CN116252856A - Method and device for controlling steering of rear wheel of vehicle - Google Patents

Abstract

The application discloses a vehicle rear wheel steering control method and a device, wherein the vehicle rear wheel steering control method can be applied to the technical field of vehicle control, and the method comprises the following steps: responding to the traction control instruction, and identifying the road surface type of the current running road surface of the target vehicle to obtain a road surface type identification result; determining a target steering based on a direction of a target-side wheel of the target vehicle in a horizontal direction with respect to the target vehicle when the road surface type recognition result indicates a target-type road surface; judging whether the running instability degree of the target vehicle reaches a preset instability degree or not based on the target steering and the current steering wheel angle; when the running instability degree reaches a preset instability degree, determining a target rotation angle of a rear wheel of the target vehicle at the current control moment based on the target steering and the basic rotation angle; and controlling the rear wheel steering of the target vehicle according to the preset time length based on the target steering angle. The vehicle acceleration control method and the vehicle acceleration control device can enable the vehicle to keep stable on the split road surface and improve the acceleration performance of the vehicle.

Description

Translated fromChinese

一种车辆后轮转向控制方法及装置Method and device for controlling rear wheel steering of a vehicle

技术领域technical field

本申请涉及计算机技术领域，特别涉及一种车辆后轮转向控制方法及装置。The present application relates to the field of computer technology, in particular to a vehicle rear wheel steering control method and device.

背景技术Background technique

当车辆在对开路面上大油门起步或者低速大油门加速行驶时，传统的牵引力控制系统为了保证车辆的稳定行驶，需要更大的干预控制，进而减小车辆的加速度，或者需要驾驶员较大的方向干预以保持车辆在车道上稳定行驶。When the vehicle starts with a large accelerator on the opposite road or accelerates at a low speed with a large accelerator, the traditional traction control system needs greater intervention control in order to ensure the stable driving of the vehicle, thereby reducing the acceleration of the vehicle, or requiring the driver to directional intervention to keep the vehicle stable in the lane.

在控制车辆动态稳定方面，主动后轮转向系统能够发挥重要作用，其优点在于后轮的转向都是由计算机控制，可以更精准、更迅速，并且能根据车辆行驶的情况决定后轮转向。Active rear wheel steering can play an important role in controlling the dynamic stability of the vehicle. Its advantage is that the steering of the rear wheels is controlled by a computer, which can be more precise and faster, and can determine the steering of the rear wheels according to the driving conditions of the vehicle.

然而，目前后轮转向仅由自身的控制器控制，未与牵引力控制系统进行联合作动。在相应工况中，不能很好的得到利用，以使车辆更稳或加速更快。However, currently the rear-wheel steering is only controlled by its own controller, without joint action with the traction control system. In the corresponding working conditions, it cannot be well utilized to make the vehicle more stable or accelerate faster.

发明内容Contents of the invention

为了解决现有技术的问题，本申请实施例提供了一种车辆后轮转向控制方法及装置。所述技术方案如下：In order to solve the problems in the prior art, embodiments of the present application provide a method and device for controlling rear wheel steering of a vehicle. Described technical scheme is as follows:

一方面，提供了一种车辆后轮转向控制方法，所述方法包括：In one aspect, a method for controlling rear wheel steering of a vehicle is provided, the method comprising:

响应于牵引力控制指令，对目标车辆当前行驶路面的路面类型进行识别，得到路面类型识别结果；Responding to the traction control command, identifying the road surface type of the target vehicle's current driving road surface to obtain a road surface type identification result;

在所述路面类型识别结果指示为目标类型路面时，基于目标车辆的目标侧车轮在水平方向上相对于目标车辆的方向，确定目标转向；所述目标类型路面是指与车辆左右车轮的附着系数不一致的路面；所述目标侧车轮与所述当前行驶路面的附着系数小于所述目标车辆的另一侧车轮与所述当前行驶路面的附着系数；When the road surface type identification result indicates the target type road surface, the target steering direction is determined based on the direction of the target side wheels of the target vehicle relative to the target vehicle in the horizontal direction; the target type road surface refers to the adhesion coefficient with the left and right wheels of the vehicle Inconsistent road surfaces; the adhesion coefficient between the wheels on the target side and the current driving road surface is smaller than the adhesion coefficient between the wheels on the other side of the target vehicle and the current driving road surface;

基于所述目标转向和当前方向盘转角，判断所述目标车辆的行驶不稳定程度是否达到预设不稳定程度；Based on the target steering and the current steering wheel angle, it is judged whether the driving instability of the target vehicle reaches a preset degree of instability;

在所述行驶不稳定程度达到所述预设不稳定程度时，基于所述目标转向和基础转角，确定当前控制时刻所述目标车辆后轮的目标转角；所述基础转角为上一控制时刻所述目标车辆后轮的转角；When the degree of driving instability reaches the preset degree of instability, based on the target steering and the base angle of rotation, determine the target angle of rotation of the rear wheels of the target vehicle at the current control moment; the base angle of rotation is determined at the last control moment The angle of rotation of the rear wheels of the target vehicle;

基于所述目标转角，按照预设时长控制所述目标车辆的后轮转向。Based on the target steering angle, the rear wheel steering of the target vehicle is controlled according to a preset duration.

另一方面，提供了一种车辆后轮转向控制装置，所述装置包括：In another aspect, a vehicle rear wheel steering control device is provided, the device comprising:

路面识别模块，用于响应于牵引力控制指令，对目标车辆当前行驶路面的路面类型进行识别，得到路面类型识别结果；The road surface identification module is used to identify the road surface type of the target vehicle's current driving road surface in response to the traction force control command, and obtain the road surface type identification result;

转向确定模块，用于在所述路面类型识别结果指示为目标类型路面时，基于目标车辆的目标侧车轮在水平方向上相对于目标车辆的方向，确定目标转向；所述目标类型路面是指与车辆左右车轮的附着系数不一致的路面；所述目标侧车轮与所述当前行驶路面的附着系数小于所述目标车辆的另一侧车轮与所述当前行驶路面的附着系数；A steering determination module, configured to determine the target steering based on the direction of the target side wheels of the target vehicle relative to the target vehicle in the horizontal direction when the road surface type identification result indicates a target type of road surface; Road surfaces where the adhesion coefficients of the left and right wheels of the vehicle are inconsistent; the adhesion coefficient between the wheels on the target side and the current road surface is smaller than the adhesion coefficient between the wheels on the other side of the target vehicle and the current road surface;

第一稳定判断模块，用于基于所述目标转向和当前方向盘转角，判断所述目标车辆的行驶不稳定程度是否达到预设不稳定程度；A first stability judgment module, configured to judge whether the driving instability of the target vehicle reaches a preset degree of instability based on the target steering and the current steering wheel angle;

第一转角确定模块，用于在所述行驶不稳定程度达到所述预设不稳定程度时，基于所述目标转向和基础转角，确定当前控制时刻所述目标车辆后轮的目标转角；所述基础转角为上一控制时刻所述目标车辆后轮的转角；A first rotation angle determination module, configured to determine the target rotation angle of the rear wheels of the target vehicle at the current control moment based on the target steering and the base rotation angle when the driving instability degree reaches the preset instability degree; The base rotation angle is the rotation angle of the rear wheels of the target vehicle mentioned at the last control moment;

第一后轮控制模块，用于基于所述目标转角，按照预设时长控制所述目标车辆的后轮转向。The first rear wheel control module is configured to control the steering of the rear wheels of the target vehicle according to a preset duration based on the target steering angle.

在一个示例性的实施方式中，所述第一稳定判断模块，包括：In an exemplary embodiment, the first stability judgment module includes:

第一方向盘转向模块，用于基于所述当前方向盘转角确定所述目标车辆的当前方向盘转向；a first steering wheel steering module, configured to determine the current steering wheel steering of the target vehicle based on the current steering wheel angle;

转角判断模块，用于在所述当前方向盘转向与所述目标转向不一致时，判断所述当前方向盘转角的绝对值是否大于或者等于预设方向盘转角阈值；A steering angle judging module, configured to judge whether the absolute value of the current steering wheel angle is greater than or equal to a preset steering wheel angle threshold when the current steering wheel steering is inconsistent with the target steering;

第一不稳定确定模块，用于在所述当前方向盘转角的绝对值大于或者等于所述预设方向盘转角阈值时，确定所述目标车辆的行驶不稳定程度达到所述预设不稳定程度。The first instability determination module is configured to determine that the driving instability of the target vehicle reaches the preset instability degree when the absolute value of the current steering wheel angle is greater than or equal to the preset steering wheel angle threshold.

