CN-122009320-A - Vehicle steering control method and device and vehicle

CN122009320ACN 122009320 ACN122009320 ACN 122009320ACN-122009320-A

Abstract

The embodiment of the invention relates to the technical field of vehicles and discloses a vehicle steering control method, a device and a vehicle, wherein the method comprises the steps of determining the wheel angle of a steering inner side wheel of the vehicle based on a vehicle steering signal in the vehicle steering process; the vehicle steering signal at least comprises a steering wheel corner, a wheel corner of a steering outer side wheel of the vehicle is determined based on the steering inner side wheel corner, the wheel base and the Ackerman geometric model, a wheel steering control instruction is sent to a vehicle steering executing device so that the vehicle steering executing device executes the wheel steering control instruction, and the wheel steering control instruction comprises the wheel corner of the steering inner side wheel and the wheel corner of the steering outer side wheel. By applying the technical scheme of the invention, the wheel angle of the steering outside wheel can be rapidly calculated through a compact Ackerman geometric model under the condition of determining the wheel angle of the steering inside wheel, and the steering control process of the vehicle is simplified.

Inventors

WANG JI
YAN QINSHAN
YANG GUANLONG
WANG HONGWEI
SHAO XUEFENG

Assignees

深蓝汽车科技有限公司

Dates

Publication Date: 20260512
Application Date: 20260325

Claims (15)

