WO2023024879A1

WO2023024879A1 - Electric control rear wheel steering method and apparatus, electronic device, and storage medium

Info

Publication number: WO2023024879A1
Application number: PCT/CN2022/110790
Authority: WO
Inventors: 王念强; 单帅; 王仕伟; 侯杰; 陈志刚; 禹真; 陈磊; 郑文博; 丁树伟; 王兴平
Original assignee: 中国第一汽车股份有限公司
Priority date: 2021-08-27
Filing date: 2022-08-08
Publication date: 2023-03-02
Also published as: CN113619584B; CN113619584A

Abstract

An electric control rear wheel steering method and apparatus, an electronic device, and a storage medium. The electric control rear wheel steering method comprises: acquiring vehicle driving information of a target vehicle, wherein the vehicle driving information comprises a steering wheel rotating angle and a steering wheel rotating speed; determining a target driving mode of the target vehicle on the basis of the steering wheel rotating angle and the steering wheel rotating speed, wherein the target driving mode is a bending-in mode or a bending-out mode; and if the target driving mode is the bending-in mode, controlling rear wheels of the target vehicle to reversely steer, and if the target driving mode is the bending-out mode, controlling the rear wheels of the target vehicle to steer in the same direction.

Description

电控后轮转向方法、装置、电子设备及存储介质Electronically controlled rear wheel steering method, device, electronic equipment and storage medium

本申请要求在2021年08月27日提交中国专利局、申请号为202110993305.7的中国专利申请的优先权，该申请的全部内容通过引用结合在本申请中。This application claims the priority of the Chinese patent application with application number 202110993305.7 submitted to the China Patent Office on August 27, 2021, the entire content of which is incorporated herein by reference.

技术领域technical field

本申请涉及车辆技术领域，例如涉及一种电控后轮转向方法、装置、电子设备及存储介质。The present application relates to the technical field of vehicles, for example, to an electronically controlled rear wheel steering method, device, electronic equipment and storage medium.

背景技术Background technique

随着电子技术的发展，越来越多的豪华运动轿车已经配备电控后轮转向***，以方便驾驶者根据意愿改变汽车的行驶方向。一般目的是使车辆在低速时前、后轮转角相反，高速时前、后轮转角同向，提高车辆的灵活性和稳定性。With the development of electronic technology, more and more luxury sports cars have been equipped with an electronically controlled rear wheel steering system to facilitate the driver to change the driving direction of the car according to his wishes. The general purpose is to make the front and rear wheel rotation angles opposite at low speed, and the front and rear wheel rotation angles are in the same direction at high speed, so as to improve the flexibility and stability of the vehicle.

然而，相关技术均不涉及到进入弯道时(躲避障碍)和驶出弯道(恢复路线)的策略描述。However, none of the related technologies relates to the strategy description when entering a curve (avoiding an obstacle) and driving out of a curve (recovering a route).

发明内容Contents of the invention

本申请提供了一种电控后轮转向方法、装置、电子设备及存储介质，以实现车辆进入弯道和驶出弯道的后轮转向控制，提高车辆的敏捷性和机动性。The present application provides an electronically controlled rear wheel steering method, device, electronic equipment and storage medium, so as to realize the rear wheel steering control of the vehicle entering and exiting the curve, and improve the agility and maneuverability of the vehicle.

本申请提供了一种电控后轮转向方法，所述方法包括：The present application provides an electronically controlled rear wheel steering method, the method comprising:

获取目标车辆的车辆行驶信息，其中，所述车辆行驶信息包括方向盘转角和方向盘转速；Acquiring vehicle running information of the target vehicle, wherein the vehicle running information includes steering wheel angle and steering wheel speed;

基于所述方向盘转角和所述方向盘转速，确定所述目标车辆的目标驾驶模式，其中，目标驾驶模式为入弯模式或出弯模式；determining a target driving mode of the target vehicle based on the steering wheel angle and the steering wheel rotation speed, wherein the target driving mode is a corner-entry mode or a corner-exit mode;

若所述目标驾驶模式为入弯模式，则控制所述目标车辆的后轮反向转向，若所述目标驾驶模式为出弯模式，则控制所述目标车辆的后轮同向转向。If the target driving mode is a cornering mode, control the rear wheels of the target vehicle to steer in the opposite direction; if the target driving mode is a cornering mode, control the rear wheels of the target vehicle to steer in the same direction.

一实施例中，所述基于所述方向盘转角和所述方向盘转速，确定所述目标车辆的目标驾驶模式，包括：In an embodiment, the determining the target driving mode of the target vehicle based on the steering wheel angle and the steering wheel rotation speed includes:

将所述方向盘转角与预设转角阈值进行比对；Comparing the steering wheel angle with a preset angle threshold;

若所述方向盘转角大于所述预设转角阈值，则基于所述方向盘转角的方向和所述方向盘转速的方向，确定所述目标车辆的目标驾驶模式。If the steering wheel angle is greater than the preset steering angle threshold, the target driving mode of the target vehicle is determined based on the direction of the steering wheel angle and the direction of the rotation speed of the steering wheel.

一实施例中，所述基于所述方向盘转角的方向和所述方向盘转速的方向，确定所述目标车辆的目标驾驶模式，包括：In an embodiment, the determining the target driving mode of the target vehicle based on the direction of the steering wheel angle and the direction of the steering wheel rotation speed includes:

若所述方向盘转角和所述方向盘转速均不为零，且所述方向盘转角的方向与所述方向盘转速的方向不一致，则确定所述目标车辆的目标驾驶模式为出弯模式；If both the steering wheel angle and the steering wheel speed are not zero, and the direction of the steering wheel angle is inconsistent with the direction of the steering wheel speed, then determine that the target driving mode of the target vehicle is a cornering mode;

若所述方向盘转角和所述方向盘转速均不为零，且所述方向盘转角的方向与所述方向盘转速的方向一致，则确定所述目标车辆的目标驾驶模式为入弯模式。If neither the steering wheel angle nor the steering wheel speed is zero, and the direction of the steering wheel angle is consistent with the direction of the steering wheel speed, then it is determined that the target driving mode of the target vehicle is a cornering mode.

一实施例中，所述车辆行驶信息还包括当前侧向加速度，所述若所述目标驾驶模式为入弯模式，则控制所述目标车辆的后轮反向转向，包括：In one embodiment, the vehicle driving information also includes the current lateral acceleration, and if the target driving mode is a corner-entry mode, controlling the reverse steering of the rear wheels of the target vehicle includes:

若所述目标驾驶模式为入弯模式，则基于所述当前侧向加速度以及预先构建的入弯比例系数映射表，确定所述目标车辆对应的入弯前后轮转角比例系数；If the target driving mode is a turn-in mode, then based on the current lateral acceleration and the pre-built turn-in ratio coefficient mapping table, determine the front and rear wheel angle ratio coefficients corresponding to the target vehicle;

基于所述入弯前后轮转角比例系数以及所述目标车辆的前轮转角，确定所述目标车辆的后轮转角；Determining the rear wheel angle of the target vehicle based on the proportional coefficient of the front and rear wheel angles of the turn-in and the front wheel angle of the target vehicle;

基于所述后轮转角控制所述目标车辆的后轮反向转向；controlling the reverse steering of the rear wheels of the target vehicle based on the rear wheel angle;

其中，所述入弯比例系数映射表包括多个实测侧向加速度以及每个实测侧向加速度对应的入弯转角比例系数。Wherein, the turn-entry proportional coefficient mapping table includes a plurality of measured lateral accelerations and a turn-entry angle proportional coefficient corresponding to each measured lateral acceleration.

一实施例中，所述车辆行驶信息还包括当前侧向加速度，所述若所述目标驾驶模式为出弯模式，则控制所述目标车辆的后轮同向转向，包括：In one embodiment, the vehicle driving information also includes the current lateral acceleration, and if the target driving mode is a cornering mode, controlling the rear wheels of the target vehicle to steer in the same direction includes:

若所述目标驾驶模式为出弯模式，则基于所述当前侧向加速度以及预先构建的出弯比例系数映射表，确定所述目标车辆对应的出弯前后轮转角比例系数；If the target driving mode is a cornering mode, then based on the current lateral acceleration and the pre-built cornering ratio coefficient mapping table, determine the front and rear wheel angle ratio coefficients corresponding to the target vehicle;

基于所述出弯前后轮转角比例系数以及所述目标车辆的前轮转角，确定所述目标车辆的后轮转角；Determining the rear wheel angle of the target vehicle based on the proportional coefficient of the front and rear wheel angles of the corner exit and the front wheel angle of the target vehicle;

基于所述后轮转角控制所述目标车辆的后轮同向转向；controlling the rear wheels of the target vehicle to steer in the same direction based on the rear wheel angle;

其中，所述出弯比例系数映射表包括多个实测侧向加速度以及每个实测侧向加速度对应的出弯转角比例系数。Wherein, the turning-out proportional coefficient mapping table includes a plurality of measured lateral accelerations and a turning-out turning angle proportional coefficient corresponding to each measured lateral acceleration.

一实施例中，所述方法还包括：In one embodiment, the method also includes:

基于入弯模式下每个实测侧向加速度以及所述每个实测侧向加速度对应的后轮转动角度，计算所述每个实测侧向加速度对应的入弯转角比例系数；Based on each measured lateral acceleration in the turning mode and the rear wheel rotation angle corresponding to each measured lateral acceleration, calculate the turning angle proportional coefficient corresponding to each measured lateral acceleration;

基于所述多个实测侧向加速度以及每个实测侧向加速度对应的入弯转角比例系数，构建入弯比例系数映射表。Based on the plurality of measured lateral accelerations and the turn-in ratio coefficient corresponding to each measured lateral acceleration, a turn-in ratio coefficient mapping table is constructed.

一实施例中，所述基于入弯模式下每个实测侧向加速度以及所述每个实测侧向加速度对应的后轮转动角度，计算所述每个实测侧向加速度对应的入弯转角比例系数，满足如下公式：In an embodiment, the calculation of the turn-in angle proportional coefficient corresponding to each measured lateral acceleration is based on each measured lateral acceleration in the turn-in mode and the rear wheel rotation angle corresponding to each measured lateral acceleration , satisfying the following formula:

其中，L为车辆轴距，R为车辆转弯半径，W _f为前轮静载，W _r为后轮静载，C _af为前轮侧偏刚度，C _ar为后轮侧偏刚度，a _y为实测侧向加速度，k为入弯转角比例系数，δ _r为后轮转动角度。 Among them, L is the wheelbase of the vehicle, R is the turning radius of the vehicle, W _f is the static load of the front wheel, W _r is the static load of the rear wheel, C _af is the cornering stiffness of the front wheel, _Car is the cornering stiffness of the rear wheel, a _y is the measured lateral acceleration, k is the proportional coefficient of turning angle into the turn, and _δr is the rear wheel rotation angle.

本申请还提供了一种电控后轮转向装置，所述装置包括：The present application also provides an electronically controlled rear wheel steering device, the device comprising:

信息获取模块，设置为获取目标车辆的车辆行驶信息，其中，所述车辆行驶信息包括方向盘转角和方向盘转速；An information acquisition module, configured to acquire vehicle running information of the target vehicle, wherein the vehicle running information includes steering wheel angle and steering wheel speed;

驾驶模式确定模块，设置为基于所述方向盘转角和所述方向盘转速，确定所述目标车辆的目标驾驶模式，其中，目标驾驶模式为入弯模式或出弯模式；A driving mode determining module, configured to determine a target driving mode of the target vehicle based on the steering wheel angle and the steering wheel speed, wherein the target driving mode is a cornering mode or a cornering mode;

后轮控制模块，设置为若所述目标驾驶模式为入弯模式，则控制所述目标车辆的后轮反向转向，若所述目标驾驶模式为出弯模式，则控制所述目标车辆的后轮同向转向。The rear wheel control module is configured to control the reverse steering of the rear wheels of the target vehicle if the target driving mode is a cornering mode, and control the rear wheels of the target vehicle if the target driving mode is a cornering mode. The wheels turn in the same direction.

