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CN-121989952-A - Method and device for determining rear wheel steering angle value, storage medium and electronic device

CN121989952ACN 121989952 ACN121989952 ACN 121989952ACN-121989952-A

Abstract

The application discloses a method and a device for determining a rear wheel steering angle value, a storage medium and an electronic device, wherein the method comprises the steps of determining a feedforward rear wheel steering angle value of a target vehicle according to a front wheel steering angle value of the target vehicle under the condition that the target vehicle triggers a crab mode, obtaining a target yaw angle of the target vehicle, determining a feedback rear wheel steering angle value of the target vehicle according to the target yaw angle, and determining the target rear wheel steering angle value of the target vehicle according to the feedforward rear wheel steering angle value and the feedback rear wheel steering angle value.

Inventors

  • ZHU WENBO
  • CONG SENSEN
  • LI XUELI

Assignees

  • 上海汽车集团股份有限公司

Dates

Publication Date
20260508
Application Date
20241106

Claims (14)

  1. 1. A method of determining a rear wheel steering angle value, comprising: Under the condition that a target vehicle triggers a crab mode, determining a feedforward rear wheel steering angle value of the target vehicle according to the front wheel steering angle value of the target vehicle; Acquiring a target yaw angle of the target vehicle, and determining a feedback rear wheel steering angle value of the target vehicle according to the target yaw angle; and determining a target rear wheel steering angle value of the target vehicle according to the feedforward rear wheel steering angle value and the feedback rear wheel steering angle value.
  2. 2. The method of determining a rear wheel turning angle value according to claim 1, characterized in that determining a feed-forward rear wheel turning angle value of the target vehicle from the front wheel turning angle value includes: determining a gain value of a yaw rate of the target vehicle; And determining the feedforward rear wheel rotation angle value according to the gain value of the yaw rate and the front wheel rotation angle value.
  3. 3. The method of determining a rear wheel steering angle value according to claim 1, characterized in that determining a feedback rear wheel steering angle value of the target vehicle from the target yaw angle includes: Determining a desired yaw angle of the target vehicle, and determining a deviation value of the desired yaw angle and the target yaw angle; and calculating the deviation value according to a feedback control algorithm to obtain the feedback rear wheel steering angle value.
  4. 4. The method of determining a rear wheel steering angle value according to claim 1, characterized in that determining a target rear wheel steering angle value of the target vehicle from the feedforward rear wheel steering angle value and the feedback rear wheel steering angle value includes: summing the feedforward rear wheel steering angle value and the feedback rear wheel steering angle value to obtain a basic rear wheel steering angle value; Determining a target minimum rear wheel steering angle value corresponding to a target vehicle speed of the target vehicle according to a wheel steering angle dead zone curve of the target vehicle, wherein an abscissa of the wheel steering angle dead zone curve is used for indicating the vehicle speed of the target vehicle, and an ordinate of the wheel steering angle dead zone curve is used for indicating the minimum rear wheel steering angle value; And determining the target rear wheel steering angle value according to the target minimum rear wheel steering angle value and the basic rear wheel steering angle value.
  5. 5. The method of determining a rear wheel turning angle value according to claim 4, characterized in that determining the target rear wheel turning angle value from the target minimum rear wheel turning angle value and the base rear wheel turning angle value includes: Determining a first magnitude relation between the target minimum rear wheel steering angle value and the base rear wheel steering angle value; determining the target rear wheel steering angle value as a target value in the case where the first magnitude relation indicates that the base rear wheel steering angle value is smaller than the target minimum rear wheel steering angle value; and determining the basic rear wheel steering angle value as the target rear wheel steering angle value in the case that the first magnitude relation indicates that the basic rear wheel steering angle value is greater than or equal to the target minimum rear wheel steering angle value.
  6. 6. The method of determining a rear wheel steering angle value according to claim 4, characterized in that determining a target rear wheel steering angle value of the target vehicle from the feedforward rear wheel steering angle value and the feedback rear wheel steering angle value includes: determining a second magnitude relationship of a target limiting value of a rear wheel corner of the target vehicle and the base rear wheel corner value; And determining the basic rear wheel steering angle value as the target rear wheel steering angle value when the second magnitude relation indicates that the basic rear wheel steering angle value is smaller than or equal to the target limiting value, and determining the target limiting value as the target rear wheel steering angle value when the second magnitude relation indicates that the basic rear wheel steering angle value is larger than the target limiting value.