1. A vehicle steering control method is applied to a vehicle steering control device and is characterized by comprising the following steps: Determining a wheel angle of a steering inside wheel of the vehicle based on a vehicle steering signal during steering of the vehicle, wherein the vehicle steering signal at least comprises a steering wheel angle sent by a steering wheel angle sensor; Determining the wheel angle of the steering outer side wheel of the vehicle based on the wheel angle of the steering inner side wheel, the wheel distance of the coaxial wheels of the vehicle, the wheel distance between the front axle and the rear axle of the vehicle and an Ackerman geometric model, wherein the Ackerman geometric model is used for representing the mapping relationship between the wheel angle of the steering outer side wheel of the vehicle and the wheel angle, the wheel distance and the wheel distance of the steering inner side wheel of the vehicle; And sending a wheel steering control instruction to a vehicle steering execution device so that the vehicle steering execution device executes the wheel steering control instruction, wherein the wheel steering control instruction comprises a wheel corner of the steering inner wheel and a wheel corner of the steering outer wheel.
2. The vehicle steering control method according to claim 1, wherein the wheel turning angles of the wheels on the inside of the vehicle steering include a first wheel turning angle corresponding to a first wheel on the front axle of the vehicle on the inside of the steering and a second wheel turning angle corresponding to a second wheel on the rear axle of the vehicle on the inside of the steering, the wheel turning angles of the wheels on the outside of the vehicle steering include a third wheel turning angle corresponding to a third wheel on the front axle of the vehicle on the outside of the steering and a fourth wheel turning angle corresponding to a fourth wheel on the rear axle of the vehicle on the outside of the steering, and the construction process of the ackerman geometric model includes: Determining a center of rotation based on the first wheel rotation angle and the second wheel rotation angle; the first wheel, the second wheel, the third wheel and the fourth wheel rotate around the rotation center, and when the first wheel, the second wheel, the third wheel and the fourth wheel rotate around the rotation center, the rotation angular speeds of the first wheel, the second wheel, the third wheel and the fourth wheel are the same; Constructing a geometric relationship between the first wheel turn, the second wheel turn, and a target wheel turn based on the wheelbase and the wheelbase, the target wheel turn being any one of the third wheel turn and the fourth wheel turn; and generating the Ackerman geometric model based on the geometric relation.
3. The vehicle steering control method according to claim 2, characterized in that the constructing a geometric relationship between the first wheel turning angle, the second wheel turning angle, and a target wheel turning angle based on the wheel base and the wheelbase includes: determining a first vertical distance between the center of rotation and the front axle of the vehicle and a second vertical distance between the center of rotation and the rear axle of the vehicle; And constructing the geometric relationship based on the wheel track and the wheel base and taking the first vertical distance and the second vertical distance as intermediate variables.
4. The vehicle steering control method according to claim 3, characterized in that the constructing the geometric relationship based on the wheel base and the wheel base with the first vertical distance and the second vertical distance as intermediate variables includes: Establishing a first mapping relation, wherein the first mapping relation is used for representing that the sum of the first vertical distance and the second vertical distance is equal to the wheelbase; Establishing a second mapping relation, wherein the second mapping relation is used for representing that a first ratio is equal to a second ratio, the first ratio is a ratio between the first vertical distance and the second vertical distance, and the second ratio is a ratio between a tangent value of the first wheel corner and a tangent value of the second wheel corner; Establishing a third mapping relation, wherein the third mapping relation is used for representing the corresponding relation among the wheel corner of a second target wheel coaxial with the first target wheel corresponding to the target wheel corner, the wheel track and the target wheel corner; And constructing the geometric relationship based on the first mapping relationship, the second mapping relationship and the third mapping relationship.
5. The vehicle steering control method according to claim 4, characterized in that the third map is specifically used to characterize that an absolute difference between the turning radii of the first target wheel and the second target wheel is equal to the tread; Wherein the radius of rotation of any one of the first target wheel and the second target wheel is determined based on the wheel angle of the any one wheel, for characterizing the projected length of the first target line on the second target line; The first target line is a connecting line between the wheel center of any wheel and the rotation center, the second target line is a perpendicular line from the rotation center to a third target line, and the third target line is a connecting line between the first wheel center of the first wheel and the second wheel center of the second wheel.
6. The vehicle steering control method according to claim 5, characterized in that the rotation radius of the either wheel is a ratio between a vertical distance between the rotation center and an axis on which the either wheel is located and a tangent value of a wheel turning angle of the either wheel.
7. The vehicle steering control method according to claim 2, characterized in that the determining a rotation center based on the first wheel turning angle and the second wheel turning angle includes: Generating a target triangle by taking a first wheel center of the first wheel and a second wheel center of the second wheel as two vertexes of the target triangle and taking a third target line as one side of the target triangle, wherein the third target line is a wheel center connecting line of the first wheel center of the first wheel and the second wheel center of the second wheel, the angles at the two vertexes are the residual angle of the first wheel rotation angle and the residual angle of the second wheel rotation angle, and the length of the third target line is the wheel base; another vertex of the target triangle other than the two vertices is determined as the center of rotation.
8. The vehicle steering control method according to any one of claims 3 to 6, characterized in that the generating the ackerman geometric model based on the geometric relationship includes: and aiming at eliminating the first vertical distance and the second vertical distance, carrying out simultaneous solving on the first mapping relation, the second mapping relation and the third mapping relation to obtain the Ackerman geometric model.
9. The vehicle steering control method according to claim 1, characterized in that the determining the wheel turning angle of the steering inside wheel of the vehicle includes: Determining a steering mode of the vehicle based on a steering mode signal, wherein the steering mode is used for indicating to execute steering of wheels and/or turning radius; and determining the wheel angle of the steering inner wheel of the vehicle based on the vehicle speed sent by the speed acquisition device of the vehicle, the steering wheel angle of the vehicle and the steering mode.
10. The vehicle steering control method according to claim 9, wherein the steering inside wheels include a first wheel on a front axle of the vehicle that is on a steering inside and a second wheel on a rear axle of the vehicle that is on a steering inside, and wherein the determining the wheel turning angle of the steering inside wheels of the vehicle based on the vehicle speed of the vehicle, the steering wheel turning angle of the vehicle, and the steering mode includes: searching a fourth mapping relation corresponding to the steering mode and the target wheel for the target wheel in the steering inner wheels, wherein the fourth mapping relation is used for indicating the corresponding relation among the vehicle speed, the vehicle steering wheel angle and the wheel angle of the target wheel; and determining a wheel angle of the target wheel based on the fourth map, a speed of the vehicle, and a steering wheel angle of the vehicle.
11. The vehicle steering control method according to claim 9, wherein the steering inside wheels include a first wheel on a front axle of the vehicle that is on a steering inside and a second wheel on a rear axle of the vehicle that is on a steering inside, and wherein the determining the wheel turning angle of the steering inside wheels of the vehicle based on the vehicle speed of the vehicle, the steering wheel turning angle of the vehicle, and the steering mode includes: Searching a fifth mapping relation corresponding to the steering mode and the target wheel for the target wheel in the steering inner wheel, wherein the fifth mapping relation is used for indicating the corresponding relation between the vehicle speed and the transmission ratio of the vehicle steering wheel; determining a steering wheel gear ratio of the vehicle based on a vehicle speed of the vehicle and the fifth mapping relation; The steering wheel gear ratio and steering wheel angle of the vehicle determine a wheel angle of the target wheel.
12. The vehicle steering control method according to claim 11, characterized in that the vehicle speed and the vehicle steering wheel gear ratio in the fifth map are positively correlated.
13. The vehicle steering control method according to any one of claims 9 to 12, characterized in that after steering control of the vehicle based on the wheel turning angle of the steering-inside wheel and the wheel turning angle of the steering-outside wheel, the vehicle steering control method further includes: Under the condition that failure of a motor sensor corresponding to any wheel of the vehicle is monitored, switching a target steering control strategy with higher steering reliability to perform vehicle steering control; Wherein, the motor sensor failure affects the calculation accuracy of the vehicle speed.
14. The vehicle steering control device is characterized by comprising a determining module and a sending module; The determining module is used for determining the wheel angle of the steering inner side wheel of the vehicle based on a vehicle steering signal in the steering process of the vehicle, wherein the vehicle steering signal at least comprises the wheel angle sent by a steering wheel angle sensor, and determining the wheel angle of the steering outer side wheel of the vehicle based on the wheel angle of the steering inner side wheel, the wheel distance of the coaxial wheels of the vehicle, the wheel base between the front axle and the rear axle of the vehicle and an Ackerman geometric model, wherein the Ackerman geometric model is used for representing the mapping relation between the wheel angle of the steering outer side wheel of the vehicle and the wheel angle, the wheel base and the wheel base of the steering inner side wheel of the vehicle; The transmitting module is used for transmitting a wheel steering control instruction to a vehicle steering executing device so that the vehicle steering executing device executes the wheel steering control instruction, wherein the wheel steering control instruction comprises a wheel corner of the wheel at the inner side of steering and a wheel corner of the wheel at the outer side of steering.
15. A vehicle comprising a vehicle body, a vehicle steering control apparatus, a vehicle steering actuator, a vehicle running gear, and a sensing device according to claim 14, wherein the vehicle running gear comprises a front axle, a rear axle, wheels, and a steering wheel of the vehicle, and the sensing device comprises a steering wheel angle sensor.