本申请实施例还提供了一种电子设备，所述电子设备包括：The embodiment of the present application also provides an electronic device, and the electronic device includes:

一个或多个处理器；one or more processors;

存储装置，设置为存储一个或多个程序；a storage device configured to store one or more programs;

当所述一个或多个程序被所述一个或多个处理器执行，使得所述一个或多个处理器实现上述的电控后轮转向方法。When the one or more programs are executed by the one or more processors, the one or more processors implement the above electronically controlled rear wheel steering method.

本申请实施例还提供了一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现上述的电控后轮转向方法。The embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the above-mentioned electronically controlled rear wheel steering method is realized.

本申请实施例还提供了一种电控后轮转向***，所述***包括前轮转向装置、后轮转向装置和加速度传感器；其中，The embodiment of the present application also provides an electronically controlled rear wheel steering system, the system includes a front wheel steering device, a rear wheel steering device and an acceleration sensor; wherein,

所述前轮转向装置，设置为向所述后轮转向装置发送方向盘转角和方向盘转速；The front wheel steering device is configured to send the steering wheel angle and the steering wheel speed to the rear wheel steering device;

所述加速度传感器，设置为检测目标车辆的当前侧向加速度，并将所述当前侧向加速度发送至所述后轮转向装置；The acceleration sensor is configured to detect the current lateral acceleration of the target vehicle, and send the current lateral acceleration to the rear wheel steering device;

所述后轮转向装置，设置为基于本申请任意实施例提供的电控后轮转向方法控制所述目标车辆的后轮转向。The rear wheel steering device is configured to control the rear wheel steering of the target vehicle based on the electronically controlled rear wheel steering method provided in any embodiment of the present application.

附图说明Description of drawings

图1为本申请实施例一提供的一种电控后轮转向方法的流程示意图；FIG. 1 is a schematic flow chart of an electronically controlled rear wheel steering method provided in Embodiment 1 of the present application;

图2为本申请实施例二提供的一种电控后轮转向方法的流程示意图；FIG. 2 is a schematic flowchart of an electronically controlled rear wheel steering method provided in Embodiment 2 of the present application;

图3A为本申请实施例三提供的一种电控后轮转向方法的流程示意图；FIG. 3A is a schematic flowchart of an electronically controlled rear wheel steering method provided in Embodiment 3 of the present application;

图3B为本申请实施例三提供的一种车辆转向时前轮后轮的状态示意图；Fig. 3B is a schematic diagram of the state of the front and rear wheels when the vehicle is turning according to Embodiment 3 of the present application;

图3C为本申请实施例三提供的另一种电控后轮转向方法的流程示意图；FIG. 3C is a schematic flowchart of another electronically controlled rear wheel steering method provided in Embodiment 3 of the present application;

图4A为本申请实施例四提供的一种电控后轮转向***的结构示意图；FIG. 4A is a schematic structural diagram of an electronically controlled rear wheel steering system provided in Embodiment 4 of the present application;

图4B为本申请实施例四提供的一种控制单元的功能示意图；FIG. 4B is a functional schematic diagram of a control unit provided in Embodiment 4 of the present application;

图5为本申请实施例五提供的一种电控后轮转向装置的结构示意图；Fig. 5 is a schematic structural diagram of an electronically controlled rear wheel steering device provided in Embodiment 5 of the present application;

图6为本申请实施例六提供的一种电子设备的结构示意图。FIG. 6 is a schematic structural diagram of an electronic device provided in Embodiment 6 of the present application.

具体实施方式Detailed ways

下面结合附图和实施例对本申请进行说明。此处所描述的具体实施例仅仅用于解释本申请。为了便于描述，附图中仅示出了与本申请相关的部分。The application will be described below in conjunction with the accompanying drawings and embodiments. The specific embodiments described herein are for illustration of the application only. For ease of description, only parts relevant to the present application are shown in the drawings.

实施例一Embodiment one

图1为本申请实施例一提供的一种电控后轮转向方法的流程示意图，本实施例可适用于根据获取到的车辆行驶信息，判断车辆的驾驶意图并控制车辆的后轮转向的情况，该方法可以由电控后轮转向装置来执行，该装置可以由硬件和/或软件来实现，该方法包括：Figure 1 is a schematic flow chart of an electronically controlled rear-wheel steering method provided in Embodiment 1 of the present application. This embodiment is applicable to situations where the driving intention of the vehicle is judged and the rear-wheel steering of the vehicle is controlled based on the acquired vehicle driving information. , the method can be performed by an electronically controlled rear wheel steering device, the device can be implemented by hardware and/or software, the method includes:

S110、获取目标车辆的车辆行驶信息。S110. Acquire vehicle travel information of the target vehicle.

车辆行驶信息包括方向盘转角和方向盘转速。在本实施例中，方向盘转速和方向盘转角可以是目标车辆的前轴上的传统转向装置所提供的。方向盘转角可以是目标车辆的方向盘的转角信息；方向盘转速可以是目标车辆的方向盘的转速信息。Vehicle driving information includes steering wheel angle and steering wheel speed. In this embodiment, the steering wheel speed and steering wheel angle may be provided by a conventional steering device on the front axle of the target vehicle. The steering wheel angle may be the steering wheel angle information of the target vehicle; the steering wheel rotation speed may be the steering wheel rotation speed information of the target vehicle.

S120、基于方向盘转角和方向盘转速，确定目标车辆的目标驾驶模式。S120. Determine a target driving mode of the target vehicle based on the steering wheel angle and the steering wheel rotation speed.

目标驾驶模式为入弯模式或出弯模式。入弯模式可以是车辆为了紧急避让进入弯道，即，躲避障碍；出弯模式可以是车辆在躲避障碍之后驶出弯道，即，恢复原行驶路线。The target driving mode is the corner-entry mode or the corner-exit mode. The turning-in mode may be that the vehicle enters the curve for emergency avoidance, that is, avoiding an obstacle; the turning-out mode may be that the vehicle drives out of the curve after avoiding an obstacle, that is, returning to the original driving route.

在本实施例中，可以根据方向盘转角的方向和方向盘转速的方向，确定目标车辆的目标驾驶模式。示例性的，可以以目标车辆的驾驶位为基准，定义向左为正方向，向右为负方向；若方向盘转角的方向与方向盘转速的方向的符号一致，则判断目标车辆进入弯道或紧急避障，即，入弯模式；若方向盘转角的方向与方向盘转速的方向的符号不一致，则判断目标车辆躲避障碍之后回归车道中心线，即，出弯模式。In this embodiment, the target driving mode of the target vehicle can be determined according to the direction of the steering wheel angle and the direction of the steering wheel rotation speed. Exemplarily, based on the driving position of the target vehicle, it is possible to define a positive direction to the left and a negative direction to the right; if the direction of the steering wheel angle is consistent with the sign of the direction of the steering wheel speed, it is determined that the target vehicle enters a curve or is in an emergency Obstacle avoidance, that is, turn-in mode; if the direction of the steering wheel angle is inconsistent with the sign of the direction of the steering wheel speed, it is determined that the target vehicle returns to the centerline of the lane after avoiding obstacles, that is, turn-out mode.

示例性的，目标车辆向左紧急避障，此时，方向盘向左转动，方向盘转角的方向为正，方向盘转速的方向为正，方向盘转角的方向与方向盘转速的方向的符号一致，目标车辆的目标驾驶模式为入弯模式；目标车辆在向左避障完毕后，回归原有路线(如，回归车道中心线)，此时，方向盘向右转动，方向盘转角仍然在左边，转角的方向仍然为正，方向盘转速的方向为负，方向盘转角的方向与方向盘转速的方向的符号不一致，目标车辆的目标驾驶模式为出弯模式。Exemplarily, the target vehicle avoids obstacles in an emergency to the left. At this time, the steering wheel turns to the left, the direction of the steering wheel angle is positive, the direction of the steering wheel speed is positive, and the direction of the steering wheel angle is consistent with the sign of the direction of the steering wheel speed. The target vehicle The target driving mode is the turning mode; the target vehicle returns to the original route (for example, returning to the centerline of the lane) after avoiding obstacles to the left. The direction is still positive, the direction of the steering wheel speed is negative, the direction of the steering wheel angle is inconsistent with the sign of the direction of the steering wheel speed, and the target driving mode of the target vehicle is the corner exit mode.

S130、若目标驾驶模式为入弯模式，则控制目标车辆的后轮反向转向，若目标驾驶模式为出弯模式，则控制目标车辆的后轮同向转向。S130. If the target driving mode is the turning-in mode, control the rear wheels of the target vehicle to steer in the opposite direction, and if the target driving mode is the turning-out mode, control the rear wheels of the target vehicle to steer in the same direction.

后轮反向转向可以是后轮以与前轮的转向方向相反的方向进行转向；后轮同向转向可以是后轮以与前轮的转向方向相同的方向进行转向。Rear-wheel counter-steering may mean that the rear wheels are turned in the opposite direction to that of the front wheels; rear-wheel steer may be that the rear wheels are turned in the same direction as that of the front wheels.

在本实施例中，可以在目标驾驶模式为入弯模式时，控制目标车辆的后轮反向转向；在目标驾驶模式为出弯模式时，控制目标车辆的后轮同向转向。In this embodiment, when the target driving mode is the turning-in mode, the rear wheels of the target vehicle can be controlled to steer in the opposite direction; when the target driving mode is the turning-out mode, the rear wheels of the target vehicle can be controlled to steer in the same direction.

在目标驾驶模式为入弯模式时，控制目标车辆的后轮反向转向的目的在于：通过控制后轮以与前轮的转向方向相反的方向进行转向，增加车辆的过度转向，有利于车辆躲避障碍，可以实现快速躲避障碍，提高车辆的安全性。在目标驾驶模式为出弯模式时，控制目标车辆的后轮同向转向的目的在于：通过控制后轮以与前轮的转向方向相同的方向进行转向，增加车辆的不足转向，进而增加车辆的转弯半径，使得车辆可以尽快恢复原有路线，并提高车辆的驾驶舒适性。When the target driving mode is the turning mode, the purpose of controlling the reverse steering of the rear wheels of the target vehicle is to increase the oversteer of the vehicle by controlling the rear wheels to steer in the direction opposite to the steering direction of the front wheels, which is conducive to vehicle avoidance Obstacles can be quickly avoided to improve the safety of the vehicle. When the target driving mode is the cornering mode, the purpose of controlling the rear wheels of the target vehicle to steer in the same direction is to increase the understeer of the vehicle by controlling the rear wheels to steer in the same direction as the front wheels, thereby increasing the The turning radius enables the vehicle to return to the original route as soon as possible and improves the driving comfort of the vehicle.

本实施例还可以在控制目标车辆的后轮同向转向/反向转向时，控制目标车辆的后轮转向的转角与前轮转向的转角保持一定比例，提高车辆的敏捷性和机动性，提高了车辆的安全性和舒适性。In this embodiment, when controlling the rear wheels of the target vehicle to steer in the same direction/reverse direction, the steering angle of the rear wheels of the target vehicle is controlled to maintain a certain ratio with the steering angle of the front wheels, so as to improve the agility and maneuverability of the vehicle, and improve vehicle safety and comfort.