在一个示例性的实施方式中，所述装置还包括用于基于方向盘转角变化率判断所述目标车辆的行驶不稳定程度是否达到所述预设不稳定程度的第二稳定判断模块，所述第二稳定判断模块，包括：In an exemplary embodiment, the device further includes a second stability judging module for judging whether the driving instability of the target vehicle reaches the preset degree of instability based on the rate of change of the steering wheel angle, the first Two stability judgment modules, including:

变化率获取模块，用于在所述当前方向盘转角的绝对值小于所述预设方向盘转角阈值时，获取当前方向盘转角变化率；A rate-of-change acquisition module, configured to acquire the rate of change of the current steering wheel angle when the absolute value of the current steering wheel angle is less than the preset steering wheel angle threshold;

变化率判断模块，用于判断所述当前方向盘转角变化率的绝对值是否小于预设方向盘转角变化率阈值；A rate-of-change judging module, configured to determine whether the absolute value of the rate of change of the current steering wheel angle is less than a preset threshold value of the rate of change of the steering wheel angle;

第二不稳定确定模块，用于在所述当前方向盘转角变化率的绝对值小于所述预设方向盘转角变化率阈值时，确定所述目标车辆的行驶不稳定程度达到所述预设不稳定程度。A second instability determination module, configured to determine that the driving instability of the target vehicle reaches the preset instability degree when the absolute value of the current steering wheel angle change rate is less than the preset steering wheel angle change rate threshold .

在一个示例性的实施方式中，所述装置还包括用于在不稳定程度不满足时判断上一控制时刻后轮转向的转向判断模块，所述转向判断模块，包括：In an exemplary embodiment, the device further includes a steering judging module for judging the steering of the rear wheels at the last control moment when the degree of instability is not satisfied. The steering judging module includes:

基础转向模块，用于在所述行驶不稳定程度未达到所述预设不稳定程度时，确定上一控制时刻所述目标车辆后轮的转向，得到基础转向；A basic steering module, configured to determine the steering of the rear wheels of the target vehicle at the last control moment when the degree of driving instability does not reach the preset degree of instability, so as to obtain the basic steering;

第二后轮控制模块，用于在所述基础转向与所述目标转向不一致时，控制所述目标车辆的后轮不转向。The second rear wheel control module is configured to control the rear wheels of the target vehicle not to turn when the base steering is inconsistent with the target steering.

在一个示例性的实施方式中，所述装置还包括用于判断后轮转向时长是否达到预设时长的时长判断模块，所述时长判断模块，包括：In an exemplary embodiment, the device further includes a duration judging module for judging whether the rear wheel steering duration reaches a preset duration, and the duration judging module includes:

转向时长模块，用于在所述基础转向与所述目标转向一致时，确定上一控制时刻所述目标车辆的后轮转向的开始时刻至当前控制时刻的时长，得到转向时长；The steering duration module is used to determine the duration from the starting moment of the rear wheel steering of the target vehicle at the last control moment to the current control moment when the basic steering is consistent with the target steering, to obtain the steering duration;

第二转角确定模块，用于在所述转向时长小于或者等于所述预设时长时，基于所述目标转向和所述基础转角，确定当前控制时刻所述目标车辆后轮的目标转角；A second steering angle determination module, configured to determine the target steering angle of the rear wheels of the target vehicle at the current control moment based on the target steering and the base steering angle when the steering duration is less than or equal to the preset duration;

第三后轮控制模块，用于基于所述目标转角，按照所述预设时长控制所述目标车辆的后轮转向。The third rear wheel control module is configured to control the steering of the rear wheels of the target vehicle according to the preset duration based on the target steering angle.

在一个示例性的实施方式中，所述装置还包括用于在后轮转向时长达到预设时长时控制后轮不转向的第四后轮控制模块，所述第四后轮控制模块，包括：In an exemplary embodiment, the device further includes a fourth rear wheel control module for controlling the rear wheels not to turn when the rear wheel steering duration reaches a preset duration, and the fourth rear wheel control module includes:

第四后轮控制模块，用于在所述转向时长大于所述预设时长时，控制所述目标车辆的后轮不转向。The fourth rear wheel control module is configured to control the rear wheels of the target vehicle not to turn when the steering duration is longer than the preset duration.

在一个示例性的实施方式中，所述第一转角确定模块或者所述第二转角确定模块，包括：In an exemplary embodiment, the first rotation angle determination module or the second rotation angle determination module includes:

数据获取模块，用于基于所述路面类型识别结果确定当前制动控制干预扭矩；获取所述当前制动控制干预扭矩对应的后轮转角基础变化率；A data acquisition module, configured to determine the current braking control intervention torque based on the road surface type identification result; acquire the basic change rate of the rear wheel rotation angle corresponding to the current braking control intervention torque;

第二方向盘转向模块，用于基于所述目标转向的反方向，确定当前方向盘的参考转向；基于所述当前方向盘转角确定所述目标车辆的当前方向盘转向；The second steering wheel steering module is configured to determine the current steering wheel reference steering based on the opposite direction of the target steering; determine the current steering wheel steering of the target vehicle based on the current steering wheel angle;

第一转角变化率模块，用于在所述当前方向盘转向与所述参考转向不一致时，基于当前制动控制干预扭矩变化率、当前方向盘转角变化率、当前横摆角变化率以及所述后轮转角基础变化率，确定所述目标车辆后轮的第一转角变化率；The first steering angle change rate module is configured to, when the current steering wheel steering is inconsistent with the reference steering, based on the current brake control intervention torque change rate, the current steering wheel angle change rate, the current yaw angle change rate and the rear wheel The basic rate of change of the corner is used to determine the first rate of change of the rear wheel of the target vehicle;

第一目标转角模块，用于基于所述基础转角以及所述第一转角变化率，确定所述目标转角。A first target angle of rotation module, configured to determine the target angle of rotation based on the base angle of rotation and the first rate of change of angle of rotation.

在一个示例性的实施方式中，所述第一转角变化率模块，包括：In an exemplary embodiment, the first rotation angle change rate module includes:

权值获取模块，用于获取所述当前制动控制干预扭矩变化率对应的第一权值、所述当前方向盘转角变化率对应的第二权值和所述当前横摆角变化率对应的第三权值；所述第一权值为正值，所述第二权值为负值，所述第三权值为负值；A weight value acquisition module, configured to acquire a first weight value corresponding to the current brake control intervention torque change rate, a second weight value corresponding to the current steering wheel angle change rate, and a first weight value corresponding to the current yaw angle change rate Three weights; the first weight is positive, the second weight is negative, and the third weight is negative;

加权求和模块，用于基于所述当前制动控制干预扭矩变化率以及所述第一权值、所述当前方向盘转角变化率以及所述第二权值、所述当前横摆角变化率以及所述第三权值，进行加权求和，得到所述第一转角变化率。a weighted summation module, configured to intervene based on the current rate of change of brake control torque and the first weight, the current rate of change of steering wheel angle and the second weight, the current rate of change of yaw angle, and The third weight value is weighted and summed to obtain the first rotation angle change rate.

在一个示例性的实施方式中，所述装置还包括用于在当前方向盘转向与参考转向一致时计算目标转角的第三转角确定模块，所述第三转角确定模块，包括：In an exemplary embodiment, the device further includes a third rotation angle determining module for calculating a target rotation angle when the current steering wheel steering is consistent with the reference steering, and the third rotation angle determination module includes:

系数获取模块，用于在所述当前方向盘转向与所述参考转向一致时，获取所述当前方向盘转角对应的后轮转向系数；所述后轮转向系数大于或者等于预设数值；A coefficient acquisition module, configured to acquire a rear wheel steering coefficient corresponding to the current steering wheel angle when the current steering wheel steering is consistent with the reference steering; the rear wheel steering coefficient is greater than or equal to a preset value;

第二转角变化率模块，用于基于所述第一转角变化率以及所述后轮转向系数求积，得到第二转角变化率；The second corner change rate module is used to obtain a second corner change rate based on the product of the first corner change rate and the rear wheel steering coefficient;

第二目标转角模块，用于基于所述基础转角以及所述第二转角变化率，确定所述目标转角。A second target rotation angle module, configured to determine the target rotation angle based on the base rotation angle and the second rotation angle change rate.

在一个示例性的实施方式中，所述装置还包括用于判断后轮转向系数的运算符号是否正确的系数判断模块，所述系数判断模块，包括：In an exemplary embodiment, the device further includes a coefficient judging module for judging whether the operation sign of the rear wheel steering coefficient is correct, and the coefficient judging module includes:

系数判断模块，用于在所述后轮转角基础变化率的运算符号与所述当前制动控制干预扭矩的运算符号不一致时，确定所述目标转角为零。A coefficient judging module, configured to determine that the target rotation angle is zero when the operation sign of the basic change rate of the rear wheel rotation angle is inconsistent with the operation sign of the current braking control intervention torque.

另一方面，提供了一种电子设备，包括处理器和存储器，所述存储器中存储有至少一条指令或者至少一段程序，所述至少一条指令或者所述至少一段程序由所述处理器加载并执行以实现上述任一方面的车辆后轮转向控制方法。In another aspect, an electronic device is provided, including a processor and a memory, at least one instruction or at least one section of program is stored in the memory, and the at least one instruction or the at least one section of program is loaded and executed by the processor In order to realize the vehicle rear wheel steering control method according to any one of the above aspects.

