved.
The target value may be determined by an electronic control unit of the vehicle or a control unit such as a domain controller, and controls a rear wheel steering actuator of the vehicle to control rear wheel steering of the vehicle, thereby realizing control of the rear wheel steering of the vehicle so that the vehicle can be switched to an operating mode of four-wheel steering.
In one embodiment, the current operation mode of the vehicle is front wheel steering, and if the steering parameter of the vehicle meets a specified condition in a specified time, controlling the vehicle to resume rear wheel steering comprises:
and if the steering parameters of the vehicle meet the specified conditions within the specified time, switching the current working mode of the vehicle from front wheel steering to four wheel steering.
Under the condition that the rear wheel steering machine or a program fails, the domain controller or the electronic control unit of the vehicle controls the rear wheel steering to degrade, meanwhile, the vehicle can switch back to the front wheel steering from the four-wheel steering, the recovery starting point also transits from the four-wheel steering to the front wheel steering, and a certain straight running process is kept after the steering wheel returns, so that the vehicle can safely run. When the rear wheel steering is degraded, the main rear wheel steering controller always sends an effective target value to the rear wheel steering to ensure that the intention of a driver is always followed, and meanwhile, the state of the rear wheel steering is monitored, and once the degradation of the rear wheel steering actuator is recovered, the rear wheel steering can be recovered better.
The safe and stable transition from front-wheel steering to four-wheel steering of the vehicle is ensured by switching the front-wheel steering to the four-wheel steering of the vehicle when the steering parameters of the vehicle meet the specified conditions within the specified time, namely, when the vehicle is determined to meet the condition of recovering the rear-wheel steering.
In a second aspect, fig. 4 shows a block diagram of a rear-wheel steering restoration device according to an embodiment of the present application. As shown in fig. 4, an embodiment of the present application provides a device for restoring steering of a rear wheel, which may include:
a first determining module 410 for determining a steering parameter of the vehicle in case that a rear wheel steering restoration of the vehicle is monitored;
the first control module 420 is configured to control the vehicle to resume steering of the rear wheels if the steering parameter of the vehicle satisfies a specified condition within a specified time.
In the present embodiment, the operating state of the rear wheel steering of the vehicle is monitored, and in the case where the restoration of the rear wheel steering of the vehicle is monitored, that is, the rear wheel steering can be operated again. Determining the steering parameters of the vehicle by means of detection and the like, judging the steering parameters of the vehicle, controlling the vehicle to resume the steering of the rear wheels if the steering parameters of the vehicle meet the specified conditions within the specified time, namely, comparing and judging the steering parameters of the vehicle with the specified conditions, determining that the front wheels of the vehicle return to the middle position, the vehicle is in straight running and keeps a certain stable state, and controlling the vehicle again to resume the steering of the rear wheels. Therefore, the problem that the control risk of vehicle stability of the vehicle can be generated after the rear wheel steering is restored to the normal working state from the degraded state in response to the control of the vehicle is avoided. The method for recovering the rear wheel steering ensures that the vehicle is in a stable state and then recovers the rear wheel steering of the vehicle, ensures that the vehicle recovers the rear wheel steering of the vehicle in a safe and stable control state, and improves the safety and stability of the vehicle.
In one embodiment, the steering parameter of the vehicle includes yaw rate, and the first control module is further configured to:
and controlling the vehicle to resume the rear wheel steering when the yaw rate is equal to or less than the specified angular rate within the specified time.
In one embodiment, the steering parameters of the vehicle further comprise lateral acceleration, and the first control module is further configured to:
controlling the vehicle to resume rear-wheel steering in the case where the yaw rate is equal to or less than the specified angular rate and the lateral acceleration is equal to or less than the specified acceleration within the specified time
In one embodiment, the steering parameters of the vehicle further include a target steering angle, and the first control module is further configured to:
and controlling the vehicle to resume the rear wheel steering under the condition that the yaw rate is less than or equal to the specified angular rate, the lateral acceleration is less than or equal to the specified acceleration and the target turning angle is less than or equal to the specified threshold value in the specified time.
In one embodiment, the apparatus further comprises:
the prompting module is used for generating prompting information under the condition that the vehicle is controlled to resume the rear wheel steering, and the prompting information is used for prompting a driver that the vehicle is currently resumed to a four-wheel working mode.
In one embodiment, the first control module includes:
a determining unit for determining a target value if the steering parameter of the vehicle satisfies a specified condition within a specified time;
and the control unit is used for controlling the rear wheel steering of the vehicle to rotate along with the target value according to the target value so as to restore the rear wheel steering of the vehicle.
In one embodiment, the current operating mode of the vehicle is front wheel steering, and the first control module includes:
and if the steering parameters of the vehicle meet the specified conditions within the specified time, switching the current working mode of the vehicle from front wheel steering to four wheel steering.
The functions of each module in each device of the embodiments of the present application may be referred to the corresponding descriptions in the above methods, and are not described herein again.
Fig. 5 shows a block diagram of an electronic device according to an embodiment of the application. As shown in fig. 5, the electronic device includes: memory 510 and processor 520, and instructions executable on processor 520 are stored in memory 510. The processor 520, when executing the instruction, implements the method of restoring the rear wheel steering in the above-described embodiment. The number of memories 510 and processors 520 may be one or more. The electronic device is intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the applications described and/or claimed herein.
The electronic device may further include a communication interface 530 for communicating with external devices for data interactive transmission. The various devices are interconnected using different buses and may be mounted on a common motherboard or in other manners as desired. The processor 520 may process instructions executing within the electronic device, including instructions stored in or on memory to display graphical information of a GUI on an external input/output device, such as a display device coupled to an interface. In other embodiments, multiple processors and/or multiple buses may be used, if desired, along with multiple memories and multiple memories. Also, multiple electronic devices may be connected, each providing a portion of the necessary operations (e.g., as a server array, a set of blade servers, or a multiprocessor system). The bus may be classified as an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in fig. 5, but not only one bus or one type of bus.
Alternatively, in a specific implementation, if the memory 510, the processor 520, and the communication interface 530 are integrated on a chip, the memory 510, the processor 520, and the communication interface 530 may communicate with each other through internal interfaces.
It should be appreciated that the processor may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (Digital Signal Processing, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field programmable gate arrays (Field Programmable gate array) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or any conventional processor or the like. It is noted that the processor may be a processor supporting an advanced reduced instruction set machine (Advanced RISC Machines, ARM) architecture.
An embodiment of the present application provides a computer-readable storage medium (such as the memory 510 described above) storing computer instructions that when executed by a processor implement the methods provided in the embodiments of the present application.
Alternatively, the memory 510 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, at least one application program required for functions; the storage data area may store data created according to the use of the electronic device, etc. In addition, memory 510 may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory 510 may optionally include memory located remotely from processor 520, such remote memory may be connected to the electronic device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
Any process or method description in a flowchart or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more (two or more) executable instructions for implementing specific logical functions or steps of the process. And the scope of the preferred embodiments of the present application includes additional implementations in which functions may be performed in a substantially simultaneous manner or in an opposite order from that shown or discussed, including in accordance with the functions that are involved.
Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions.
It is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. All or part of the steps of the methods of the embodiments described above may be performed by a program that, when executed, comprises one or a combination of the steps of the method embodiments, instructs the associated hardware to perform the method.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing module, or each unit may exist alone physically, or two or more units may be integrated in one module. The integrated modules may be implemented in hardware or in software functional modules. The integrated modules described above, if implemented in the form of software functional modules and sold or used as a stand-alone product, may also be stored in a computer-readable storage medium. The storage medium may be a read-only memory, a magnetic or optical disk, or the like.
The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any person skilled in the art will readily recognize that various modifications and substitutions are possible within the scope of the present application. Therefore, the protection scope of the application is subject to the protection scope of the claims.