在一种实施方式中，车辆行驶信息还包括当前侧向加速度，若目标驾驶模式为入弯模式，则控制目标车辆的后轮反向转向，包括：若目标驾驶模式为入弯模式，则基于当前侧向加速度以及预先构建的入弯比例系数映射表，确定目标车辆对应的入弯前后轮转角比例系数；基于入弯前后轮转角比例系数以及目标车辆的前轮转角，确定目标车辆的后轮转角；基于后轮转角控制目标车辆的后轮反向转向。In one embodiment, the vehicle driving information also includes the current lateral acceleration. If the target driving mode is the corner-entry mode, controlling the reverse steering of the rear wheels of the target vehicle includes: if the target driving mode is the corner-entry mode, based on Determine the front and rear wheel angle ratio coefficients corresponding to the target vehicle based on the current lateral acceleration and the pre-built turn-in ratio coefficient mapping table; determine the rear wheels of the target vehicle based on the front-to-back wheel angle ratio coefficients and the front wheel angle of the target vehicle Steering Angle; Controls the reverse steering of the rear wheels of the target vehicle based on the rear wheel steering angle.

入弯比例系数映射表包括多个实测侧向加速度以及每个实测侧向加速度对应的入弯转角比例系数。可以预先通过测量实车在不同的实测侧向加速度下所对应的实测后轮转角，根据实测侧向加速度和实测侧向加速度对应的实测后轮转角计算实测侧向加速度对应的入弯前后轮转角比例系数，进而基于多个实测侧向加速度和每个实测侧向加速度对应的入弯前后轮转角比例系数建立入弯比例系数映射表。在确定出目标车辆的前轮转角后，可以根据目标车辆的当前侧向加速度，在入弯比例系数映射表中查询出对应的入弯前后轮转角比例系数，以基于前轮转角和入弯前后轮转角比例系数计算后轮转角。The turn-entry proportional coefficient mapping table includes a plurality of measured lateral accelerations and a turn-entry angle proportional coefficient corresponding to each measured lateral acceleration. The actual measured rear wheel angle corresponding to the actual vehicle under different measured lateral accelerations can be measured in advance, and the front and rear wheel angles corresponding to the measured lateral acceleration can be calculated according to the measured lateral acceleration and the measured rear wheel angle corresponding to the measured lateral acceleration. The proportional coefficients, and then based on the plurality of measured lateral accelerations and the proportional coefficients of the front and rear wheel angles corresponding to each measured lateral acceleration, a mapping table of the proportional coefficients for entering the curve is established. After the front wheel angle of the target vehicle is determined, according to the current lateral acceleration of the target vehicle, the corresponding wheel angle ratio coefficients before and after entering the curve can be queried in the mapping table of the ratio coefficient of entering the curve, so that The steering angle ratio factor calculates the rear wheel steering angle.

在该实施方式中，基于后轮转角控制目标车辆的后轮反向转向，可以是控制目标车辆的后轮以该后轮转角对应的方向为转向方向进行转向，即，控制目标车辆的后轮转动至后轮转角对应的方向。通过目标车辆的当前侧向加速度以及预先构建的入弯比例系数映射表，计算出目标车辆的后轮转角，以基于该后轮转角控制目标车辆的后轮反向转向，使得车辆的后轮转向的转角与前轮转向的转角保持一定比例，实现了后轮根据前轮转角的随动转向，提高了车辆的敏捷性和机动性，提高了车辆的安全性和舒适性。In this embodiment, the rear wheel reverse steering of the target vehicle is controlled based on the rear wheel angle, which may be to control the rear wheel of the target vehicle to steer in the direction corresponding to the rear wheel angle, that is, to control the rear wheel of the target vehicle Turn to the direction corresponding to the rear wheel rotation angle. Calculate the rear wheel angle of the target vehicle through the current lateral acceleration of the target vehicle and the pre-built turn-in ratio coefficient mapping table, so as to control the reverse steering of the rear wheels of the target vehicle based on the rear wheel angle, so that the rear wheels of the vehicle turn The steering angle of the front wheel keeps a certain ratio with the steering angle of the front wheel, which realizes the follow-up steering of the rear wheel according to the steering angle of the front wheel, improves the agility and maneuverability of the vehicle, and improves the safety and comfort of the vehicle.

相应的，在目标车辆处于出弯模式时，也可以基于比例系数映射表确定目标车辆的后轮转角。即，车辆行驶信息还包括当前侧向加速度，若目标驾驶模式为出弯模式，则控制目标车辆的后轮同向转向，包括：若目标驾驶模式为出弯模式，则基于当前侧向加速度以及预先构建的出弯比例系数映射表，确定目标车辆对应的出弯前后轮转角比例系数；基于出弯前后轮转角比例系数以及目标车辆的前轮转角，确定目标车辆的后轮转角；基于后轮转角控制目标车辆的后轮同向转向；其中，出弯比例系数映射表包括多个实测侧向加速度以及每个实测侧向加速度对应的出弯转角比例系数。Correspondingly, when the target vehicle is in the cornering mode, the rear wheel rotation angle of the target vehicle may also be determined based on the proportional coefficient mapping table. That is, the vehicle driving information also includes the current lateral acceleration. If the target driving mode is the cornering mode, then control the rear wheels of the target vehicle to steer in the same direction, including: if the target driving mode is the cornering mode, based on the current lateral acceleration and The pre-constructed cornering ratio coefficient mapping table determines the corresponding wheel angle ratio coefficients of the target vehicle before and after cornering; based on the ratio coefficient of front and rear wheel angles and the front wheel angle of the target vehicle, the rear wheel angle of the target vehicle is determined; based on the rear wheel The steering angle controls the rear wheels of the target vehicle to steer in the same direction; wherein, the turn-out ratio coefficient mapping table includes a plurality of measured lateral accelerations and a turn-out angle ratio coefficient corresponding to each measured lateral acceleration.

可以将当前侧向加速度与出弯比例系数映射表中的每个实测侧向加速度进行比对，进而确定出与当前侧向加速度最接近的实测侧向加速度，将该实测侧向加速度对应的出弯转角比例系数确定为目标车辆对应的出弯前后轮转角比例系数。在得到出弯前后轮转角比例系数后，可以将目标车辆的前轮转角除以该出弯前后轮转角比例系数，得到目标车辆的后轮转角。The current lateral acceleration can be compared with each measured lateral acceleration in the mapping table of the exit ratio coefficient, and then the measured lateral acceleration closest to the current lateral acceleration can be determined, and the exit corresponding to the measured lateral acceleration can be determined. The turning angle proportional coefficient is determined as the corresponding turning angle proportional coefficient of the front and rear wheels of the target vehicle. After obtaining the ratio coefficient of the front and rear wheel rotation angles of the corner exit, the front wheel rotation angle of the target vehicle can be divided by the ratio coefficient of the front and rear wheel rotation angles of the corner exit to obtain the rear wheel rotation angle of the target vehicle.

通过目标车辆的当前侧向加速度以及预先构建的出弯比例系数映射表，计算出目标车辆的后轮转角，以基于该后轮转角控制目标车辆的后轮同向转向，使得车辆的后轮转向的转角与前轮转向的转角保持一定比例，实现了后轮根据前轮转角的随动转向，提高了车辆的敏捷性和机动性，提高了车辆的安全性和舒适性。Calculate the rear wheel angle of the target vehicle based on the current lateral acceleration of the target vehicle and the pre-built turn-out ratio coefficient mapping table, so as to control the rear wheel steering of the target vehicle in the same direction based on the rear wheel angle, so that the rear wheels of the vehicle turn The steering angle of the front wheel keeps a certain ratio with the steering angle of the front wheel, which realizes the follow-up steering of the rear wheel according to the steering angle of the front wheel, improves the agility and maneuverability of the vehicle, and improves the safety and comfort of the vehicle.

本实施例的技术方案，通过获取到的目标车辆的方向盘转角和方向盘转速，确定目标车辆的目标驾驶模式为入弯模式或出弯模式，实现车辆的驾驶意图的识别，进而在目标车辆的目标驾驶模式为入弯模式时，控制目标车辆的后轮反向转向，有助于在车辆处于紧急避让时快速躲避障碍，并在目标车辆的目标驾驶模式为出弯模式时，控制目标车辆的后轮同向转向，有助于车辆在躲避障碍后快速恢复原有路线，实现了车辆进入弯道和驶出弯道的后轮转向控制，使得车辆进入弯道和驶出弯道更加敏捷机动，提高了车辆的安全性和驾驶体验。In the technical solution of this embodiment, through the acquired steering wheel angle and steering wheel speed of the target vehicle, it is determined that the target driving mode of the target vehicle is the corner-entry mode or the corner-exit mode, so as to realize the recognition of the driving intention of the vehicle, and then determine the target driving mode of the target vehicle. When the driving mode is the cornering mode, control the reverse steering of the rear wheels of the target vehicle, which is helpful for quickly avoiding obstacles when the vehicle is in emergency avoidance, and when the target driving mode of the target vehicle is the cornering mode, control the rear wheels of the target vehicle The steering in the same direction helps the vehicle to quickly recover the original route after avoiding obstacles, and realizes the rear wheel steering control of the vehicle entering and exiting the curve, making the vehicle more agile and maneuverable when entering and exiting the curve. Improve vehicle safety and driving experience.

实施例二Embodiment two

图2为本申请实施例二提供的一种电控后轮转向方法的流程示意图，本实施例在上述实施例的基础上，所述基于所述方向盘转角和所述方向盘转速，确定所述目标车辆的目标驾驶模式，包括：将所述方向盘转角与预设转角阈值进行比对；若所述方向盘转角大于所述预设转角阈值，则基于所述方向盘转角的方向和所述方向盘转速的方向，确定所述目标车辆的目标驾驶模式。Fig. 2 is a schematic flowchart of an electronically controlled rear wheel steering method provided in Embodiment 2 of the present application. In this embodiment, on the basis of the above embodiments, the target is determined based on the steering wheel angle and the steering wheel speed. The target driving mode of the vehicle, including: comparing the steering wheel angle with a preset rotation angle threshold; if the steering wheel angle is greater than the preset rotation angle threshold, based on the direction of the steering wheel angle and the direction of the steering wheel speed , to determine the target driving mode of the target vehicle.

与上述实施例相同或相应的术语的解释在此不再赘述。参见图2，本实施例提供的包括：Explanations of terms that are the same as or corresponding to those in the above embodiments will not be repeated here. Referring to Figure 2, the present embodiment provides include:

S210、获取目标车辆的车辆行驶信息，其中，车辆行驶信息包括方向盘转角和方向盘转速。S210. Acquire vehicle running information of the target vehicle, wherein the vehicle running information includes steering wheel angle and steering wheel rotation speed.

S220、将方向盘转角与预设转角阈值进行比对，若方向盘转角大于预设转角阈值，则基于方向盘转角的方向和方向盘转速的方向，确定目标车辆的目标驾驶模式。S220. Comparing the steering wheel angle with a preset steering angle threshold, if the steering wheel angle is greater than the preset steering angle threshold, determine the target driving mode of the target vehicle based on the direction of the steering wheel angle and the direction of the steering wheel speed.