另一方面，提供了一种计算机可读存储介质，所述计算机可读存储介质中存储有至少一条指令或者至少一段程序，所述至少一条指令或者所述至少一段程序由处理器加载并执行以实现如上述任一方面的车辆后轮转向控制方法。In another aspect, a computer-readable storage medium is provided, and at least one instruction or at least one program is stored in the computer-readable storage medium, and the at least one instruction or at least one program is loaded and executed by a processor to Realize the vehicle rear wheel steering control method according to any one of the above aspects.

另一方面，提供了一种计算机程序产品或计算机程序，该计算机程序产品或计算机程序包括计算机指令，该计算机指令存储在计算机可读存储介质中。电子设备的处理器从计算机可读存储介质读取该计算机指令，处理器执行该计算机指令，使得该电子设备执行上述任一方面的车辆后轮转向控制法。In another aspect, a computer program product or computer program is provided, the computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the electronic device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the electronic device executes the vehicle rear wheel steering control method in any aspect above.

本申请实施例通过牵引力控制系统计算车辆在对开路面不稳定的程度，基于方向盘转向以及左右路面附着系数识别来判断后轮转向，进而计算后轮转角，通过后轮转向控制来改变车辆的动态行驶姿态，在对开路面上能更好的控制车辆，使车辆在较小方向盘干预的情况下保持稳定的同时，提高车辆的加速性能。In the embodiment of the present application, the traction control system is used to calculate the degree of instability of the vehicle on the split road, and the rear wheel steering is judged based on the steering wheel steering and the identification of the left and right road adhesion coefficients, and then the rear wheel angle is calculated, and the dynamics of the vehicle are changed through the rear wheel steering control. The driving posture can better control the vehicle on the open road, keep the vehicle stable under the condition of small steering wheel intervention, and improve the acceleration performance of the vehicle.

附图说明Description of drawings

为了更清楚地说明本申请实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings that need to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application. For those skilled in the art, other drawings can also be obtained based on these drawings without creative effort.

图1是本申请实施例提供的一种车辆后轮转向控制方法的流程示意图；FIG. 1 is a schematic flowchart of a vehicle rear wheel steering control method provided by an embodiment of the present application;

图2是本申请实施例提供的一种车辆行驶不稳定程度判断方法的流程示意图；FIG. 2 is a schematic flow chart of a method for judging the degree of vehicle instability provided by an embodiment of the present application;

图3是本申请实施例提供的一种车辆后轮转角确定方法的流程示意图；Fig. 3 is a schematic flowchart of a method for determining a rear wheel rotation angle of a vehicle provided in an embodiment of the present application;

图4是本申请实施例提供的一种后轮转角基础变化率正确性判断方法的流程示意图；4 is a schematic flowchart of a method for judging the correctness of the basic change rate of the rear wheel rotation angle provided by the embodiment of the present application;

图5是本申请实施例提供的一种车辆后轮转角变化率计算方法的流程示意图；5 is a schematic flowchart of a method for calculating the rate of change of the rear wheel angle of a vehicle provided in an embodiment of the present application;

图6是本申请实施例提供的一种车辆后轮转向控制装置的结构框图；Fig. 6 is a structural block diagram of a vehicle rear wheel steering control device provided by an embodiment of the present application;

图7是本申请实施例提供的一种电子设备的硬件结构框图。FIG. 7 is a block diagram of a hardware structure of an electronic device provided by an embodiment of the present application.

具体实施方式Detailed ways

下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动的前提下所获得的所有其他实施例，都属于本申请保护的范围。The following will clearly and completely describe the technical solutions in the embodiments of the application with reference to the drawings in the embodiments of the application. Apparently, the described embodiments are only some of the embodiments of the application, not all of them. Based on the embodiments in the present application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present application.

需要说明的是，本申请的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的本申请的实施例能够以除了在这里图示或描述的那些以外的顺序实施。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、系统、产品或服务器不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。It should be noted that the terms "first" and "second" in the description and claims of the present application and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific sequence or sequence. It is to be understood that the data so used are interchangeable under appropriate circumstances such that the embodiments of the application described herein can be practiced in sequences other than those illustrated or described herein. Furthermore, the terms "comprising" and "having", as well as any variations thereof, are intended to cover a non-exclusive inclusion, for example, a process, method, system, product or server comprising a series of steps or elements is not necessarily limited to the expressly listed instead, may include other steps or elements not explicitly listed or inherent to the process, method, product or apparatus.

可以理解的是，在本申请的具体实施方式中，涉及到用户信息等相关的数据，当本申请以上实施例运用到具体产品或技术中时，需要获得用户许可或者同意，且相关数据的收集、使用和处理需要遵守相关国家和地区的相关法律法规和标准。It can be understood that in the specific implementation of this application, related data such as user information is involved. When the above embodiments of this application are applied to specific products or technologies, it is necessary to obtain user permission or consent, and the collection of relevant data , use and processing need to comply with relevant laws, regulations and standards of relevant countries and regions.

请参阅图1，其所示为本申请实施例提供的一种车辆后轮转向控制方法的流程示意图。需要说明的是，本说明书提供了如实施例或流程图所述的方法操作步骤，但基于常规或者无创造性的劳动可以包括更多或者更少的操作步骤。实施例中列举的步骤顺序仅仅为众多步骤执行顺序中的一种方式，不代表唯一的执行顺序。在实际中的系统或产品执行时，可以按照实施例或者附图所示的方法顺序执行或者并行执行(例如并行处理器或者多线程处理的环境)。具体的如图1所示，所述方法可以包括：Please refer to FIG. 1 , which is a schematic flowchart of a method for controlling rear wheel steering of a vehicle provided by an embodiment of the present application. It should be noted that this specification provides the operation steps of the method described in the embodiments or flow charts, but more or less operation steps may be included based on routine or non-creative efforts. The sequence of steps enumerated in the embodiments is only one of the execution sequences of many steps, and does not represent the only execution sequence. When an actual system or product is executed, the methods shown in the embodiments or drawings may be executed sequentially or in parallel (for example, in a parallel processor or multi-thread processing environment). Specifically as shown in Figure 1, the method may include:

S101，响应于牵引力控制指令，对目标车辆当前行驶路面的路面类型进行识别，得到路面类型识别结果。S101. Responding to a traction force control command, identify the road surface type of the target vehicle's current driving road surface, and obtain a road surface type identification result.

其中，牵引力控制指令为车辆在恶劣条件(例如车辆行驶路面存在砾石、雨水、冰雪等等)下触发的，由牵引力控制系统控制车辆牵引力的指令，使车辆在各种行驶状况下都能获得最佳的牵引力。Among them, the traction control command is triggered by the vehicle under severe conditions (such as gravel, rain, ice and snow on the road surface of the vehicle), and the traction control system controls the traction force of the vehicle, so that the vehicle can obtain the best performance under various driving conditions. Good traction.

其中，路面类型识别指识别目标车辆当前行驶路面是否为对开路面，在目标车辆触发牵引力控制指令后，由牵引力控制系统的控制装置执行。具体实施中，牵引力控制系统识别目标车辆左右两侧车轮与当前行驶路面的附着系数，若左右两侧车轮与当前行驶路面的附着系数不一致，则当前行驶路面为对开路面；对开路面还可以通过交通标牌等其他途径来识别。Wherein, the road surface type identification refers to identifying whether the target vehicle is currently traveling on an off road surface, and is executed by the control device of the traction force control system after the target vehicle triggers the traction force control command. In specific implementation, the traction control system identifies the adhesion coefficients between the wheels on the left and right sides of the target vehicle and the current driving road. Recognized by other means such as traffic signs.

S103，判断所述路面类型识别结果是否指示为目标类型路面；所述目标类型路面是指与车辆左右车轮的附着系数不一致的路面。S103, judging whether the road surface type identification result indicates a target type of road surface; the target type of road surface refers to a road surface that is inconsistent with the adhesion coefficients of the left and right wheels of the vehicle.

具体的，若判断的结果为是，则可以执行步骤S105；反之，若判断的结果为否，则可以执行步骤S1017。Specifically, if the result of the judgment is yes, step S105 may be executed; otherwise, if the result of the judgment is no, step S1017 may be executed.