Description

Vehicle steering control method and device and vehicle Technical Field The invention relates to the technical field of vehicles, in particular to a vehicle steering control method and device and a vehicle. Background With the iterative upgrade of the intelligent electric vehicle and the drive-by-wire chassis technology, an angle Module (Corner Module) is used as a highly integrated chassis core unit, and key functions such as motor driving, steering execution and suspension support are integrated, so that independent and accurate control of each wheel Corner and torque can be realized, and a solid hardware foundation is laid for the realization of high-order movement performances such as omnidirectional running, flexible obstacle avoidance and the like of the intelligent vehicle. The related art discloses determining a rear wheel yaw angle value from a front wheel yaw angle value and a turning radius reduction ratio value, and another related art discloses determining a front axle turning angle by a model predictive controller, and further determining a rear axle turning angle from the front axle turning angle and a vehicle yaw rate. It can be seen that in the prior art, front and rear axle rotation angle distribution is finished mostly by means of a fixed proportion mapping relation or single control logic, so that not only is control flexibility poor, but also dynamic adaptation to vehicle dynamics characteristic change under various driving working conditions such as high-speed cruising, low-speed parking and emergency obstacle avoidance is difficult, and the problems of high coupling degree of control parameters and complex solving flow exist, real-time and efficient operation of a vehicle-mounted controller is not facilitated, and omnidirectional movement potential of an angle module configuration vehicle is difficult to fully develop. Disclosure of Invention In view of the foregoing deficiencies of the prior art, an object of the present application is to provide a vehicle steering control method and apparatus, and a vehicle, which aim to solve the problem of how to simplify the vehicle steering control process in the prior art. In a first aspect, an embodiment of the application provides a vehicle steering control method, which is applied to a vehicle steering control device and comprises the steps of determining a wheel angle of a steering inner side wheel of a vehicle based on a vehicle steering signal in the vehicle steering process, wherein the vehicle steering signal at least comprises the wheel angle sent by a steering wheel angle sensor, determining the wheel angle of the steering outer side wheel of the vehicle based on the wheel angle of the steering inner side wheel, the wheel distance of a coaxial wheel of the vehicle, the wheel distance between a front axle and a rear axle of the vehicle and an Ackerman geometric model, wherein the Ackerman geometric model is used for representing the mapping relation between the wheel angle of the steering outer side wheel of the vehicle and the wheel angle, the wheel distance and the wheel distance of the steering inner side wheel of the vehicle, and sending a wheel steering control instruction to a vehicle steering executing device so as to enable the vehicle steering executing device to execute the wheel steering control instruction. According to the technical means, the wheel corner of the wheel at the outer side of the steering of the vehicle is accurately constructed by the Ackerman geometric model, and the quantitative mapping relation between the wheel corner, the wheel tread and the wheel base of the wheel at the inner side of the steering is established, so that the target corner of the wheel at the outer side of the steering can be rapidly calculated by the Ackerman geometric model without depending on a high-precision map or an advanced intelligent driving system on the premise of knowing the wheel corner at the inner side of the steering and the fixed geometric parameters (the wheel tread and the wheel base) of the whole vehicle, and the steering control of the vehicle is further carried out in a cooperative mode according to the wheel corner at the inner side and the wheel corner at the outer side. Based on the method, complex iterative operation is not needed, the operation period of a control instruction can be obviously shortened, the response rate of steering operation is improved, scenes with high requirements on steering response timeliness such as high-speed running and emergency lane changing can be accurately adapted, and the steering accuracy and the driving stability of vehicles in the scenes are ensured. In one possible embodiment, the wheel corners of the wheels on the steering inner side of the vehicle comprise a first wheel corner corresponding to a first wheel on the front axle of the vehicle, which is positioned on the steering inner side, and a second wheel corner corresponding to a second wheel on the rear axle of the veh