预设转角阈值可以是预先设置的用于判别是否有转向行为的数值。示例性的，驾驶员的无意操作或来自路面的振动也可以引起方向盘的微小转动，此时，通过将方向盘转角与预设转角阈值进行比对，在方向盘转角大于预设转角阈值时，可以确定目标车辆有转向行为，从而基于目标车辆的方向盘转角的方向和方向盘转速的方向，判断目标车辆的目标驾驶模式。示例性的，预设转角阈值可以是3゜；预设转角阈值可以根据实际需求(如车辆重量)进行设置，本申请对此不作限定。The preset turning angle threshold may be a preset value for judging whether there is a steering behavior. Exemplarily, the driver's unintentional operation or vibration from the road can also cause a small rotation of the steering wheel. At this time, by comparing the steering wheel angle with the preset angle threshold, when the steering wheel angle is greater than the preset angle threshold, it can be determined The target vehicle has a steering behavior, so based on the direction of the steering wheel angle and the direction of the steering wheel rotation speed of the target vehicle, the target driving mode of the target vehicle is determined. Exemplarily, the preset turning angle threshold may be 3°; the preset turning angle threshold may be set according to actual requirements (such as vehicle weight), which is not limited in this application.

基于方向盘转角的方向和方向盘转速的方向，确定目标车辆的目标驾驶模式，包括：若方向盘转角和方向盘转速均不为零，且方向盘转角的方向与方向盘转速的方向不一致，则确定目标车辆的目标驾驶模式为出弯模式；若方向盘转角和方向盘转速均不为零，且方向盘转角的方向与方向盘转速的方向一致，则确定目标车辆的目标驾驶模式为入弯模式。Determine the target driving mode of the target vehicle based on the direction of the steering wheel angle and the direction of the steering wheel speed, including: if both the steering wheel angle and the steering wheel speed are not zero, and the direction of the steering wheel angle is inconsistent with the direction of the steering wheel speed, then determine the target of the target vehicle The driving mode is a cornering mode; if both the steering wheel angle and the steering wheel speed are not zero, and the direction of the steering wheel angle is consistent with the direction of the steering wheel speed, then it is determined that the target driving mode of the target vehicle is the turning mode.

若方向盘转角为零或方向盘转速为零，则可以确定目标车辆处于直行状态，或者，目标车辆处于一稳定转向状态，即，目标车辆的目标驾驶模式为维持模式。在方向盘转角和方向盘转速均不为零，且方向盘转角的方向与方向盘转速的方向一致时，目标车辆的目标驾驶模式为入弯模式。在方向盘转角和方向盘转速均不为零，且方向盘转角的方向与方向盘转速的方向不一致时，目标车辆的目标驾驶模式为出弯模式。If the steering wheel angle is zero or the steering wheel rotation speed is zero, it can be determined that the target vehicle is in a straight-going state, or that the target vehicle is in a stable steering state, that is, the target driving mode of the target vehicle is a maintenance mode. When both the steering wheel angle and the steering wheel speed are not zero, and the direction of the steering wheel angle is consistent with the direction of the steering wheel speed, the target driving mode of the target vehicle is the turning mode. When both the steering wheel angle and the steering wheel speed are not zero, and the direction of the steering wheel angle is inconsistent with the direction of the steering wheel speed, the target driving mode of the target vehicle is the corner exit mode.

示例性的，基于方向盘转角的方向和方向盘转速的方向，确定目标车辆的目标驾驶模式，可以满足如下公式：Exemplarily, the target driving mode of the target vehicle may be determined based on the direction of the steering wheel angle and the direction of the steering wheel rotation speed, which may satisfy the following formula:

w为方向盘转角，

为方向盘转速。

为-1时，表示方向盘转角的方向和方向盘转速的方向不一致；

为1时，表示方向盘转角的方向和方向盘转速的方向一致；

为0时，表示方向盘转角或方向盘转速为0。 w is the steering wheel angle,

is the steering wheel speed.

When it is -1, it means that the direction of the steering wheel angle is inconsistent with the direction of the steering wheel speed;

When it is 1, it means that the direction of the steering wheel angle is consistent with the direction of the steering wheel speed;

When it is 0, it means that the steering wheel angle or the steering wheel speed is 0.

S230、若目标驾驶模式为入弯模式，则控制目标车辆的后轮反向转向，若目标驾驶模式为出弯模式，则控制目标车辆的后轮同向转向。S230. If the target driving mode is the turning-in mode, control the rear wheels of the target vehicle to steer in the opposite direction, and if the target driving mode is the turning-out mode, control the rear wheels of the target vehicle to steer in the same direction.

本实施例的技术方案，在根据方向盘转角的方向和方向盘转速的方向确定目标车辆的驾驶模式之前，将方向盘转角与预设转角阈值进行比对，以确定目标车辆是否有转向行为，避免在驾驶员无意操作或路面振动的情形下控制后轮转向，提高了车辆的安全性和驾驶体验。In the technical solution of this embodiment, before determining the driving mode of the target vehicle according to the direction of the steering wheel angle and the direction of the steering wheel speed, the steering wheel angle is compared with the preset steering angle threshold to determine whether the target vehicle has a steering behavior, so as to avoid driving while driving. It can control the steering of the rear wheels when the driver does not intend to operate or the road vibrates, which improves the safety and driving experience of the vehicle.

实施例三Embodiment three

图3A为本申请实施例三提供的一种电控后轮转向方法的流程示意图，本实施例在上述实施例的基础上，所述方法还包括：基于入弯模式下每个实测侧向加速度以及所述每个实测侧向加速度对应的后轮转动角度，计算所述每个实测侧向加速度对应的入弯转角比例系数；基于所述多个实测侧向加速度以及每个实测侧向加速度对应的入弯转角比例系数，构建入弯比例系数映射表。Fig. 3A is a schematic flow chart of an electronically controlled rear wheel steering method provided in Embodiment 3 of the present application. In this embodiment, on the basis of the above embodiments, the method further includes: and the rear wheel rotation angle corresponding to each of the measured lateral accelerations, calculating the turn-in ratio coefficient corresponding to each of the measured lateral accelerations; based on the plurality of measured lateral accelerations and each measured lateral acceleration corresponding to The turn-in ratio coefficient of the turning angle is used to construct the turn-in ratio coefficient mapping table.

与上述实施例相同或相应的术语的解释在此不再赘述。参见图3A，本实施例提供的电控后轮转向方法包括：Explanations of terms that are the same as or corresponding to those in the above embodiments will not be repeated here. Referring to Figure 3A, the electronically controlled rear wheel steering method provided in this embodiment includes:

S310、基于入弯模式下每个实测侧向加速度以及每个实测侧向加速度对应的后轮转动角度，计算每个实测侧向加速度对应的入弯转角比例系数。S310. Based on each measured lateral acceleration in the turn-entry mode and the rear wheel rotation angle corresponding to each measured lateral acceleration, calculate a turn-in ratio coefficient corresponding to each measured lateral acceleration.

可以测量实车在入弯模式下，多个实测侧向加速度下所对应的后轮转动角度，基于实测侧向加速度以及实测侧向加速度对应的后轮转动角度，计算实测侧向加速度对应的入弯转角比例系数，进而建立实测侧向加速度与实测侧向加速度对应的入弯转角比例系数对应关系。It can measure the rear wheel rotation angle corresponding to multiple measured lateral accelerations of the real vehicle in the cornering mode, and calculate the input corresponding to the measured lateral acceleration based on the measured lateral acceleration and the rear wheel rotation angle corresponding to the measured lateral acceleration. The turning angle proportional coefficient, and then the corresponding relationship between the measured lateral acceleration and the turning angle proportional coefficient corresponding to the measured lateral acceleration is established.

基于入弯模式下每个实测侧向加速度以及每个实测侧向加速度对应的后轮转动角度，计算每个实测侧向加速度对应的入弯转角比例系数，满足如下公式：Based on each measured lateral acceleration in the turning mode and the rear wheel rotation angle corresponding to each measured lateral acceleration, calculate the turning angle proportional coefficient corresponding to each measured lateral acceleration, which satisfies the following formula:

L为车辆轴距，R为车辆转弯半径，W _f为前轮静载，W _r为后轮静载，C _af为前轮侧偏刚度，C _ar为后轮侧偏刚度，a _y为实测侧向加速度，k为入弯转角比例系数，δ _r为后轮转动角度。 L is the wheelbase of the vehicle, R is the turning radius of the vehicle, W _f is the static load of the front wheel, W _r is the static load of the rear wheel, C _af is the cornering stiffness of the front wheel, _Car is the cornering stiffness of the rear wheel, a _y is the measured is the lateral acceleration, k is the ratio coefficient of turning angle into the turn, and _δr is the turning angle of the rear wheel.

可以将实测侧向加速度以及实测侧向加速度对应的后轮转动角度代入至上述公式，求解出k，作为该实测侧向加速度对应的入弯转角比例系数。通过不同的实测侧向加速度以及每个实测侧向加速度对应的后轮转动角度，可以多次求解出不同的实测侧向加速度分别对应的入弯转角比例系数。The measured lateral acceleration and the rear wheel rotation angle corresponding to the measured lateral acceleration can be substituted into the above formula to obtain k, which is used as the turning angle proportional coefficient corresponding to the measured lateral acceleration. By using different measured lateral accelerations and the rear wheel rotation angles corresponding to each measured lateral acceleration, the turn-in angle proportional coefficients corresponding to different measured lateral accelerations can be obtained multiple times.

示例性的，如图3B所示，展示了一种车辆转向时前轮后轮的状态示意图，如图3B所示，前轮转角δ _f与后轮转角δ _r的关系可以满足如下公式： Exemplarily, as shown in FIG. 3B, a schematic diagram of the state of the front and rear wheels when the vehicle is turning is shown. As shown in FIG. 3B, the relationship between the front wheel rotation angle _δf and the rear wheel rotation angle _δr can satisfy the following formula:

α _r为后轮侧偏角，α _f为前轮侧偏角，假设δ _f＝kδ _r，k为入弯转角比例系数，再结合传统的仅前轮转向的车辆的转角公式，可以得到上述实测侧向加速度与入弯转角比例系数的公式。其中，传统的仅前轮转向的车辆的转角公式如下： α _r is the rear wheel slip angle, α _f is the front wheel slip angle, assuming δ _f = kδ _r , k is the turning angle proportional coefficient, combined with the traditional steering angle formula of the vehicle with only front wheel steering, the above can be obtained The formula for the measured lateral acceleration and the proportional coefficient of the turning angle. Among them, the steering angle formula of the traditional only front-wheel steering vehicle is as follows:

本实施例还可以基于出弯模式下每个实测侧向加速度以及每个实测侧向加速度对应的后轮转动角度，基于上述公式计算每个实测侧向加速度对应的出弯转角比例系数。In this embodiment, based on each measured lateral acceleration in the cornering mode and the rear wheel rotation angle corresponding to each measured lateral acceleration, the ratio coefficient of the cornering angle corresponding to each measured lateral acceleration can be calculated based on the above formula.

S320、基于多个实测侧向加速度以及每个实测侧向加速度对应的入弯转角比例系数，构建入弯比例系数映射表。S320. Based on the multiple measured lateral accelerations and the turn-entry angle proportional coefficients corresponding to each measured lateral acceleration, construct a turn-entry proportional coefficient mapping table.

在计算出每个实测侧向加速度对应的入弯转角比例系数之后，可以建立实测侧向加速度与入弯转角比例系数之间的对应关系，进而构建入弯比例系数映射表。After calculating the turn-in ratio coefficient corresponding to each measured lateral acceleration, the corresponding relationship between the measured lateral acceleration and the turn-in ratio coefficient can be established, and then the turn-in ratio coefficient mapping table can be constructed.