其中，路面类型识别结果是牵引力控制系统对车辆做出多少制动控制干预扭矩的依据，也是牵引力控制系统的控制装置计算是否需要通过后轮转向来协助控制车辆稳定的依据。具体的，若识别出左右两侧车轮与当前行驶路面的附着系数差别较大时，牵引力控制系统对车辆做出的制动控制干预扭矩也相应较大，在这种情况下有必要对是否控制后轮转向做进一步的判断；若识别出当前行驶路面不是对开路面，牵引力控制系统对车辆做出多少制动控制干预扭矩需要其控制装置基于当前路况、滑移率等相关因素做出综合计算与判断，在这种情况下，仅通过牵引力控制系统对车辆做出制动控制干预扭矩车辆即可保持稳定行驶，无需控制后轮转向。Among them, the road surface type identification result is the basis for how much brake control intervention torque the traction control system makes to the vehicle, and it is also the basis for the control device of the traction control system to calculate whether it is necessary to assist in controlling vehicle stability through rear wheel steering. Specifically, if it is recognized that there is a large difference in the adhesion coefficient between the left and right wheels and the current driving road surface, the braking control intervention torque made by the traction control system to the vehicle is correspondingly large. In this case, it is necessary to determine whether to control Make further judgments on the rear wheel steering; if it is recognized that the current driving road is not a split road, how much brake control intervention torque the traction control system makes to the vehicle needs its control device to make a comprehensive calculation based on the current road conditions, slip rate and other related factors In this case, the vehicle can maintain a stable driving without controlling the steering of the rear wheels only by making braking control intervention torque to the vehicle through the traction control system.

S105，基于目标车辆的目标侧车轮在水平方向上相对于目标车辆的方向，确定目标转向；所述目标侧车轮与所述当前行驶路面的附着系数小于所述目标车辆的另一侧车轮与所述当前行驶路面的附着系数。S105. Determine the target steering based on the direction of the target side wheel of the target vehicle relative to the target vehicle in the horizontal direction; the adhesion coefficient between the target side wheel and the current driving road surface is smaller than that between the other side wheel of the target vehicle and the target vehicle. Describe the adhesion coefficient of the current driving road surface.

其中，目标转向为与当前行驶路面的附着系数较低一侧车轮相对于目标车辆的方向。具体的，若路面类型识别结果指示目标车辆的左侧车轮与当前行驶路面的附着系数小于右侧车轮与当前行驶路面的附着系数，则目标转向为左；若路面类型识别结果指示目标车辆的右侧车轮与当前行驶路面的附着系数小于左侧车轮与当前行驶路面的附着系数，则目标转向为右。Wherein, the target steering is the direction of the wheel on the side with a lower adhesion coefficient with the current driving road surface relative to the target vehicle. Specifically, if the road surface type recognition result indicates that the adhesion coefficient between the left wheel of the target vehicle and the current driving road is smaller than the adhesion coefficient between the right wheel and the current driving road, the target steering is left; If the adhesion coefficient between the side wheel and the current road surface is smaller than the adhesion coefficient between the left wheel and the current road surface, the target steering is right.

S107，基于所述目标转向和当前方向盘转角，判断所述目标车辆的行驶不稳定程度是否达到预设不稳定程度。S107. Based on the target steering and the current steering wheel angle, determine whether the driving instability of the target vehicle reaches a preset instability degree.

具体的，若判断的结果为是，则可以执行步骤S109；反之，若判断的结果为否，则可以执行步骤S1013。Specifically, if the judgment result is yes, step S109 may be executed; otherwise, if the judgment result is no, step S1013 may be executed.

其中，当前方向盘转角为目标车辆的方向盘的当前位置相对于方向盘的初始位置的转动角度及转动方向。具体的，方向盘的转动方向与目标转向不一致且转动角度较大时，牵引力控制系统认为目标车辆的行驶不稳定程度达到了需要后轮转向协同牵引力控制来保持车辆稳定行驶的程度。Wherein, the current steering wheel angle is the rotation angle and rotation direction of the current position of the steering wheel of the target vehicle relative to the initial position of the steering wheel. Specifically, when the turning direction of the steering wheel is inconsistent with the target steering and the turning angle is relatively large, the traction control system believes that the driving instability of the target vehicle has reached the level that requires rear wheel steering to cooperate with traction control to keep the vehicle running stably.

其中，行驶不稳定程度由目标车辆在对开路面行驶时方向盘的控制情况来体现。具体的，在方向盘的转动方向与目标转向不一致时，方向盘的转动角度越大，车辆行驶越不稳定。Wherein, the degree of driving instability is reflected by the control of the steering wheel of the target vehicle when driving on the opposite road. Specifically, when the rotation direction of the steering wheel is inconsistent with the target steering, the larger the rotation angle of the steering wheel is, the more unstable the vehicle will be.

其中，预设行驶不稳定程度为对车辆行驶不稳定程度预设的阈值，用于牵引力控制系统判断是否需要控制后轮转向协同牵引力控制系统来保持车辆稳定行驶。具体的，行驶不稳定程度达到预设行驶不稳定程度时，需要控制后轮转向；行驶不稳定程度没有达到预设行驶不稳定程度时，不需要控制后轮转向。Wherein, the preset driving instability degree is a preset threshold value for the vehicle driving instability degree, which is used by the traction control system to judge whether it is necessary to control the rear wheel steering in cooperation with the traction control system to keep the vehicle running stably. Specifically, when the degree of driving instability reaches the predetermined degree of driving instability, it is necessary to control the steering of the rear wheels; when the degree of driving instability does not reach the predetermined degree of driving instability, it is not necessary to control the steering of the rear wheels.

在一个示例性的实施方式中，如图2所示，为本申请实施例提供的一种车辆行驶不稳定程度判断方法的流程示意图，上述步骤S107可以包括：In an exemplary implementation, as shown in FIG. 2 , which is a schematic flow chart of a method for judging the degree of vehicle instability provided by the embodiment of the present application, the above step S107 may include:

S201，基于所述当前方向盘转角确定所述目标车辆的当前方向盘转向。S201. Determine the current steering wheel steering of the target vehicle based on the current steering wheel angle.

其中，当前方向盘转向为目标车辆的方向盘的当前位置相对于方向盘的初始位置的转动方向。具体实施中，通过当前方向盘转角的正负来表示当前方向盘转向，例如，当前方向盘转向为右时，当前方向盘转角为正值；当前方向盘转向为左时，当前方向盘转角为负值。Wherein, the current steering wheel steering is the rotation direction of the current position of the steering wheel of the target vehicle relative to the initial position of the steering wheel. In specific implementation, the current steering wheel rotation is represented by the positive or negative of the current steering wheel rotation angle, for example, when the current steering wheel rotation is right, the current steering wheel rotation angle is a positive value; when the current steering wheel rotation is left, the current steering wheel rotation angle is a negative value.

S203，判断所述当前方向盘转向与所述目标转向是否一致。S203, judging whether the current steering wheel steering is consistent with the target steering.

具体的，若判断的结果为否，则可以执行步骤S205；反之，若判断的结果为是，则可以执行步骤S1013。Specifically, if the judgment result is no, step S205 may be executed; otherwise, if the judgment result is yes, step S1013 may be executed.

具体实施中，在目标转向为左，即目标车辆的左侧车轮与当前行驶路面的附着系数小于右侧车轮与当前行驶路面的附着系数的情况下，若当前方向盘转向为右，即当前方向盘转角为正值(按照前述当前方向盘转角的运算符号表示标准)，则当前方向盘转向与目标转向不一致，即当前方向盘向高附着一侧转动或者保持初始位置(方向盘转角为0)，此种情况下，需要继续判断当前方向盘转角是否较大；同样在目标转向为左的情况下，若当前方向盘转向为左，即当前方向盘转角为负值(按照前述当前方向盘转角的运算符号表示标准)，则当前方向盘转向与目标转向一致，即当前方向盘向低附着一侧转动，此种情况下，车辆比较不容易打滑，因此当前控制时刻判断无需控制后轮转向，而需要判断上一控制时刻的后轮控制动作是否需要继续。In specific implementation, when the target steering is left, that is, the adhesion coefficient between the left wheel of the target vehicle and the current driving road is smaller than the adhesion coefficient between the right wheel and the current driving road, if the current steering wheel turns to the right, that is, the current steering wheel angle is a positive value (according to the above-mentioned operation sign standard of the current steering wheel angle), the current steering wheel steering is inconsistent with the target steering, that is, the current steering wheel turns to the high adhesion side or maintains the initial position (the steering wheel angle is 0), in this case, It is necessary to continue to judge whether the current steering wheel angle is large; also in the case of the target turning to the left, if the current steering wheel is turning to the left, that is, the current steering wheel angle is a negative value (according to the above-mentioned operation symbol expression standard of the current steering wheel angle), the current steering wheel The steering is consistent with the target steering, that is, the current steering wheel is turning to the low adhesion side. In this case, the vehicle is less likely to slip, so the judgment of the current control moment does not need to control the steering of the rear wheels, but the control action of the rear wheels at the previous control moment needs to be judged Do you need to continue.

S205，判断所述当前方向盘转角的绝对值是否大于或者等于预设方向盘转角阈值。S205, judging whether the absolute value of the current steering wheel angle is greater than or equal to a preset steering wheel angle threshold.

具体的，若判断的结果为是，则可以执行步骤S109；反之，若判断的结果为否，则可以执行步骤S207。Specifically, if the judgment result is yes, step S109 may be executed; otherwise, if the judgment result is no, step S207 may be executed.

