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CN-116176587-B - Vehicle and in-situ steering control method and device thereof

CN116176587BCN 116176587 BCN116176587 BCN 116176587BCN-116176587-B

Abstract

The invention discloses a vehicle and a method and a device for controlling in-situ steering of the vehicle. The method comprises the steps of responding to a turn-on signal of the turn-on function of the vehicle, obtaining a driving mode, a vehicle speed, a steering angle and a steering direction of the vehicle, determining target wheels according to the steering direction when the vehicle meets the turn-on condition of the turn-on function according to the driving mode, the vehicle speed and the steering angle, and applying braking force to the target wheels or locking the target wheels so as to turn the vehicle in place. Therefore, the minimum turning purpose of the vehicle can be realized, the vehicle can smoothly finish in-situ steering, the turning performance of the vehicle is improved, and the personal safety or property safety problem caused by poor turning performance of the vehicle in the running process of the vehicle is reduced.

Inventors

  • ZHANG JUNRU
  • SUN RENJIE
  • XIA JIYAN

Assignees

  • 北京新能源汽车股份有限公司

Dates

Publication Date
20260508
Application Date
20230306

Claims (7)

  1. 1. A method of in-situ steering control of a vehicle, the method comprising: responding to a in-situ steering function starting signal of the vehicle, and acquiring a driving mode, a vehicle speed, a steering angle and a steering direction of the vehicle; determining a target wheel according to the steering direction when it is determined that the vehicle satisfies a steering-in-place function on condition according to the driving mode, the vehicle speed, and the steering angle; applying a braking force to the target wheel or locking the target wheel to steer the vehicle in situ; the determining that the vehicle satisfies a steering-in-place function start condition according to the driving mode, the vehicle speed, and the steering angle includes: When the driving mode is a creeping mode, the vehicle speed is smaller than a preset vehicle speed, the steering angle is larger than a preset angle, and the duration time reaches a preset time, determining that the vehicle meets an in-situ steering function starting condition; when the vehicle is in the creeping mode, a driver can run on a bumpy road surface or a slippery road surface at a lower speed by only adjusting the direction of the vehicle without pressing an accelerator pedal or a brake pedal; the vehicle in-situ steering control method comprises the following specific steps: s21, after a driver presses a steering function switch button, the steering function switch button sends a steering function start signal of the vehicle to a control unit; S22, the control unit judges whether the in-situ steering function starting signal of the vehicle is 1, if so, the S23 is executed, and if not, the S29 is executed; s23, the control unit judges whether a creeping mode signal of the vehicle is 1, if so, S24 is executed, and if not, S29 is executed; S24, the control unit judges whether the speed of the current vehicle is smaller than the preset speed, if yes, the S25 is executed, and if not, the S29 is executed; S25, the control unit judges whether the steering angle of the current vehicle is larger than a preset angle and whether the duration time is longer than a preset time T1, if so, the S26 is executed, and if not, the S29 is executed; S26, the control unit judges whether the rotation angle signal of the current vehicle is larger than 0, if so, the S27 is executed, and if not, the S28 is executed; s27, determining the steering direction as right steering, and applying braking force to the right rear wheel of the vehicle or locking the right rear wheel; s28, determining the steering direction as left steering, and applying braking force to the left rear wheel of the vehicle or locking the left rear wheel; And S29, determining that the vehicle does not meet the on-site steering function starting condition.
  2. 2. The method of claim 1, wherein the preset vehicle speed is 20km/h or less and the preset angle is 90 degrees or more.
  3. 3. The method according to any one of claims 1-2, wherein upon applying a braking force to the target wheel or locking the target wheel, the method further comprises: a driving force is applied to the remaining wheels other than the target wheel.
  4. 4. A vehicle in-situ steering control apparatus adapted to be controlled by the in-situ steering control method of a vehicle according to any one of the preceding claims 1 to 3, characterized in that the apparatus comprises: The acquisition module is used for responding to the in-situ steering function starting signal of the vehicle and acquiring the driving mode, the vehicle speed, the steering angle and the steering direction of the vehicle; The control module is used for determining a target wheel according to the steering direction when the vehicle meets the on-site steering function starting condition according to the driving mode, the vehicle speed and the steering angle, and applying braking force to the target wheel or locking the target wheel so as to steer the vehicle in site; the control module is specifically configured to determine that the vehicle satisfies an in-situ steering function start condition when the driving mode is a creeping mode, the vehicle speed is less than a preset vehicle speed, the steering angle is greater than a preset angle, and a duration time reaches a preset time; when the vehicle is in the creeping mode, the driver can run on a bumpy road surface or a slippery road surface at a lower speed by merely adjusting the direction of the vehicle without pressing an accelerator pedal or a brake pedal.
  5. 5. The apparatus of claim 4, wherein the control module is specifically configured to: if the steering direction is left turning, determining that the target wheel is a left rear wheel of the vehicle; and if the steering direction is right, determining that the target wheel is the right rear wheel of the vehicle.
  6. 6. The apparatus according to any one of claims 4 to 5, wherein the control module is further configured to apply a driving force to the remaining wheels other than the target wheel when applying a braking force to the target wheel or locking the target wheel.
  7. 7. A vehicle characterized by comprising the in-situ steering control device of a vehicle according to any one of claims 4-6.