本实施例也可以在计算出每个实测侧向加速度对应的出弯转角比例系数之后，建立实测侧向加速度与出弯转角比例系数之间的对应关系，进而构建出弯比例系数映射表。In this embodiment, after calculating the proportional coefficient of the outgoing turning angle corresponding to each measured lateral acceleration, the corresponding relationship between the measured lateral acceleration and the proportional coefficient of the outgoing turning angle can be established, and then the mapping table of the outgoing turning ratio coefficient can be constructed.

S330、获取目标车辆的车辆行驶信息，其中，车辆行驶信息包括方向盘转角、方向盘转速以及当前侧向加速度。S330. Obtain vehicle travel information of the target vehicle, wherein the vehicle travel information includes steering wheel angle, steering wheel speed and current lateral acceleration.

S340、基于方向盘转角和方向盘转速，确定目标车辆的目标驾驶模式，其中，目标驾驶模式为入弯模式或出弯模式。S340. Determine a target driving mode of the target vehicle based on the steering wheel angle and the steering wheel rotation speed, wherein the target driving mode is a curve-entry mode or a curve-exit mode.

S350、若目标驾驶模式为入弯模式，则基于当前侧向加速度以及预先构建的入弯比例系数映射表，确定所述目标车辆对应的入弯前后轮转角比例系数。S350. If the target driving mode is the turning mode, determine the front and rear wheel angle ratio coefficients corresponding to the target vehicle based on the current lateral acceleration and the pre-built turning ratio coefficient mapping table.

所述方法还可以包括：若目标驾驶模式为出弯模式，则基于当前侧向加速度以及预先构建的出弯比例系数映射表，确定目标车辆的后轮转角，基于后轮转角控制目标车辆的后轮同向转向。The method may further include: if the target driving mode is a cornering mode, determining the rear wheel angle of the target vehicle based on the current lateral acceleration and the pre-built cornering ratio coefficient mapping table, and controlling the rear wheel angle of the target vehicle based on the rear wheel angle. The wheels turn in the same direction.

本实施例的技术方案，可以预先根据入弯模式下实车的每个实测侧向加速度以及每个实测侧向加速度对应的后轮转动角度，计算对应的入弯转角比例系数，进而基于实测侧向加速度以及入弯比例系数建立入弯比例系数映射表，以使在确定出目标车辆的目标驾驶模式为入弯模式时，根据已建立的入弯比例系数映射表以及当前侧向加速度直接确定入弯转角比例系数，进而根据入弯转角比例系数以及前轮转角计算出后轮转角，使得车辆后轮转向的转角与前轮转向的转角保持一定比例，实现了后轮根据前轮转角的随动转向，提高了车辆的敏捷性和机动性，提高了车辆的安全性和舒适性。The technical solution of this embodiment can pre-calculate the corresponding turn-in angle ratio coefficient based on each measured lateral acceleration of the actual vehicle in the turn-in mode and the rear wheel rotation angle corresponding to each measured lateral acceleration, and then based on the measured side Establish a turn-in ratio coefficient mapping table based on the acceleration and turn-in ratio coefficients, so that when the target driving mode of the target vehicle is determined to be the turn-in mode, the turn-in ratio coefficient map can be directly determined according to the established turn-in ratio coefficient map and the current lateral acceleration. Turning angle proportional coefficient, and then calculate the rear wheel angle according to the turning angle proportional coefficient and the front wheel angle, so that the steering angle of the rear wheel of the vehicle is kept in a certain ratio with the steering angle of the front wheel, and the rear wheel is followed according to the front wheel angle Steering improves the agility and maneuverability of the vehicle, and improves the safety and comfort of the vehicle.

本实施例还提供一种可选的电控后轮转向方法，如图3C所示，展示了一种电控后轮转向方法的流程示意图。该方法包括：This embodiment also provides an optional electronically controlled rear wheel steering method, as shown in FIG. 3C , which shows a schematic flowchart of an electronically controlled rear wheel steering method. The method includes:

S10、获取车辆行驶信息。S10. Acquiring vehicle driving information.

S20、判断方向盘转角是否大于3゜，若方向盘转角大于3゜，则执行S30，若方向盘转角不大于3゜，则返回执行S10。S20. Determine whether the steering wheel angle is greater than 3°, if the steering wheel angle is greater than 3°, perform S30, and if the steering wheel angle is not greater than 3°, return to S10.

S30、根据方向盘转角的方向和方向盘转速的方向确定目标车辆的目标驾驶模式，若目标驾驶模式为入弯模式，则执行S40，若目标驾驶模式为出弯模式，则执行S50，若目标驾驶模式为维持模式，则执行S60。S30. Determine the target driving mode of the target vehicle according to the direction of the steering wheel angle and the direction of the steering wheel speed. If the target driving mode is the corner-entry mode, execute S40. If the target driving mode is the corner-exit mode, execute S50. If the target driving mode is In maintenance mode, execute S60.

S40、基于当前侧向加速度确定入弯转角比例系数，根据入弯转角比例系数计算后轮转角，并基于后轮转角控制目标车辆的后轮反向转向。S40. Determine the turning angle proportional coefficient based on the current lateral acceleration, calculate the rear wheel turning angle according to the turning turning angle proportional coefficient, and control the rear wheel reverse steering of the target vehicle based on the rear wheel turning angle.

S50、基于当前侧向加速度确定出弯转角比例系数，根据出弯转角比例系数计算后轮转角，并基于后轮转角控制目标车辆的后轮同向转向。S50. Determine the turning angle proportional coefficient based on the current lateral acceleration, calculate the rear wheel turning angle according to the turning turning angle proportional coefficient, and control the rear wheels of the target vehicle to steer in the same direction based on the rear wheel turning angle.

S60、维持目标车辆的前一时刻的状态。S60. Maintain the state of the target vehicle at the previous moment.

在该实施方式中，实现了车辆的驾驶意图的识别，进而在目标车辆的目标驾驶模式为入弯模式时，控制目标车辆的后轮反向转向，有助于在车辆处于紧急避让时快速躲避障碍，并在目标车辆的目标驾驶模式为出弯模式时，控制目标车辆的后轮同向转向，有助于车辆在躲避障碍后快速恢复原有路线，实现了车辆进入弯道和驶出弯道的后轮转向控制，使得车辆进入弯道和驶出弯道更加敏捷机动，提高了车辆的安全性和驾驶体验。In this embodiment, the recognition of the driving intention of the vehicle is realized, and then when the target driving mode of the target vehicle is the turning mode, the rear wheels of the target vehicle are controlled to reverse the steering, which helps to quickly avoid the vehicle when it is in emergency avoidance Obstacles, and when the target driving mode of the target vehicle is the cornering mode, control the rear wheels of the target vehicle to steer in the same direction, which will help the vehicle quickly recover the original route after avoiding the obstacle, and realize the vehicle entering the curve and driving out of the curve The rear wheel steering control of the road makes the vehicle more agile and maneuverable when entering and exiting the curve, improving the safety and driving experience of the vehicle.

实施例四Embodiment Four

图4A为本申请实施例四提供的一种电控后轮转向***的结构示意图，该***包括前轮转向装置10、后轮转向装置20和加速度传感器30；其中，所述前轮转向装置10，设置为向所述后轮转向装置20发送方向盘转角和方向盘转速；所述加速度传感器30，设置为检测目标车辆的当前侧向加速度，并将所述当前侧向加速度发送至所述后轮转向装置20；所述后轮转向装置20，设置为基于本申请任意实施例提供的电控后轮转向方法控制所述目标车辆的后轮转向。Fig. 4A is a schematic structural diagram of an electronically controlled rear wheel steering system provided in Embodiment 4 of the present application, the system includes a front wheel steering device 10, a rear wheel steering device 20 and an acceleration sensor 30; wherein, the front wheel steering device 10 , set to send the steering wheel angle and the steering wheel speed to the rear wheel steering device 20; the acceleration sensor 30 is set to detect the current lateral acceleration of the target vehicle, and send the current lateral acceleration to the rear wheel steering Device 20: the rear wheel steering device 20 is configured to control the rear wheel steering of the target vehicle based on the electronically controlled rear wheel steering method provided by any embodiment of the present application.

前轮转向装置10与后轮转向装置20通信连接，如，控制器域网(Controller Area Network，CAN)总线连接或以太网连接，后轮转向装置20与加速度传感器30通信连接，如CAN总线连接或以太网连接。前轮转向装置10可以是传统转向装置。所述电控后轮转向***还包括车速传感器、横摆角速度传感器。后轮转向装置20可以安装在后轴上，根据前轮转角进行随动转向。The front wheel steering device 10 is communicatively connected with the rear wheel steering device 20, such as a controller area network (Controller Area Network, CAN) bus connection or Ethernet connection, and the rear wheel steering device 20 is communicatively connected with the acceleration sensor 30, such as a CAN bus connection or Ethernet connection. The front wheel steering device 10 may be a conventional steering device. The electronically controlled rear wheel steering system also includes a vehicle speed sensor and a yaw rate sensor. Rear wheel steering device 20 can be installed on the rear axle, carries out follow-up steering according to front wheel rotation angle.

在一种实施方式中，所述后轮转向装置20包括控制单元和执行单元，其中：In one embodiment, the rear wheel steering device 20 includes a control unit and an execution unit, wherein:

控制单元，设置为获取目标车辆的方向盘转角和方向盘转速，基于目标车辆的方向盘转角和方向盘转速确定目标车辆的目标驾驶模式，若目标驾驶模式为入弯模式，则生成反向控制信号发送至执行单元，若目标驾驶模式为出弯模式，则生成同向控制信号发送至执行单元；执行单元，设置为基于反向控制信号控制所述目标车辆的后轮反向转向，基于同向控制信号控制所述目标车辆的后轮同向转向。The control unit is configured to obtain the steering wheel angle and the steering wheel speed of the target vehicle, determine the target driving mode of the target vehicle based on the steering wheel angle and the steering wheel speed of the target vehicle, and if the target driving mode is the turning mode, generate a reverse control signal and send it to the execution A unit, if the target driving mode is a cornering mode, then generate a control signal in the same direction and send it to the execution unit; the execution unit is configured to control the reverse steering of the rear wheels of the target vehicle based on the reverse control signal, and control the The rear wheels of the target vehicle turn in the same direction.

示例性的，如图4B所示，展示了一种控制单元的功能示意图。控制单元可以是后轮转向控制电子控制单元(Electronic Control Unit，ECU)，控制单元可设置为确定目标车辆的目标行驶模式，并在确定出目标行驶模式后，若目标行驶模式为入弯模式，则确定入弯前后轮转角比例系数(k1)，并根据k1以及前轮转角计算后轮转角，基于后轮转角向执行单元发送入弯控制信号；若目标行驶模式为出弯模式，则确定出弯前后轮转角比例系数(k2)，并根据k2以及前轮转角计算后轮转角，基于后轮转角向执行单元发送出弯控制信号；若目标行驶模式为维持模式，则向执行单元发送维持控制信号。Exemplarily, as shown in FIG. 4B , a functional schematic diagram of a control unit is shown. The control unit may be a rear wheel steering control electronic control unit (Electronic Control Unit, ECU), and the control unit may be set to determine the target driving mode of the target vehicle, and after the target driving mode is determined, if the target driving mode is the cornering mode, Determine the proportional coefficient (k1) of the front and rear wheel angles before and after entering the corner, and calculate the rear wheel angle according to k1 and the front wheel angle, and send the control signal to the execution unit based on the rear wheel angle; if the target driving mode is the exit mode, determine the The front and rear wheel angle proportional coefficient (k2), and calculate the rear wheel angle based on k2 and the front wheel angle, and send a cornering control signal to the execution unit based on the rear wheel angle; if the target driving mode is the maintenance mode, send the maintenance control to the execution unit Signal.