其中，当前方向盘转角的绝对值为目标车辆方向盘的当前位置相对于方向盘的初始位置的转动角度。Wherein, the absolute value of the current steering wheel angle is the rotation angle of the current position of the steering wheel of the target vehicle relative to the initial position of the steering wheel.

其中，预设方向盘转角阈值为牵引力控制系统判断当前方向盘转角是否较大的参考值。具体的，在当前方向盘转向与所述目标转向是不一致的情况下，若当前方向盘转角的绝对值是否大于或者等于预设方向盘转角阈值，则认为当前方向盘转角较大，目标车辆的行驶不稳定程度达到预设不稳定程度，需要控制后轮转向；若当前方向盘转角的绝对值是否小于预设方向盘转角阈值，则不认为当前方向盘转角较大，目标车辆的行驶不稳定程度未达到预设不稳定程度，需要进一步基于当前方向盘转角变化率判断目标车辆的不稳定程度。Wherein, the preset steering wheel angle threshold is a reference value for the traction control system to judge whether the current steering wheel angle is relatively large. Specifically, if the current steering wheel steering is inconsistent with the target steering, if the absolute value of the current steering wheel angle is greater than or equal to the preset steering wheel angle threshold, it is considered that the current steering wheel angle is relatively large, and the driving instability of the target vehicle To reach the preset degree of instability, it is necessary to control the steering of the rear wheels; if the absolute value of the current steering wheel angle is less than the preset steering wheel angle threshold, it is not considered that the current steering wheel angle is large, and the driving instability of the target vehicle has not reached the preset instability The degree of instability of the target vehicle needs to be further judged based on the current steering wheel angle change rate.

具体实施中，按照前述当前方向盘转角的运算符号表示标准，在目标转向为左，即目标车辆的左侧车轮与当前行驶路面的附着系数小于右侧车轮与当前行驶路面的附着系数的情况下，当前方向盘转角为正时，预设方向盘转角阈值为正，若当前方向盘转角大于或者等于预设方向盘转角阈值，则认为当前方向盘转角较大，此种情况下目标车辆容易打滑，目标车辆的行驶不稳定程度达到预设不稳定程度，需要控制后轮转向；在目标转向为右，即目标车辆的右侧车轮与当前行驶路面的附着系数小于左侧车轮与当前行驶路面的附着系数的情况下，当前方向盘转角为负时，预设方向盘转角阈值为负，若当前方向盘转角小于或者等于预设方向盘转角阈值，则认为当前方向盘转角较大，此种情况下目标车辆容易打滑，目标车辆的行驶不稳定程度达到预设不稳定程度，需要控制后轮转向。In the specific implementation, according to the operation sign expression standard of the aforementioned current steering wheel angle, when the target steering is left, that is, when the adhesion coefficient between the left wheel of the target vehicle and the current driving road surface is smaller than the adhesion coefficient between the right wheel and the current driving road surface, When the current steering wheel angle is positive, the preset steering wheel angle threshold is positive. If the current steering wheel angle is greater than or equal to the preset steering wheel angle threshold, it is considered that the current steering wheel angle is relatively large. When the stability reaches the preset level of instability, the steering of the rear wheels needs to be controlled; when the target steering is right, that is, the adhesion coefficient between the right wheel of the target vehicle and the current driving road is smaller than the adhesion coefficient between the left wheel and the current driving road, When the current steering wheel angle is negative, the preset steering wheel angle threshold is negative. If the current steering wheel angle is less than or equal to the preset steering wheel angle threshold, it is considered that the current steering wheel angle is relatively large. The level of stability reaches the preset level of instability, requiring control of the rear wheel steering.

S207，获取当前方向盘转角变化率。S207. Obtain the current rate of change of the steering wheel angle.

其中，当前方向盘转角变化率为目标车辆的当前方向盘转角的变化速度。具体实施中，用当前方向盘转角与上一控制时刻的方向盘转角的差值除以牵引力控制系统的运行周期，即可得到当前方向盘转角变化率。其中，上一控制时刻为牵引力控制系统的上一运行周期的开始时刻。Wherein, the rate of change of the current steering wheel angle is the rate of change of the current steering wheel angle of the target vehicle. In specific implementation, the change rate of the current steering wheel angle can be obtained by dividing the difference between the current steering wheel angle and the steering wheel angle at the last control moment by the operating period of the traction control system. Wherein, the last control time is the start time of the last operation period of the traction force control system.

S209，判断所述当前方向盘转角变化率的绝对值是否小于预设方向盘转角变化率阈值。S209, judging whether the absolute value of the current steering wheel angle change rate is smaller than a preset steering wheel angle change rate threshold.

具体的，若判断的结果为是，则可以执行步骤S109；反之，若判断的结果为否，则可以执行步骤S1013。Specifically, if the judgment result is yes, step S109 may be executed; otherwise, if the judgment result is no, step S1013 may be executed.

其中，当前方向盘转角变化率的绝对值表征当前方向盘转角相较于上一控制时刻的方向盘转角的变化量。具体的，若当前方向盘转角变化率为正，则表示当前方向盘转角相较于上一控制时刻的方向盘转角在增加；若当前方向盘转角变化率为负，则表示当前方向盘转角相较于上一控制时刻的方向盘转角在减小。Wherein, the absolute value of the change rate of the current steering wheel angle represents the change amount of the current steering wheel angle compared with the steering wheel angle at the last control moment. Specifically, if the current steering wheel angle change rate is positive, it means that the current steering wheel angle is increasing compared with the steering wheel angle at the previous control moment; if the current steering wheel angle change rate is negative, it means that the current steering wheel angle is higher than the previous control The steering wheel angle of the moment is decreasing.

其中，预设方向盘转角变化率阈值为牵引力控制系统基于当前方向盘转角变化率判断目标车辆的不稳定程度的参考值。具体的，当前方向盘转角的绝对值小于预设方向盘转角阈值，但当前方向盘转角变化率的绝对值小于预设方向盘转角变化率，则表征当前控制时刻的车辆行驶不稳定程度是接近方向盘转角绝对值较大时的车辆行驶不稳定程度的，牵引力控制系统认为此种情况有必要继续控制后轮协同保持车辆稳定，因此，将此种情况认定为当前控制时刻的车辆行驶不稳定程度达到预设不稳定程度；反之，当前方向盘转角的绝对值小于预设方向盘转角阈值，但当前方向盘转角变化率的绝对值大于或者等于预设方向盘转角变化率，则表征当前控制时刻的车辆行驶不稳定程度是远离方向盘转角绝对值较大时的车辆行驶不稳定程度的，因此，当前控制时刻判断无需控制后轮转向，而需要判断上一控制时刻的后轮控制动作是否需要继续。Wherein, the preset steering wheel angle change rate threshold is a reference value for the traction control system to judge the degree of instability of the target vehicle based on the current steering wheel angle change rate. Specifically, if the absolute value of the current steering wheel angle is less than the preset steering wheel angle threshold, but the absolute value of the current steering wheel angle change rate is less than the preset steering wheel angle change rate, it indicates that the degree of vehicle instability at the current control moment is close to the absolute value of the steering wheel angle If the driving instability of the vehicle is relatively large, the traction control system considers that it is necessary to continue to control the rear wheels to maintain the stability of the vehicle in such a situation. On the contrary, if the absolute value of the current steering wheel angle is less than the preset steering wheel angle threshold, but the absolute value of the current steering wheel angle change rate is greater than or equal to the preset steering wheel angle change rate, it indicates that the vehicle driving instability at the current control moment is far from Therefore, it is not necessary to control the rear wheel steering at the current control moment, but it is necessary to determine whether the rear wheel control action at the previous control moment needs to be continued.