Description

Vehicle and in-situ steering control method and device thereof Technical Field The invention relates to the technical field of vehicle control, in particular to a vehicle and a method and a device for controlling in-situ steering of the vehicle. Background With the continuous integration of vehicles and drivers, vehicles have more and more functions, such as entertainment functions, advanced travel functions, etc., for drivers and passengers. Among them, the problems of high-grade travel function, such as high-grade travel safety and reliability and cross-country trouble-free convenience are more and more concerned. When the vehicle runs on severe road conditions in suburbs, the turning radius of the common vehicle is larger, and parameters related to the turning radius are not adjustable after the vehicle type development scheme is determined, if the vehicle runs on severe road conditions, the vehicle can turn around after reversing for many times, and can not smoothly pass through smaller road curves, or the turning and turning requirements in a narrow space can not be met, so that the vehicle is in dangerous environments, traffic accidents are easy to occur, and larger personal and property safety losses are brought to drivers and passengers. It should be noted that the information disclosed in this background section is only for understanding the background of the inventive concept and, therefore, it may contain information that does not form the prior art. Disclosure of Invention The present invention aims to solve at least one of the technical problems in the related art to some extent. Therefore, the invention aims to provide a vehicle and a method and a device for controlling the in-situ steering of the vehicle, which can realize the minimum turning purpose of the vehicle, so that the vehicle can smoothly finish the in-situ steering, the turning performance of the vehicle is improved, and the personal safety or property safety problem caused by poor turning performance of the vehicle in the running process of the vehicle is reduced. In order to achieve the above object, an embodiment of a first aspect of the present invention provides a steering-in-place control method for a vehicle, the method including obtaining a driving mode, a vehicle speed, a steering angle, and a steering direction of the vehicle in response to a steering-in-place function start signal of the vehicle, determining a target wheel according to the steering direction when it is determined that the vehicle satisfies the steering-in-place function start condition according to the driving mode, the vehicle speed, and the steering angle, and applying a braking force to the target wheel or locking the target wheel to steer the vehicle in place. In some embodiments of the invention, determining that the vehicle meets the in-situ steering function activation condition based on the driving mode, the vehicle speed, and the steering angle includes determining that the vehicle meets the in-situ steering function activation condition when the driving mode is a vermicular mode, the vehicle speed is less than a preset vehicle speed, the steering angle is greater than a preset angle, and the duration reaches a preset time. In some embodiments of the invention, the preset vehicle speed is less than or equal to 20km/h and the preset angle is greater than or equal to 90 degrees. In some embodiments of the present invention, determining the target wheel based on the steering direction includes determining the target wheel to be a left rear wheel of the vehicle if the steering direction is a left turn, and determining the target wheel to be a right rear wheel of the vehicle if the steering direction is a right turn. In some embodiments of the present invention, the in-situ steering control method of a vehicle further includes applying a driving force to the remaining wheels other than the target wheel when applying a braking force to the target wheel or locking the target wheel. In order to achieve the above object, a second aspect of the present invention provides a steering-in-place control device for a vehicle, the device comprising an acquisition module for acquiring a driving mode, a vehicle speed, a steering angle and a steering direction of the vehicle in response to a steering-in-place function start signal of the vehicle, and a control module for determining a target wheel according to the steering direction and applying a braking force to the target wheel or locking the target wheel to steer the vehicle in place when it is determined that the vehicle meets the steering-in-place function start condition according to the driving mode, the vehicle speed and the steering angle. In some embodiments of the present invention, the control module is specifically configured to determine that the vehicle satisfies the in-situ steering function on condition when the driving mode is a vermicular mode, the vehicle speed is less than a preset vehicle spe