本实施例提供的电控后轮转向***，包括前轮转向装置、后轮转向装置和加速度传感器，通过前轮转向装置和加速度传感器获取到目标车辆的方向盘转角、方向盘转速和当前侧向加速度，通过后轮转向装置实现车辆的驾驶意图的识别，进而在目标车辆的目标驾驶模式为入弯模式时，控制目标车辆的后轮反向转向，有助于在车辆处于紧急避让时快速躲避障碍，并在目标车辆的目标驾驶模式为出弯模式时，控制目标车辆的后轮同向转向，有助于车辆在躲避障碍后快速恢复原有路线，实现了车辆进入弯道和驶出弯道的后轮转向控制，使得车辆进入弯道和驶出弯道更加敏捷机动，提高了车辆的安全性和驾驶体验。The electronically controlled rear-wheel steering system provided in this embodiment includes a front-wheel steering device, a rear-wheel steering device, and an acceleration sensor. The steering wheel angle, steering wheel speed, and current lateral acceleration of the target vehicle are obtained through the front-wheel steering device and the acceleration sensor. The recognition of the driving intention of the vehicle is realized through the rear wheel steering device, and then when the target driving mode of the target vehicle is the turning mode, the reverse steering of the rear wheels of the target vehicle is controlled, which helps to quickly avoid obstacles when the vehicle is in emergency avoidance, And when the target driving mode of the target vehicle is the cornering mode, the rear wheels of the target vehicle are controlled to steer in the same direction, which helps the vehicle quickly recover the original route after avoiding obstacles, and realizes the smoothness of the vehicle entering the curve and driving out of the curve. The rear wheel steering control makes the vehicle enter and exit the curve more agile and maneuverable, improving the safety and driving experience of the vehicle.

实施例五Embodiment five

图5为本申请实施例五提供的一种电控后轮转向装置的结构示意图，本实施例可适用于根据获取到的车辆行驶信息，判断车辆的驾驶意图并控制车辆的后轮转向的情况，该装置包括：信息获取模块510、驾驶模式确定模块520和后轮控制模块530。Fig. 5 is a schematic structural diagram of an electronically controlled rear-wheel steering device provided in Embodiment 5 of the present application. This embodiment is applicable to situations where the driving intention of the vehicle is judged and the rear-wheel steering of the vehicle is controlled based on the obtained vehicle driving information. , the device includes: an information acquisition module 510 , a driving mode determination module 520 and a rear wheel control module 530 .

信息获取模块510，设置为获取目标车辆的车辆行驶信息，其中，所述车辆行驶信息包括方向盘转角和方向盘转速；驾驶模式确定模块520，设置为基于所述方向盘转角和所述方向盘转速，确定所述目标车辆的目标驾驶模式，其中，目标驾驶模式为入弯模式或出弯模式；后轮控制模块530，设置为若所述目标驾驶模式为入弯模式，则控制所述目标车辆的后轮反向转向，若所述目标驾驶模式为出弯模式，则控制所述目标车辆的后轮同向转向。The information acquiring module 510 is configured to acquire vehicle running information of the target vehicle, wherein the vehicle running information includes a steering wheel angle and a steering wheel speed; a driving mode determining module 520 is configured to determine the steering wheel angle and the steering wheel speed based on the steering wheel angle and the steering wheel speed. The target driving mode of the target vehicle, wherein the target driving mode is a cornering mode or a cornering mode; the rear wheel control module 530 is configured to control the rear wheels of the target vehicle if the target driving mode is a cornering mode Reverse steering, if the target driving mode is a cornering mode, then control the rear wheels of the target vehicle to steer in the same direction.

一实施例中，驾驶模式确定模块520包括转角比对单元和模式确定单元，其中，转角比对单元，设置为将所述方向盘转角与预设转角阈值进行比对；模式确定单元，设置为若所述方向盘转角大于所述预设转角阈值，则基于所述方向盘转角的方向和所述方向盘转速的方向，确定所述目标车辆的目标驾驶模式。In one embodiment, the driving mode determination module 520 includes a rotation angle comparison unit and a mode determination unit, wherein the rotation angle comparison unit is configured to compare the steering wheel rotation angle with a preset rotation angle threshold; the mode determination unit is configured to if If the steering wheel angle is greater than the preset steering angle threshold, the target driving mode of the target vehicle is determined based on the direction of the steering wheel angle and the direction of the steering wheel rotation speed.

一实施例中，所述模式确定单元设置为：In one embodiment, the mode determination unit is set to:

若所述方向盘转角和所述方向盘转速均不为零，且所述方向盘转角的方向与所述方向盘转速的方向不一致，则确定所述目标车辆的目标驾驶模式为出弯模式；若所述方向盘转角和所述方向盘转速均不为零，且所述方向盘转角的方向与所述方向盘转速的方向一致，则确定所述目标车辆的目标驾驶模式为入弯模式。If both the steering wheel angle and the steering wheel speed are not zero, and the direction of the steering wheel angle is inconsistent with the direction of the steering wheel speed, it is determined that the target driving mode of the target vehicle is the cornering mode; if the steering wheel If both the rotation angle and the rotation speed of the steering wheel are not zero, and the direction of the rotation angle of the steering wheel is consistent with the direction of the rotation speed of the steering wheel, then it is determined that the target driving mode of the target vehicle is the turning mode.

一实施例中，所述车辆行驶信息还包括当前侧向加速度，后轮控制模块530包括入弯控制单元，设置为若所述目标驾驶模式为入弯模式，则基于所述当前侧向加速度以及预先构建的入弯比例系数映射表，确定所述目标车辆对应的入弯前后轮转角比例系数；基于所述入弯前后轮转角比例系数以及所述目标车辆的前轮转角，确定所述目标车辆的后轮转角；基于所述后轮转角控制所述目标车辆的后轮反向转向；其中，所述入弯比例系数映射表包括多个实测侧向加速度以及每个实测侧向加速度对应的入弯转角比例系数。In one embodiment, the vehicle driving information also includes the current lateral acceleration, and the rear wheel control module 530 includes a turn-in control unit, configured to, if the target driving mode is the turn-in mode, based on the current lateral acceleration and The pre-constructed turn-in ratio coefficient mapping table determines the front and rear wheel angle ratio coefficients corresponding to the target vehicle; based on the turn-in front and rear wheel angle ratio coefficients and the front wheel angle of the target vehicle, determine the target vehicle The rear wheel rotation angle; control the rear wheel reverse steering of the target vehicle based on the rear wheel rotation angle; wherein, the turn-in ratio coefficient mapping table includes a plurality of measured lateral accelerations and an input corresponding to each measured lateral acceleration Turning angle scale factor.

一实施例中，所述车辆行驶信息还包括当前侧向加速度，后轮控制模块530包括出弯控制单元，设置为若所述目标驾驶模式为出弯模式，则基于所述当前侧向加速度以及预先构建的出弯比例系数映射表，确定所述目标车辆对应的出弯前后轮转角比例系数；基于所述出弯前后轮转角比例系数以及所述目标车辆的前轮转角，确定所述目标车辆的后轮转角；基于所述后轮转角控制所述目标车辆的后轮同向转向；其中，所述出弯比例系数映射表包括多个实测侧向加速度以及每个实测侧向加速度对应的出弯转角比例系数。In one embodiment, the vehicle driving information also includes the current lateral acceleration, and the rear wheel control module 530 includes a cornering control unit, which is configured to: if the target driving mode is the cornering mode, based on the current lateral acceleration and The pre-built turn-out ratio coefficient mapping table determines the ratio coefficients of the front and rear wheel angles corresponding to the target vehicle; based on the ratio coefficients of the front and rear wheel angles and the front wheel angle of the target vehicle, determine the target vehicle The rear wheel rotation angle of the target vehicle is controlled based on the rear wheel rotation angle, and the rear wheel steering of the target vehicle is controlled in the same direction; wherein, the exit ratio coefficient mapping table includes a plurality of measured lateral accelerations and a corresponding exit value of each measured lateral acceleration. Turning angle scale factor.

一实施例中，所述电控后轮转向装置还包括系数计算模块和映射表构建模块，系数计算模块，设置为基于入弯模式下每个实测侧向加速度以及所述每个实测侧向加速度对应的后轮转动角度，计算所述每个实测侧向加速度对应的入弯转角比例系数；映射表构建模块，设置为基于所述多个实测侧向加速度以及每个实测侧向加速度对应的入弯转角比例系数，构建入弯比例系数映射表。In an embodiment, the electronically controlled rear wheel steering device further includes a coefficient calculation module and a mapping table construction module, and the coefficient calculation module is configured to be based on each measured lateral acceleration in the turning mode and each measured lateral acceleration For the corresponding rear wheel rotation angle, calculate the turning angle proportional coefficient corresponding to each measured lateral acceleration; the mapping table construction module is set to be based on the plurality of measured lateral accelerations and the corresponding entering angle of each measured lateral acceleration. Turning angle proportional coefficient, build the mapping table of entering turning proportional coefficient.

一实施例中，系数计算模块设置为根据如下公式计算所述实测侧向加速度对应的入弯转角比例系数：In one embodiment, the coefficient calculation module is configured to calculate the turn-in ratio coefficient corresponding to the measured lateral acceleration according to the following formula:

在本实施例中，通过信息获取模块，获取目标车辆的方向盘转角和方向盘转速，通过驾驶模式确定模块，确定目标车辆的目标驾驶模式为入弯模式或出弯模式，实现车辆的驾驶意图的识别，进而通过后轮控制模块，在目标车辆的目标驾驶模式为入弯模式时，控制目标车辆的后轮反向转向，有助于在车辆处于紧急避让时快速躲避障碍，并在目标车辆的目标驾驶模式为出弯模式时，控制目标车辆的后轮同向转向，有助于车辆在躲避障碍后快速恢复原有路线，实现了车辆进入弯道和驶出弯道的后轮转向控制，使得车辆进入弯道和驶出弯道更加敏捷机动，提高了车辆的安全性和驾驶体验。In this embodiment, the steering wheel angle and the steering wheel speed of the target vehicle are acquired through the information acquisition module, and the target driving mode of the target vehicle is determined to be the cornering mode or the cornering mode through the driving mode determination module, so as to realize the recognition of the driving intention of the vehicle , and then through the rear wheel control module, when the target driving mode of the target vehicle is the turning mode, control the reverse steering of the rear wheels of the target vehicle, which helps to quickly avoid obstacles when the vehicle is in an emergency avoidance, and when the target vehicle’s target When the driving mode is the cornering mode, controlling the rear wheels of the target vehicle to steer in the same direction helps the vehicle to quickly recover the original route after avoiding obstacles, and realizes the rear wheel steering control of the vehicle entering and exiting the curve, making The vehicle enters the curve and exits the curve more agilely and maneuverably, which improves the safety and driving experience of the vehicle.

本申请实施例所提供的电控后轮转向装置可执行本申请任意实施例所提供的电控后轮转向方法，具备执行方法相应的功能模块和效果。The electronically controlled rear wheel steering device provided in the embodiment of the present application can execute the electronically controlled rear wheel steering method provided in any embodiment of the present application, and has corresponding functional modules and effects for executing the method.