具体实施中，按照前述当前方向盘转角的运算符号表示标准，在目标转向为左，即目标车辆的左侧车轮与当前行驶路面的附着系数小于右侧车轮与当前行驶路面的附着系数的情况下，当前方向盘转角为正时，预设方向盘转角阈值为正，若当前方向盘转角小于预设方向盘转角阈值，那么要求当前方向盘转角相较于上一控制时刻减小量不大，因此当前方向盘转角变化率和预设方向盘转角变化率皆为负值，若当前方向盘转角变化率大于预设方向盘转角变化率，则认为当前控制时刻的车辆行驶不稳定程度达到预设不稳定程度，此种情况有必要继续控制后轮协同保持车辆稳定；在目标转向为右，即目标车辆的右侧车轮与当前行驶路面的附着系数小于左侧车轮与当前行驶路面的附着系数的情况下，当前方向盘转角为负时，预设方向盘转角阈值为负，若当前方向盘转角大于预设方向盘转角阈值，那么要求当前方向盘转角相较于上一控制时刻增加量不大，因此当前方向盘转角变化率和预设方向盘转角变化率皆为正值，若当前方向盘转角变化率小于预设方向盘转角变化率，则认为当前控制时刻的车辆行驶不稳定程度达到预设不稳定程度，此种情况有必要继续控制后轮协同保持车辆稳定。In the specific implementation, according to the operation sign expression standard of the aforementioned current steering wheel angle, when the target steering is left, that is, when the adhesion coefficient between the left wheel of the target vehicle and the current driving road surface is smaller than the adhesion coefficient between the right wheel and the current driving road surface, When the current steering wheel angle is positive, the preset steering wheel angle threshold is positive. If the current steering wheel angle is smaller than the preset steering wheel angle threshold, then the current steering wheel angle is required to be small compared to the previous control time. Therefore, the current steering wheel angle change rate and the preset steering wheel angle change rate are both negative values. If the current steering wheel angle change rate is greater than the preset steering wheel angle change rate, it is considered that the vehicle’s driving instability at the current control moment has reached the preset instability level. In this case, it is necessary to continue Control the rear wheels to keep the vehicle stable; when the target steering is right, that is, the adhesion coefficient between the right wheel of the target vehicle and the current driving road is smaller than the adhesion coefficient between the left wheel and the current driving road, and the current steering wheel angle is negative, The preset steering wheel angle threshold is negative. If the current steering wheel angle is greater than the preset steering wheel angle threshold, the current steering wheel angle is required to increase slightly compared with the previous control time. Therefore, the current steering wheel angle change rate and the preset steering wheel angle change rate are both is a positive value, if the current steering wheel angle change rate is less than the preset steering wheel angle change rate, it is considered that the vehicle driving instability at the current control moment has reached the preset instability level. In this case, it is necessary to continue to control the rear wheels to maintain vehicle stability.

由本申请实施例的上述技术方案可见，本申请实施例通过方向盘转角这一具象参数来评估车辆行驶的不稳定程度，使得牵引力控制系统对于控制后轮与否有更明确的判断标准，更引入了方向盘转角变化率这一参数，为车辆行驶不稳定程度的判断设置偏移量，保证判断的鲁棒性。It can be seen from the above technical solutions of the embodiment of the present application that the embodiment of the present application evaluates the degree of instability of the vehicle through the concrete parameter of the steering wheel angle, so that the traction control system has a clearer criterion for judging whether to control the rear wheels. The parameter of the steering wheel angle change rate sets the offset for the judgment of the degree of vehicle instability to ensure the robustness of the judgment.

S109，基于所述目标转向和基础转角，确定当前控制时刻所述目标车辆后轮的目标转角；所述基础转角为上一控制时刻所述目标车辆后轮的转角。S109. Based on the target steering and the base rotation angle, determine the target rotation angle of the rear wheels of the target vehicle at the current control moment; the base rotation angle is the rotation angle of the rear wheels of the target vehicle at the last control moment.

其中，基础转角为目标车辆后轮在上一控制时刻的位置相较于后轮初始位置的转动角度及转动方向。具体实施中，目标车辆后轮在上一控制时刻的位置相较于后轮初始位置的转动角度为基础转角的绝对值，目标车辆后轮在上一控制时刻的位置相较于后轮初始位置的转动方向通过基础转角的正负来表示。Wherein, the basic rotation angle is the rotation angle and direction of the rear wheel of the target vehicle at the last control moment compared with the initial position of the rear wheel. In the specific implementation, the position of the rear wheels of the target vehicle at the last control moment is the absolute value of the base rotation angle compared with the initial position of the rear wheels, and the position of the rear wheels of the target vehicle at the last control moment is compared with the initial position of the rear wheels The direction of rotation of is indicated by the sign of the base rotation angle.

其中，当前控制时刻为牵引力控制系统当前运行周期的开始时刻。Wherein, the current control time is the start time of the current operation cycle of the traction force control system.

其中，目标转角为在当前控制时刻控制后轮转向的目标位置相较于后轮初始位置的转动角度及转动方向。具体实施中，在当前控制时刻控制后轮转向的目标位置相较于后轮初始位置的转动角度为目标转角的绝对值，在当前控制时刻控制后轮转向的目标位置相较于后轮初始位置的转动方向通过目标转角的正负来表示。Wherein, the target angle of rotation is the rotation angle and direction of the target position for controlling the steering of the rear wheels at the current control moment compared to the initial position of the rear wheels. In the specific implementation, at the current control moment, the target position for controlling the steering of the rear wheels is compared with the rotation angle of the initial position of the rear wheels, which is the absolute value of the target rotation angle. The direction of rotation of is indicated by the sign of the target rotation angle.

其中，上一控制时刻为牵引力控制系统的上一运行周期的开始时刻。Wherein, the last control time is the start time of the last operation period of the traction force control system.

具体的，需要先计算后轮转角变化率，继而结合上一控制时刻目标车辆后轮转角，即可得到当前控制时刻的目标车辆后轮的转角，而在当前方向盘转向与目标转向相反时，控制后轮转向幅度需要大些才能够保持车辆稳定，当前方向盘转角动态变化，当前方向盘转向也动态变化，因此当前方向盘转向未必与目标转向相反，对应两种情况的后轮转角变化率也存在一定差别。Specifically, it is necessary to calculate the change rate of the rear wheel angle first, and then combine the rear wheel angle of the target vehicle at the previous control moment to obtain the rear wheel angle of the target vehicle at the current control moment. When the current steering wheel steering is opposite to the target steering, the control The rear wheel steering range needs to be larger to keep the vehicle stable. The current steering wheel angle changes dynamically, and the current steering wheel steering also changes dynamically. Therefore, the current steering wheel steering may not be opposite to the target steering. There is also a certain difference in the change rate of the rear wheel angle corresponding to the two situations. .

在一个示例性的实施方式中，如图3所示，为本申请实施例提供的一种车辆后轮转角确定方法的流程示意图，上述步骤S109可以包括：In an exemplary implementation, as shown in FIG. 3 , which is a schematic flowchart of a method for determining the rear wheel rotation angle of a vehicle provided in the embodiment of the present application, the above step S109 may include:

S301，基于所述路面类型识别结果确定当前制动控制干预扭矩；获取所述当前制动控制干预扭矩对应的后轮转角基础变化率。S301. Determine a current braking control intervention torque based on the road surface type identification result; acquire a basic change rate of the rear wheel rotation angle corresponding to the current braking control intervention torque.

其中，路面类型识别结果包括目标车辆两侧车轮与当前行驶路面的附着系数，据此可以判断出目标车辆的当前行驶路面为左侧低附路面还是右侧低附路面。Among them, the road surface type identification result includes the adhesion coefficient between the wheels on both sides of the target vehicle and the current driving road surface, and based on this, it can be judged whether the current driving road surface of the target vehicle is a low-adhesion road on the left or a low-adhesion road on the right.

其中，当前制动控制干预扭矩为牵引力控制系统基于当前控制时刻的路面类型识别结果对目标车辆的驱动轮做出的制动力矩。具体的，当目标车辆的当前行驶路面为左侧低附路面时，牵引力控制系统会对左侧驱动轮进行制动；当目标车辆的当前行驶路面为右侧低附路面时，牵引力控制系统会对右侧驱动轮进行制动。具体实施中，可通过制动控制干预扭矩的正负来区分上述两种情况，例如，牵引力控制系统对左侧驱动轮进行制动时，制动控制干预扭矩为负值；牵引力控制系统对右侧驱动轮进行制动时，制动控制干预扭矩为正值。Wherein, the current braking control intervention torque is the braking torque made by the traction control system on the driving wheels of the target vehicle based on the road surface type identification result at the current control moment. Specifically, when the current driving surface of the target vehicle is a low-adhesion road on the left, the traction control system will brake the left driving wheel; Brake the right drive wheel. In specific implementation, the above two situations can be distinguished by the positive or negative of the brake control intervention torque. For example, when the traction control system brakes the left drive wheel, the brake control intervention torque is negative; When the side drive wheels are braking, the brake control intervention torque is positive.

其中，后轮转角基础变化率为与当前制动控制干预扭矩对应的数值，作为计算后轮转角变化率时的基础量。具体实施中，已知制动控制干预扭矩与后轮转角基础变化率曲线数据图，基于当前制动控制干预扭矩查表，即可得到后轮转角基础变化率的值。Wherein, the basic rate of change of the rear wheel angle is a numerical value corresponding to the current brake control intervention torque, which is used as a basic quantity when calculating the rate of change of the rear wheel angle. In specific implementation, given the curve data graph of the braking control intervention torque and the basic rate of change of the rear wheel angle, based on the current braking control intervention torque look-up table, the value of the basic rate of change of the rear wheel angle can be obtained.