  7. 7. The method of determining a rear wheel turning angle value according to claim 6, characterized in that before determining the second magnitude relation of the target limiting value of the rear wheel turning angle of the target vehicle and the base rear wheel turning angle value, the method further comprises: Determining a first limiting value of the rear wheel corner, and determining a second limiting value of the rear wheel corner corresponding to the target vehicle speed according to a limiting value curve of the target vehicle, wherein an abscissa of the limiting value curve is used for indicating the vehicle speed of the target vehicle, and an ordinate of the limiting value curve is used for indicating the limiting value; determining that the first clipping value is the target clipping value when the first clipping value is less than or equal to the second clipping value; and determining the second limiting value as the target limiting value under the condition that the first limiting value is larger than the second limiting value.
  8. 8. The method of determining a rear wheel steering angle value according to claim 1, characterized in that acquiring a target yaw angle of the target vehicle includes: The method comprises the steps of determining a first yaw angle of a target vehicle according to the yaw rate of the target vehicle, determining a second yaw angle of the target vehicle according to lane line information of the target vehicle, and carrying out weighted summation on the first yaw angle and the second yaw angle to determine the target yaw angle.
  9. 9. The method of determining a rear wheel steering angle value according to claim 1, wherein determining a second yaw angle of the target vehicle from lane line information of the target vehicle includes: Determining the lateral displacement change rate of the target vehicle according to the lane line information; And calculating the lateral displacement change rate based on a target formula to obtain the second Yaw angle, wherein the target formula comprises yaw2=tan -1 C1, yaw2 is the second Yaw angle, and C1 is the lateral displacement change rate.
  10. 10. The method of determining a rear wheel steering angle value according to claim 1, characterized by comprising, before determining a feedforward rear wheel steering angle value of the target vehicle from a front wheel steering angle value of the target vehicle: Acquiring a steering wheel angle value of the target vehicle and a transmission ratio of a steering system of the target vehicle; and determining the front wheel rotation angle value according to the steering wheel rotation angle value and the transmission ratio.
  11. 11. The method of determining a rear wheel steering angle value according to claim 1, characterized in that before determining a feedforward rear wheel steering angle value of the target vehicle from a front wheel steering angle value of the target vehicle, the method further comprises: And triggering the crab running mode under the condition that a preset condition is met, wherein the preset condition comprises the steps of receiving a trigger instruction of a target object, determining that the front wheel steering angle value of the target vehicle is smaller than the target limiting value of the target vehicle, that the front wheel steering and the rear wheel steering of the target vehicle have no faults, that the target function of the target vehicle is not activated, and that the target vehicle speed of the target vehicle is smaller than a preset vehicle speed.
  12. 12. A rear wheel steering angle value determining apparatus, characterized by comprising: the first determining module is used for determining a feed-forward rear wheel rotation angle value of the target vehicle according to the front wheel rotation angle value of the target vehicle under the condition that the target vehicle triggers a crab mode; The second determining module is used for obtaining a target yaw angle of the target vehicle and determining a feedback rear wheel steering angle value of the target vehicle according to the target yaw angle; And a third determining module configured to determine a target rear wheel steering angle value of the target vehicle according to the feedforward rear wheel steering angle value and the feedback rear wheel steering angle value.
  13. 13. A computer readable storage medium, characterized in that the computer readable storage medium comprises a stored program, wherein the program when run performs the method of any one of claims 1 to 11.
  14. 14. An electronic device comprising a memory and a processor, characterized in that the memory has stored therein a computer program, the processor being arranged to execute the method according to any of the claims 1 to 11 by means of the computer program.