上述***所包括的多个单元和模块只是按照功能逻辑进行划分的，但并不局限于上述的划分，只要能够实现相应的功能即可；另外，多个功能单元的名称也只是为了便于相互区分，并不用于限制本申请实施例的保护范围。The multiple units and modules included in the above system are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be realized; in addition, the names of multiple functional units are only for the convenience of distinguishing each other , which is not intended to limit the scope of protection of the embodiments of the present application.

实施例六Embodiment six

图6是本申请实施例六提供的一种电子设备的结构示意图。图6示出了适于用来实现本申请实施方式的示例性电子设备12的框图。图6显示的电子设备12仅仅是一个示例，不应对本申请实施例的功能和使用范围带来任何限制。设备12例如是承担后轮转向控制功能的电子设备。FIG. 6 is a schematic structural diagram of an electronic device provided in Embodiment 6 of the present application. FIG. 6 shows a block diagram of an exemplary electronic device 12 suitable for implementing embodiments of the present application. The electronic device 12 shown in FIG. 6 is only an example, and should not limit the functions and scope of use of the embodiment of the present application. Device 12 is, for example, an electronic device that assumes the function of steering the rear wheels.

如图6所示，电子设备12以通用计算设备的形式表现。电子设备12的组件可以包括：一个或者多个处理器或者处理单元16，存储器28，连接不同组件(包括存储器28和处理单元16)的总线18。As shown in FIG. 6, electronic device 12 takes the form of a general-purpose computing device. Components of electronic device 12 may include one or more processors or processing units 16, memory 28, and bus 18 connecting the various components including memory 28 and processing unit 16.

总线18表示几类总线结构中的一种或多种，包括存储器总线或者存储器控制器，***总线，图形加速端口，处理器或者使用多种总线结构中的任意总线结构的局域总线。举例来说，这些体系结构包括但不限于工业标准体系结构(Industry Standard Architecture，ISA)总线，微通道体系结构(Micro Channel Architecture，MCA)总线，增强型ISA总线、视频电子标准协会(Video Electronics Standards Association，VESA)局域总线以及***组件互连(Peripheral Component Interconnect，PCI)总线。 Bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus structures. For example, these architectures include but are not limited to Industry Standard Architecture (Industry Standard Architecture, ISA) bus, Micro Channel Architecture (Micro Channel Architecture, MCA) bus, Enhanced ISA bus, Video Electronics Standards Association (Video Electronics Standards Association, VESA) local bus and peripheral component interconnect (Peripheral Component Interconnect, PCI) bus.

电子设备12包括多种计算机可读介质。这些介质可以是任何能够被电子设备12访问的可用介质，包括易失性和非易失性介质，可移动的和不可移动的介质。 Electronic device 12 includes a variety of computer-readable media. These media can be any available media that can be accessed by electronic device 12 and include both volatile and nonvolatile media, removable and non-removable media.

存储器28可以包括易失性存储器形式的计算机装置可读介质，例如随机存取存储器(Random Access Memory，RAM)30和/或高速缓存存储器32。电子设备12可以包括其它可移动/不可移动的、易失性/非易失性计算机存储介质。仅作为举例，存储装置34可以设置为读写不可移动的、非易失性磁介质(图6未显示，通常称为“硬盘驱动器”)。尽管图6中未示出，可以提供设置为对可移动非易失性磁盘(例如“软盘”)读写的磁盘驱动器，以及对可移动非易失性光盘(例如只读光盘(Compact Disc-Read Only Memory，CD-ROM)、数字视盘(Digital Video Disc-Read Only Memory，DVD-ROM)或者其它光介质)读写的光盘驱动器。在这些情况下，每个驱动器可以通过一个或者多个数据介质接口与总线18相连。存储器28可以包括至少一个程序产品40，该程序产品40具有一组程序模块42，这些程序模块被配置以执行本申请实施例的功能。程序产品40，可以存储在例如存储器28中，这样的程序模块42包括但不限于一个或者多个应用程序、其它程序模块以及程序数据，这些示例中的每一个或一种组合中可能包括网络环境的实现。程序模块42通常执行本申请所描述的实施例中的功能和/或方法。 Memory 28 may include computer device-readable media in the form of volatile memory, such as Random Access Memory (RAM) 30 and/or cache memory 32 . Electronic device 12 may include other removable/non-removable, volatile/nonvolatile computer storage media. By way of example only, the storage device 34 may be configured to read from and write to a non-removable, non-volatile magnetic medium (not shown in FIG. 6, commonly referred to as a "hard disk drive"). Although not shown in FIG. 6, a disk drive configured to read and write to a removable non-volatile disk (such as a "floppy disk") may be provided, as well as a removable non-volatile disk (such as a Compact Disc- Read Only Memory, CD-ROM), Digital Video Disc (Digital Video Disc-Read Only Memory, DVD-ROM) or other optical media) CD-ROM drive. In these cases, each drive may be connected to bus 18 via one or more data media interfaces. Memory 28 may include at least one program product 40 having a set of program modules 42 configured to perform the functions of embodiments of the present application. Program product 40, which may be stored, for example, in memory 28. Such program modules 42 include, but are not limited to, one or more application programs, other program modules, and program data. Each or a combination of these examples may include a network environment realization. The program modules 42 generally perform the functions and/or methods of the embodiments described herein.

电子设备12也可以与一个或多个外部设备14(例如键盘、鼠标、摄像头等和显示器)通信，还可与一个或者多个使得用户能与该电子设备12交互的设备通信，和/或与使得该电子设备12能与一个或多个其它计算设备进行通信的任何设备(例如网卡，调制解调器等等)通信。这种通信可以通过输入/输出(Input/Output，I/O)接口22进行。并且，电子设备12还可以通过网络适配器20与一个或者多个网络(例如局域网(Local Area Network，LAN)，广域网(Wide Area Network，WAN)和/或公共网络，例如因特网)通信。如图所示，网络适配器20通过总线18与电子设备12的其它模块通信。尽管图中未示出，可以结合电子设备12使用其它硬件和/或软件模块，包括：微代码、设备驱动器、冗余处理单元、外部磁盘驱动阵列、磁盘阵列(Redundant Arrays of Independent Disks，RAID)装置、磁带驱动器以及数据备份存储装置等。The electronic device 12 may also communicate with one or more external devices 14 (such as a keyboard, mouse, camera, etc., and a display), and may also communicate with one or more devices that enable a user to interact with the electronic device 12, and/or Any device (eg, network card, modem, etc.) that enables the electronic device 12 to communicate with one or more other computing devices. This communication can be performed through an input/output (Input/Output, I/O) interface 22 . Moreover, the electronic device 12 can also communicate with one or more networks (such as a local area network (Local Area Network, LAN), a wide area network (Wide Area Network, WAN) and/or a public network, such as the Internet) through the network adapter 20. As shown, network adapter 20 communicates with other modules of electronic device 12 via bus 18 . Although not shown in the figures, other hardware and/or software modules may be used in conjunction with electronic device 12, including: microcode, device drivers, redundant processing units, external disk drive arrays, disk arrays (Redundant Arrays of Independent Disks, RAID) devices, tape drives, and data backup storage devices.

处理器16通过运行存储在存储器28中的程序，从而执行多种功能应用以及数据处理，例如实现本申请上述实施例所提供的电控后轮转向方法，包括：获取目标车辆的车辆行驶信息，其中，所述车辆行驶信息包括方向盘转角和方向盘转速；基于所述方向盘转角和所述方向盘转速，确定所述目标车辆的目标驾驶模式，其中，目标驾驶模式为入弯模式或出弯模式；若所述目标驾驶模式为入弯模式，则控制所述目标车辆的后轮反向转向，若所述目标驾驶模式为出弯模式，则控制所述目标车辆的后轮同向转向。The processor 16 executes a variety of functional applications and data processing by running the program stored in the memory 28, such as implementing the electronically controlled rear wheel steering method provided in the above-mentioned embodiments of the present application, including: acquiring vehicle driving information of the target vehicle, Wherein, the vehicle driving information includes the steering wheel angle and the steering wheel speed; based on the steering wheel angle and the steering wheel speed, the target driving mode of the target vehicle is determined, wherein the target driving mode is a cornering mode or a cornering mode; if If the target driving mode is a cornering mode, the rear wheels of the target vehicle are controlled to steer in the opposite direction; if the target driving mode is a cornering mode, the rear wheels of the target vehicle are controlled to steer in the same direction.

处理器还可以实现本申请任意实施例所提供的电控后轮转向方法的技术方案。The processor can also implement the technical solution of the electronically controlled rear wheel steering method provided in any embodiment of the present application.

实施例七Embodiment seven

本申请实施例七还提供一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现如本申请任意实施例所提供的电控后轮转向方法步骤，该方法包括：获取目标车辆的车辆行驶信息，其中，所述车辆行驶信息包括方向盘转角和方向盘转速；基于所述方向盘转角和所述方向盘转速，确定所述目标车辆的目标驾驶模式，其中，目标驾驶模式为入弯模式或出弯模式；若所述目标驾驶模式为入弯模式，则控制所述目标车辆的后轮反向转向，若所述目标驾驶模式为出弯模式，则控制所述目标车辆的后轮同向转向。Embodiment 7 of the present application also provides a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, the steps of the electronically controlled rear wheel steering method provided in any embodiment of the present application are implemented. The method includes : Acquiring vehicle running information of the target vehicle, wherein the vehicle running information includes steering wheel angle and steering wheel speed; based on the steering wheel angle and the steering wheel speed, determining the target driving mode of the target vehicle, wherein the target driving mode is Turn-in mode or turn-out mode; if the target driving mode is turn-in mode, control the reverse steering of the rear wheels of the target vehicle; if the target driving mode is turn-out mode, control the target vehicle's The rear wheels turn in the same direction.

本申请实施例的计算机存储介质，可以采用一个或多个计算机可读的介质的任意组合。计算机可读介质可以是计算机可读信号介质或者计算机可读存储介质。计算机可读存储介质例如可以是——但不限于——电、磁、光、电磁、红外线、或半导体的***、装置或器件，或者任意以上的组合。计算机可读存储介质的例子(非穷举的列表)包括：具有一个或多个导线的电连接、便携式计算机磁盘、硬盘、RAM、ROM、可擦式可编程只读存储器(Erasable Programmable Read-Only Memory，EPROM或闪存)、光纤、CD-ROM、光存储器件、磁存储器件、或者上述的任意合适的组合。在本文件中，计算机可读存储介质可以是任何包含或存储程序的有形介质，该程序可以被指令执行***、装置或者器件使用或者与其结合使用。The computer storage medium in the embodiments of the present application may use any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any combination thereof. Examples (non-exhaustive list) of computer readable storage media include: electrical connection with one or more conductors, portable computer disk, hard disk, RAM, ROM, Erasable Programmable Read-Only Memory (Erasable Programmable Read-Only Memory) Memory, EPROM or flash memory), optical fiber, CD-ROM, optical storage device, magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

计算机可读的信号介质可以包括在基带中或者作为载波一部分传播的数据信号，其中承载了计算机可读的程序代码。这种传播的数据信号可以采用多种形式，包括但不限于电磁信号、光信号或上述的任意合适的组合。计算机可读的信号介质还可以是计算机可读存储介质以外的任何计算机可读介质，该计算机可读介质可以发送、传播或者传输用于由指令执行***、装置或者器件使用或者与其结合使用的程序。A computer readable signal medium may include a data signal carrying computer readable program code in baseband or as part of a carrier wave. Such propagated data signals may take many forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device. .