在一个示例性的实施方式中，如图4所示，为本申请实施例提供的一种后轮转角基础变化率正确性判断方法的流程示意图，在上述步骤S301之后，还可以包括以下步骤：In an exemplary implementation, as shown in FIG. 4 , it is a schematic flowchart of a method for judging the correctness of the basic change rate of the rear wheel rotation angle provided by the embodiment of the present application. After the above step S301, the following steps may also be included:

S401，判断所述后轮转角基础变化率的运算符号与所述当前制动控制干预扭矩的运算符号是否一致。S401, judging whether the operation sign of the basic change rate of the rear wheel rotation angle is consistent with the operation sign of the current braking control intervention torque.

具体的，若判断的结果为是，则可以执行步骤S303；反之，若判断的结果为是，则可以执行步骤S403。Specifically, if the judgment result is yes, step S303 may be executed; otherwise, if the judgment result is yes, step S403 may be executed.

其中，后轮转角基础变化率的运算符号与当前制动控制干预扭矩的运算符号相关，如图5所示，为本申请实施例提供的一种车辆后轮转角变化率计算方法的流程示意图，其中，T_brake为制动控制干预扭矩，base_ramp为后轮转角基础变化率，由制动控制干预扭矩与后轮转角基础变化率的曲线图可知，制动控制干预扭矩为正值时，后轮转角基础变化率为正值；制动控制干预扭矩为0时，后轮转角基础变化率为0；制动控制干预扭矩为负值时，后轮转角基础变化率为负值。Wherein, the operation sign of the basic change rate of the rear wheel angle is related to the operation sign of the current brake control intervention torque, as shown in FIG. 5 , which is a schematic flow chart of a method for calculating the change rate of the rear wheel angle of a vehicle provided in the embodiment of the present application. Among them, T_brake is the brake control intervention torque, and base_ramp is the base change rate of the rear wheel angle. From the graph of the brake control intervention torque and the base change rate of the rear wheel angle, it can be known that when the brake control intervention torque is a positive value, the rear wheel angle The basic rate of change is positive; when the braking control intervention torque is 0, the basic rate of change of the rear wheel angle is 0; when the braking control intervention torque is negative, the basic rate of change of the rear wheel angle is negative.

具体实施中，后轮转角基础变化率的运算符号在正常情况下与当前制动控制干预扭矩的运算符号是一致的，可以继续后续步骤；如若出现后轮转角基础变化率的运算符号与当前制动控制干预扭矩的运算符号不一致的情况，表明算法出错，当前控制时刻的不控制后轮转向，即令目标转角为0。In the specific implementation, the operation sign of the basic change rate of the rear wheel angle is consistent with the operation sign of the current braking control intervention torque under normal circumstances, and the subsequent steps can be continued; if the operation sign of the basic change rate of the rear wheel angle is different from the current braking If the calculation signs of the manual control intervention torque are inconsistent, it indicates that the algorithm is wrong, and the current control moment does not control the rear wheel steering, that is, the target steering angle is 0.

S403，确定所述目标转角为零。S403. Determine that the target rotation angle is zero.

具体的，在后轮转角基础变化率的运算符号与当前制动控制干预扭矩的运算符号不一致时，令当前控制时刻的目标转角为0，不控制后轮转向。Specifically, when the operation sign of the basic change rate of the rear wheel rotation angle is inconsistent with the operation sign of the current braking control intervention torque, the target rotation angle at the current control moment is set to 0, and the rear wheel steering is not controlled.

由本申请实施例的上述技术方案可见，本申请实施例通过后轮转角基础变化率的运算符号的正确性验证，以防查表出错导致后轮转向控制错误的情况出现，提高了算法的鲁棒性。It can be seen from the above-mentioned technical solutions of the embodiments of the present application that the embodiments of the present application pass the correctness verification of the operation sign of the basic change rate of the rear wheel angle to prevent errors in the table lookup from causing errors in the steering control of the rear wheels, and improve the robustness of the algorithm. sex.

S303，基于所述目标转向的反方向，确定当前方向盘的参考转向；基于所述当前方向盘转角确定所述目标车辆的当前方向盘转向。S303. Determine the current reference steering wheel steering based on the opposite direction of the target steering; determine the current steering wheel steering of the target vehicle based on the current steering wheel angle.

其中，参考转向为判断当前方向盘转向适用何种后轮转角变化率的参考基准。具体的，由于当前方向盘转角动态变化，当前方向盘转向存在两种情况，一种情况是当前方向盘转向与参考转向一致，另一种情况是当前方向盘转向与参考转向不一致，在当前方向盘转向与参考转向一致时，控制后轮转向角度需要比另一种情况下的后轮转向角度大些，以控制车辆稳定。Wherein, the reference steering is a reference basis for judging the rate of change of the rear wheel rotation angle applicable to the current steering wheel steering. Specifically, due to the dynamic change of the current steering wheel angle, there are two situations in the current steering wheel steering. One is that the current steering wheel is consistent with the reference steering, and the other is that the current steering wheel is inconsistent with the reference steering. When consistent, controlling the steering angle of the rear wheels needs to be larger than the steering angle of the rear wheels in the other case, in order to control the stability of the vehicle.

其中，当前方向盘转向为目标车辆的方向盘的当前位置相对于方向盘的初始位置的转动方向。Wherein, the current steering wheel steering is the rotation direction of the current position of the steering wheel of the target vehicle relative to the initial position of the steering wheel.

S305，判断所述当前方向盘转向与所述参考转向是否一致。S305. Determine whether the current steering wheel steering is consistent with the reference steering.

具体的，若判断的结果为否，则可以执行步骤S307；反之，若判断的结果为是，则可以执行步骤S3011。Specifically, if the judgment result is no, step S307 may be executed; otherwise, if the judgment result is yes, step S3011 may be executed.

具体实施中，在当前方向盘转向与参考转向不一致时，按照步骤S307～S309的方法计算目标转角即可；在当前方向盘转向与参考转向一致时，控制后轮转向角度需要比前述情况下的后轮转向角度大些才能控制车辆稳定，因此按照步骤S3011～S3015的方法，使后轮转角变化率比前述情况下计算得到的大，从而计算得到的目标转角也就比前述情况下计算得到的目标转角大。In the specific implementation, when the current steering wheel steering is inconsistent with the reference steering, it is enough to calculate the target rotation angle according to the method of steps S307-S309; The stability of the vehicle can be controlled only when the steering angle is larger. Therefore, according to the method of steps S3011-S3015, the rate of change of the rear wheel rotation angle is larger than that calculated in the previous situation, so that the calculated target steering angle is also higher than the target steering angle calculated in the previous situation. big.

S307，基于当前制动控制干预扭矩变化率、当前方向盘转角变化率、当前横摆角变化率以及所述后轮转角基础变化率，确定所述目标车辆后轮的第一转角变化率。S307. Based on the current rate of change of braking control intervention torque, the current rate of change of steering wheel angle, the current rate of change of yaw angle, and the basic rate of change of rear wheel angle, determine the first rate of change of the rear wheel of the target vehicle.

其中，当前制动控制干预扭矩变化率为当前控制时刻牵引力控制系统做出的制动控制干预扭矩的变化速度。具体实施中，用当前制动控制干预扭矩与上一控制时刻的制动控制干预扭矩的差值除以牵引力控制系统的运行周期，即可得到当前制动控制干预扭矩变化率。Wherein, the change rate of the current braking control intervention torque is the change rate of the braking control intervention torque made by the traction control system at the current control moment. In a specific implementation, the current braking control intervention torque change rate can be obtained by dividing the difference between the current braking control intervention torque and the braking control intervention torque at the last control moment by the operation period of the traction control system.

其中，当前方向盘转角变化率为目标车辆在当前控制时刻方向盘转角的变化速度。具体实施中，用当前方向盘转角与上一控制时刻的方向盘转角的差值除以牵引力控制系统的运行周期，即可得到当前方向盘转角变化率。Wherein, the current rate of change of the steering wheel angle is the rate of change of the steering wheel angle of the target vehicle at the current control moment. In specific implementation, the change rate of the current steering wheel angle can be obtained by dividing the difference between the current steering wheel angle and the steering wheel angle at the last control moment by the operating period of the traction control system.

其中，当前横摆角变化率为当前控制时刻目标车辆的横摆角的变化速度。具体实施中，用当前控制时刻目标车辆的横摆角与上一控制时刻目标车辆的横摆角的差值除以牵引力控制系统的运行周期，即可得到当前横摆角变化率。Wherein, the current yaw angle change rate is the change rate of the yaw angle of the target vehicle at the current control moment. In a specific implementation, the current yaw angle change rate can be obtained by dividing the difference between the yaw angle of the target vehicle at the current control moment and the yaw angle of the target vehicle at the previous control moment by the operation period of the traction control system.