Claims (10)

1. A method of restoring steering of a rear wheel, comprising:
determining a steering parameter of the vehicle under the condition that the rear wheel steering recovery of the vehicle is monitored;
and if the steering parameters of the vehicle meet the specified conditions within the specified time, controlling the vehicle to resume steering of the rear wheels.
2. The method of claim 1, wherein the steering parameter of the vehicle includes a yaw rate, and controlling the vehicle to resume rear-wheel steering if the steering parameter of the vehicle satisfies a specified condition during a specified time includes:
and controlling the vehicle to resume the steering of the rear wheels under the condition that the yaw rate is less than or equal to the specified angular rate in the specified time.
3. The method according to claim 2, wherein the steering parameters of the vehicle further include a lateral acceleration, and wherein controlling the vehicle to resume the rear wheel steering in the case where the yaw rate is equal to or less than the specified angular rate for the specified time includes:
and controlling the vehicle to resume the rear wheel steering under the condition that the yaw rate is less than or equal to the specified angular rate and the lateral acceleration is less than or equal to the specified acceleration in the specified time.
4. The method according to claim 3, wherein the steering parameter of the vehicle further includes a target steering angle, and the controlling the vehicle to resume the rear wheel steering in the case where the yaw rate is equal to or less than the specified angular rate and the lateral acceleration is equal to or less than the specified acceleration in the specified time includes:
and controlling the vehicle to resume the rear wheel steering under the condition that the yaw rate is less than or equal to the specified angular velocity, the lateral acceleration is less than or equal to the specified acceleration and the target rotation angle is less than or equal to a specified threshold value within a specified time.
5. The method according to claim 1, wherein the method further comprises:
and under the condition of controlling the vehicle to restore the rear wheel steering, generating prompt information, wherein the prompt information is used for reminding a driver of restoring the vehicle to the four-wheel working mode currently.
6. The method of claim 1, wherein controlling the vehicle to resume rear wheel steering if the steering parameter of the vehicle satisfies a specified condition within a specified time period comprises:
if the steering parameters of the vehicle meet the specified conditions within the specified time, determining a target value;
and controlling the rear wheel steering of the vehicle to rotate along with the target value according to the target value so as to restore the rear wheel steering of the vehicle.
7. The method of claim 1, wherein the current operating mode of the vehicle is front wheel steering, and controlling the vehicle to resume rear wheel steering if the steering parameter of the vehicle satisfies a specified condition during a specified time period comprises:
and if the steering parameters of the vehicle meet the specified conditions within the specified time, switching the current working mode of the vehicle from the front wheel steering to the four-wheel steering.
8. A rear-wheel steering restoration device, characterized by comprising:
the first determining module is used for determining steering parameters of the vehicle under the condition that the steering recovery of the rear wheel of the vehicle is monitored;
and the first control module is used for controlling the vehicle to resume the steering of the rear wheels if the steering parameters of the vehicle meet the specified conditions within the specified time.
9. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-7.
10. A computer readable storage medium having stored therein computer instructions which, when executed by a processor, implement the method of any of claims 1-7.
CN202310455116.3A 2023-04-25 2023-04-25 Method and device for recovering steering of rear wheel, electronic equipment and storage medium Pending CN116572940A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310455116.3A CN116572940A (en) 2023-04-25 2023-04-25 Method and device for recovering steering of rear wheel, electronic equipment and storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310455116.3A CN116572940A (en) 2023-04-25 2023-04-25 Method and device for recovering steering of rear wheel, electronic equipment and storage medium

Publications (1)

Publication Number Publication Date
CN116572940A true CN116572940A (en) 2023-08-11

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202310455116.3A Pending CN116572940A (en) 2023-04-25 2023-04-25 Method and device for recovering steering of rear wheel, electronic equipment and storage medium

Country Status (1)

Country Link
CN (1) CN116572940A (en)

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