计算机可读介质上包含的程序代码可以用任何适当的介质传输，包括——但不限于无线、电线、光缆、射频(Radio Frequency，RF)等等，或者上述的任意合适的组合。Program code embodied on a computer readable medium may be transmitted by any appropriate medium, including but not limited to wireless, wire, optical cable, radio frequency (Radio Frequency, RF), etc., or any suitable combination of the above.

可以以一种或多种程序设计语言或其组合来编写用于执行本申请实施例操作的计算机程序代码，所述程序设计语言包括面向对象的程序设计语言—诸如Java、Smalltalk、C++，还包括常规的过程式程序设计语言——诸如“C”语言或类似的程序设计语言。程序代码可以完全地在用户计算机上执行、部分地在用户计算机上执行、作为一个独立的软件包执行、部分在用户计算机上部分在远程计算机上执行、或者完全在远程计算机或服务器上执行。在涉及远程计算机的情形中，远程计算机可以通过任意种类的网络——包括LAN或WAN—连接到用户计算机，或者，可以连接到外部计算机(例如利用因特网服务提供商来通过因特网连接)。Computer program codes for performing the operations of the embodiments of the present application may be written in one or more programming languages or combinations thereof, the programming languages including object-oriented programming languages—such as Java, Smalltalk, C++, including A conventional procedural programming language - such as "C" or a similar programming language. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. Where a remote computer is involved, the remote computer can be connected to the user computer through any kind of network, including a LAN or WAN, or it can be connected to an external computer (eg via the Internet using an Internet Service Provider).

Claims

一种电控后轮转向方法，包括：An electronically controlled rear wheel steering method, comprising:

获取目标车辆的车辆行驶信息，其中，所述车辆行驶信息包括方向盘转角和方向盘转速；Acquiring vehicle running information of the target vehicle, wherein the vehicle running information includes steering wheel angle and steering wheel speed;

基于所述方向盘转角和所述方向盘转速，确定所述目标车辆的目标驾驶模式，其中，所述目标驾驶模式为入弯模式或出弯模式；determining a target driving mode of the target vehicle based on the steering wheel angle and the steering wheel rotation speed, wherein the target driving mode is a corner-entry mode or a corner-exit mode;

在所述目标驾驶模式为入弯模式的情况下，控制所述目标车辆的后轮反向转向，在所述目标驾驶模式为出弯模式的情况下，控制所述目标车辆的后轮同向转向。When the target driving mode is a cornering mode, control the rear wheels of the target vehicle to turn in the opposite direction, and when the target driving mode is a cornering mode, control the rear wheels of the target vehicle to turn.
根据权利要求1所述的方法，其中，所述基于所述方向盘转角和所述方向盘转速，确定所述目标车辆的目标驾驶模式，包括：The method according to claim 1, wherein said determining the target driving mode of the target vehicle based on the steering wheel angle and the steering wheel rotation speed comprises:

将所述方向盘转角与预设转角阈值进行比对；Comparing the steering wheel angle with a preset angle threshold;

在所述方向盘转角大于所述预设转角阈值的情况下，基于所述方向盘转角的方向和所述方向盘转速的方向，确定所述目标车辆的目标驾驶模式。If the steering wheel angle is greater than the preset steering angle threshold, the target driving mode of the target vehicle is determined based on the direction of the steering wheel angle and the direction of the rotation speed of the steering wheel.
根据权利要求2所述的方法，其中，所述基于所述方向盘转角的方向和所述方向盘转速的方向，确定所述目标车辆的目标驾驶模式，包括：The method according to claim 2, wherein said determining the target driving mode of the target vehicle based on the direction of the steering wheel angle and the direction of the rotation speed of the steering wheel comprises:

在所述方向盘转角和所述方向盘转速均不为零，且所述方向盘转角的方向与所述方向盘转速的方向不一致的情况下，确定所述目标车辆的目标驾驶模式为出弯模式；When neither the steering wheel angle nor the steering wheel speed is zero, and the direction of the steering wheel angle is inconsistent with the direction of the steering wheel speed, determine that the target driving mode of the target vehicle is a cornering mode;

在所述方向盘转角和所述方向盘转速均不为零，且所述方向盘转角的方向与所述方向盘转速的方向一致的情况下，确定所述目标车辆的目标驾驶模式为入弯模式。When both the steering wheel angle and the steering wheel rotation speed are not zero, and the direction of the steering wheel rotation angle is consistent with the direction of the steering wheel rotation speed, it is determined that the target driving mode of the target vehicle is a cornering mode.
根据权利要求1所述的方法，其中，所述车辆行驶信息还包括当前侧向加速度，所述在所述目标驾驶模式为入弯模式的情况下，控制所述目标车辆的后轮反向转向，包括：The method according to claim 1, wherein the vehicle running information further includes the current lateral acceleration, and the reverse steering of the rear wheels of the target vehicle is controlled when the target driving mode is the turning mode ,include:

在所述目标驾驶模式为入弯模式的情况下，基于所述当前侧向加速度以及预先构建的入弯比例系数映射表，确定所述目标车辆对应的入弯前后轮转角比例系数；In the case where the target driving mode is a turn-in mode, based on the current lateral acceleration and a pre-built turn-in proportional coefficient mapping table, determine the front and rear wheel angle ratio coefficients corresponding to the target vehicle;

基于所述入弯前后轮转角比例系数以及所述目标车辆的前轮转角，确定所述目标车辆的后轮转角；Determining the rear wheel angle of the target vehicle based on the proportional coefficient of the front and rear wheel angles of the turn-in and the front wheel angle of the target vehicle;

基于所述后轮转角控制所述目标车辆的后轮反向转向；controlling the reverse steering of the rear wheels of the target vehicle based on the rear wheel angle;

其中，所述入弯比例系数映射表包括多个实测侧向加速度以及每个实测侧向加速度对应的入弯转角比例系数。Wherein, the turn-entry proportional coefficient mapping table includes a plurality of measured lateral accelerations and a turn-entry angle proportional coefficient corresponding to each measured lateral acceleration.
根据权利要求1所述的方法，其中，所述车辆行驶信息还包括当前侧向加速度，所述在所述目标驾驶模式为出弯模式的情况下，控制所述目标车辆的后轮同向转向，包括：The method according to claim 1, wherein the vehicle running information further includes the current lateral acceleration, and when the target driving mode is a cornering mode, controlling the rear wheels of the target vehicle to steer in the same direction ,include:

在所述目标驾驶模式为出弯模式的情况下，基于所述当前侧向加速度以及预先构建的出弯比例系数映射表，确定所述目标车辆对应的出弯前后轮转角比例系数；In the case where the target driving mode is a cornering mode, based on the current lateral acceleration and the pre-built cornering ratio coefficient mapping table, determine the corresponding wheel angle ratio coefficient of the target vehicle before and after cornering;

基于所述出弯前后轮转角比例系数以及所述目标车辆的前轮转角，确定所述目标车辆的后轮转角；Determining the rear wheel angle of the target vehicle based on the proportional coefficient of the front and rear wheel angles of the corner exit and the front wheel angle of the target vehicle;

基于所述后轮转角控制所述目标车辆的后轮同向转向；controlling the rear wheels of the target vehicle to steer in the same direction based on the rear wheel angle;

其中，所述出弯比例系数映射表包括多个实测侧向加速度以及每个实测侧向加速度对应的出弯转角比例系数。Wherein, the turning-out proportional coefficient mapping table includes a plurality of measured lateral accelerations and a turning-out turning angle proportional coefficient corresponding to each measured lateral acceleration.
根据权利要求4所述的方法，还包括：The method according to claim 4, further comprising:

基于入弯模式下每个实测侧向加速度以及所述每个实测侧向加速度对应的后轮转动角度，计算所述每个实测侧向加速度对应的入弯转角比例系数；Based on each measured lateral acceleration in the turning mode and the rear wheel rotation angle corresponding to each measured lateral acceleration, calculate the turning angle proportional coefficient corresponding to each measured lateral acceleration;

基于所述多个实测侧向加速度以及每个实测侧向加速度对应的入弯转角比例系数，构建所述入弯比例系数映射表。The turn-entry proportional coefficient mapping table is constructed based on the plurality of measured lateral accelerations and the turn-entry angle proportional coefficients corresponding to each measured lateral acceleration.
根据权利要求6所述的方法，其中，所述基于入弯模式下每个实测侧向加速度以及所述每个实测侧向加速度对应的后轮转动角度，计算所述每个实测侧向加速度对应的入弯转角比例系数，满足如下公式：The method according to claim 6, wherein, based on each measured lateral acceleration in the turn-in mode and the rear wheel rotation angle corresponding to each measured lateral acceleration, calculating the corresponding The proportional coefficient of the turning angle of entering the turn satisfies the following formula:

其中，L为车辆轴距，R为车辆转弯半径，W _f为前轮静载，W _r为后轮静载，C _af为前轮侧偏刚度，C _ar为后轮侧偏刚度，a _y为所述实测侧向加速度，k为所述入弯转角比例系数，δ _r为所述后轮转动角度。 Among them, L is the wheelbase of the vehicle, R is the turning radius of the vehicle, W _f is the static load of the front wheel, W _r is the static load of the rear wheel, C _af is the cornering stiffness of the front wheel, _Car is the cornering stiffness of the rear wheel, a _y is the measured lateral acceleration, k is the turning angle proportional coefficient, and _δr is the rear wheel rotation angle.
一种电控后轮转向装置，包括：An electronically controlled rear wheel steering device, comprising:

信息获取模块，设置为获取目标车辆的车辆行驶信息，其中，所述车辆行驶信息包括方向盘转角和方向盘转速；An information acquisition module, configured to acquire vehicle running information of the target vehicle, wherein the vehicle running information includes steering wheel angle and steering wheel speed;

驾驶模式确定模块，设置为基于所述方向盘转角和所述方向盘转速，确定所述目标车辆的目标驾驶模式，其中，所述目标驾驶模式为入弯模式或出弯模式；A driving mode determination module, configured to determine a target driving mode of the target vehicle based on the steering wheel angle and the steering wheel speed, wherein the target driving mode is a corner-entry mode or a corner-exit mode;

后轮控制模块，设置为在所述目标驾驶模式为入弯模式的情况下，控制所述目标车辆的后轮反向转向，在所述目标驾驶模式为出弯模式的情况下，控制所述目标车辆的后轮同向转向。The rear wheel control module is configured to control the reverse steering of the rear wheels of the target vehicle when the target driving mode is a cornering mode, and control the reverse steering of the target vehicle when the target driving mode is a cornering mode. The rear wheels of the target vehicle steer in the same direction.
一种电子设备，包括：An electronic device comprising:

至少一个处理器；at least one processor;

存储装置，设置为存储至少一个程序；a storage device configured to store at least one program;

当所述至少一个程序被所述至少一个处理器执行，使得所述至少一个处理器实现如权利要求1-7中任一项所述的电控后轮转向方法。When the at least one program is executed by the at least one processor, the at least one processor implements the electronically controlled rear wheel steering method according to any one of claims 1-7.
一种计算机可读存储介质，存储有计算机程序，其中，所述程序被处理器执行时实现如权利要求1-7中任一项所述的电控后轮转向方法。A computer-readable storage medium storing a computer program, wherein when the program is executed by a processor, the electronically controlled rear wheel steering method according to any one of claims 1-7 is implemented.