Description

Method and device for determining rear wheel steering angle value, storage medium and electronic device Technical Field The present application relates to the field of motion control, and in particular, to a method and apparatus for determining a rear wheel steering angle value, a storage medium, and an electronic apparatus. Background With the popularization and the penetration of intelligent driving technology, the domain control of the controller and the drive-by-wire control of the executor become two major development trends of the intelligent chassis. The rear-wheel steering is aimed at being the subsystem which firstly realizes the functional upward movement, so that the rear-wheel steering auxiliary steering can be designed, and the rear-wheel steering angle can be adjusted along with the change of the vehicle speed and the steering wheel angle. The crab mode of the vehicle is defined as a special steering mode that the rear wheel steering angle follows the front wheel steering angle to steer in the same direction and the same amplitude, and the transverse movement of the vehicle is realized, so that the convenience of the vehicle in a narrow space or turning around is improved. The main steering technical characteristics of the rear wheel steering are that the low-speed reverse large angle and the high-speed same-direction small angle are adopted, the low-speed large-angle reverse rotation is beneficial to reducing the turning radius and improving the flexibility and the over-bending capability of the vehicle, and the high-speed small-angle same-direction rotation quickens the lateral acceleration response and improves the high-speed lane change stability of the vehicle body. Crab steering is a special same-direction steering, but the theoretical method of the rear wheel steering crab steering mode in the related technology mostly adopts a feedforward-only control method, so that the moving effect of the crab steering mode is poor. For the related art, most of theoretical methods of the rear wheel steering crab mode adopt a feedforward-only control method, so that the problem of poor moving effect of the crab mode is caused, and no effective solution is proposed at present. Accordingly, there is a need for improvements in the related art to overcome the drawbacks of the related art. Disclosure of Invention The embodiment of the application provides a method and a device for determining a rear wheel steering angle value, a storage medium and an electronic device, which at least solve the problem that a theoretical method of a rear wheel steering angle crab mode is mostly adopted to be only a feedforward control method, so that the moving effect of the crab mode is poor. According to one aspect of the embodiment of the application, a method for determining a rear wheel steering angle value is provided, and the method comprises the steps of determining a front-feed rear wheel steering angle value of a target vehicle according to the front wheel steering angle value of the target vehicle under the condition that the target vehicle triggers a crab mode, obtaining a target yaw angle of the target vehicle, determining a feedback rear wheel steering angle value of the target vehicle according to the target yaw angle, and determining the target rear wheel steering angle value of the target vehicle according to the front-feed rear wheel steering angle value and the feedback rear wheel steering angle value. Further, determining a feed-forward rear wheel rotation angle value of the target vehicle according to the front wheel rotation angle value comprises determining a gain value of a yaw rate of the target vehicle, and determining the feed-forward rear wheel rotation angle value according to the gain value of the yaw rate and the front wheel rotation angle value. Further, determining a feedback rear wheel steering angle value of the target vehicle according to the target yaw angle comprises determining an expected yaw angle of the target vehicle, determining deviation values of the expected yaw angle and the target yaw angle, and calculating the deviation values according to a feedback control algorithm to obtain the feedback rear wheel steering angle value. Further, determining the target rear wheel steering angle value of the target vehicle according to the feedforward rear wheel steering angle value and the feedback rear wheel steering angle value comprises summing the feedforward rear wheel steering angle value and the feedback rear wheel steering angle value to obtain a basic rear wheel steering angle value, determining a target minimum rear wheel steering angle value corresponding to the target vehicle speed of the target vehicle according to a wheel steering angle dead zone curve of the target vehicle, wherein the abscissa of the wheel steering angle dead zone curve is used for indicating the vehicle speed of the target vehicle, the ordinate is used for indicating the minimum rear wheel steering angle