其中，第一转角变化率为当前控制时刻后轮转角相较于上一控制时刻的增减量。例如，目标转角为正值时，目标转向为右，若第一转角变化率的运算符号为正，则表示后轮转角增加，若第一转角变化率的运算符号为负，则表示后轮转角减小；目标转角为负值时，目标转向为左，若第一转角变化率的运算符号为正，则表示后轮转角减小，若第一转角变化率的运算符号为负，则表示后轮转角增加。Wherein, the first rotation angle change rate is the increase or decrease of the rear wheel rotation angle at the current control time compared with the previous control time. For example, when the target steering angle is positive, the target steering is right. If the operation sign of the first steering angle change rate is positive, it means that the rear wheel steering angle increases. Decrease; when the target steering angle is negative, the target steering is left, if the operation sign of the first rotation angle change rate is positive, it means that the rear wheel rotation angle decreases; if the operation sign of the first rotation angle change rate is negative, it means the rear wheel Wheel turning angle increased.

在一个示例性的实施方式中，上述步骤S307可以包括以下步骤：In an exemplary implementation, the above step S307 may include the following steps:

获取所述当前制动控制干预扭矩变化率对应的第一权值、所述当前方向盘转角变化率对应的第二权值和所述当前横摆角变化率对应的第三权值；所述第一权值为正值，所述第二权值为负值，所述第三权值为负值；Acquiring the first weight corresponding to the current braking control intervention torque change rate, the second weight corresponding to the current steering wheel angle change rate, and the third weight corresponding to the current yaw angle change rate; the first A weight is a positive value, the second weight is a negative value, and the third weight is a negative value;

基于所述当前制动控制干预扭矩变化率以及所述第一权值、所述当前方向盘转角变化率以及所述第二权值、所述当前横摆角变化率以及所述第三权值，进行加权求和，得到所述第一转角变化率。Based on the current braking control intervention torque change rate and the first weight value, the current steering wheel angle change rate and the second weight value, the current yaw angle change rate and the third weight value, A weighted summation is performed to obtain the first rate of change of the rotation angle.

其中，第一权值为在计算第一转角变化率的过程中修正当前制动控制干预扭矩变化率的可标定数值，而当前制动控制干预扭矩变化率为牵引力控制系统控制车辆稳定的正相关因素，因此第一权值为正值。Wherein, the first weight is a calibratable value for correcting the current brake control intervention torque change rate in the process of calculating the first corner change rate, and the current brake control intervention torque change rate is positively related to the stability of the vehicle controlled by the traction control system factor, so the first weight is positive.

其中，第二权值为在计算第一转角变化率的过程中修正当前方向盘转角变化率的可标定数值，而当前方向盘转角变化率为牵引力控制系统控制车辆稳定的负相关因素，因此第二权值为负值。Among them, the second weight is a calibratable value that corrects the current steering wheel angle change rate in the process of calculating the first steering wheel angle change rate, and the current steering wheel angle change rate is a negative correlation factor for the traction control system to control vehicle stability, so the second weight The value is negative.

其中，第三权值为在计算第一转角变化率的过程中修正当前横摆角变化率的可标定数值，而当前横摆角变化率为牵引力控制系统控制车辆稳定的负相关因素，因此第三权值为负值。Among them, the third weight is a calibratable value that corrects the current yaw angle change rate in the process of calculating the first steering angle change rate, and the current yaw angle change rate is a negative correlation factor for the traction control system to control vehicle stability, so the first The three weights are negative.

其中，第一转角变化率为在当前方向盘转向与参考转向不一致的情况下当前控制时刻控制后轮的目标转角相较于上一控制时刻的增减量。具体实施中，如图5所示，其中，T_brake_dot为制动控制干预扭矩变化率，SAS_dot为方向盘转角变化率，Gain_1为T_brake_dot的权值；Gain_2为SAS_dot的权值；Gain_3为横摆角变化率的权值，加权求和得到的offset与后轮转角基础变化率base_ramp求和，即可得到第一转角变化率Ramp_1。Wherein, the first rotation angle change rate is the increase or decrease of the target rotation angle of the rear wheels at the current control moment compared with the previous control moment when the current steering wheel steering is inconsistent with the reference steering. In the specific implementation, as shown in Figure 5, T_brake_dot is the rate of change of the braking control intervention torque, SAS_dot is the rate of change of the steering wheel angle, Gain_1 is the weight of T_brake_dot; Gain_2 is the weight of SAS_dot; Gain_3 is the rate of change of the yaw angle The weight, the offset obtained by the weighted summation and the basic change rate base_ramp of the rear wheel angle are summed to obtain the first rate of change Ramp_1.

由本申请实施例的上述技术方案可见，本申请实施例根据各相关因素与牵引力控制系统控制车辆稳定过程的相关情况，设定相应的权值修正各相关因素，计算得到的后轮转角的增减量较为精确。It can be seen from the above-mentioned technical solutions of the embodiments of the present application that according to the relevant factors and the relevant conditions of the traction control system to control the vehicle stability process in the embodiments of the present application, the corresponding weights are set to correct the relevant factors, and the calculated increase or decrease of the rear wheel angle The quantity is more accurate.

S309，基于所述基础转角以及所述第一转角变化率，确定所述目标转角。S309. Determine the target rotation angle based on the base rotation angle and the first rotation angle change rate.

其中，基础转角为目标车辆后轮在上一控制时刻的位置相较于后轮初始位置的转动角度及转动方向。具体实施中，目标车辆后轮在上一控制时刻的位置相较于后轮初始位置的转动角度为基础转角的绝对值，目标车辆后轮在上一控制时刻的位置相较于后轮初始位置的转动方向通过基础转角的正负来表示。Wherein, the base rotation angle is the rotation angle and direction of the rear wheel of the target vehicle at the last control moment compared with the initial position of the rear wheel. In the specific implementation, the position of the rear wheels of the target vehicle at the last control moment is the absolute value of the base rotation angle compared with the initial position of the rear wheels, and the position of the rear wheels of the target vehicle at the last control moment is compared with the initial position of the rear wheels The direction of rotation of is indicated by the sign of the base rotation angle.

其中，目标转角为在当前控制时刻控制后轮转向的目标位置相较于后轮初始位置的转动角度及转动方向。具体实施中，在当前控制时刻控制后轮转向的目标位置相较于后轮初始位置的转动角度为目标转角的绝对值，在当前控制时刻控制后轮转向的目标位置相较于后轮初始位置的转动方向通过目标转角的正负来表示。具体实施中，对基础转角和第一转角变化率求和，即可得到在当前方向盘转向与参考转向不一致的情况下的目标转角。Wherein, the target angle of rotation is the rotation angle and direction of the target position for controlling the steering of the rear wheels at the current control moment compared to the initial position of the rear wheels. In the specific implementation, at the current control moment, the target position for controlling the steering of the rear wheels is compared with the rotation angle of the initial position of the rear wheels, which is the absolute value of the target rotation angle. The direction of rotation of is indicated by the sign of the target rotation angle. In a specific implementation, the base rotation angle and the first rotation angle change rate are summed to obtain the target rotation angle when the current steering wheel steering is inconsistent with the reference steering wheel.

S3011，获取所述当前方向盘转角对应的后轮转向系数；所述后轮转向系数大于或者等于预设数值。S3011. Obtain the rear wheel steering coefficient corresponding to the current steering wheel angle; the rear wheel steering coefficient is greater than or equal to a preset value.

其中，后轮转向系数为当前方向盘转角对应的权值，用于在当前方向盘转向与参考转向一致的情况下修正第一转角变化率。具体实施中，已知当前方向盘转角的绝对值与后轮转向系数的曲线数据图，如图5所示，其中，SAS为方向盘转角，SAS_gain为后轮转向系数，由于SAS_gain用于在当前方向盘转向与参考转向一致的情况下增加第一转角变化率的绝对值，SAS_gain大于或者等于1，基于当前方向盘转角的绝对值查表，即可得到后轮转向系数。Wherein, the rear wheel steering coefficient is a weight corresponding to the current steering wheel angle, and is used to correct the first steering angle change rate when the current steering wheel steering is consistent with the reference steering. In the specific implementation, the curve data diagram of the absolute value of the current steering wheel angle and the rear wheel steering coefficient is known, as shown in Figure 5, wherein, SAS is the steering wheel angle, SAS_gain is the rear wheel steering coefficient, because SAS_gain is used to turn the current steering wheel When it is consistent with the reference steering, increase the absolute value of the first steering angle change rate, SAS_gain is greater than or equal to 1, and look up the table based on the absolute value of the current steering wheel angle to obtain the rear wheel steering coefficient.

S3013，基于所述第一转角变化率以及所述后轮转向系数求积，得到第二转角变化率。S3013. Obtain a second rate of change of the angle of rotation based on the product of the first rate of change of the angle of rotation and the steering coefficient of the rear wheels.

其中，第二转角变化率为在当前方向盘转向与参考转向一致的情况下当前控制时刻控制后轮的目标转角相较于上一控制时刻的增减量。具体实施中，如图5所示，其中，对第一转角变化率Ramp_1和后轮转向系数SAS_gain求积，即可得到第二转角变化率Ramp_2。Wherein, the second rotation angle change rate is the increase or decrease of the target rotation angle of the rear wheels at the current control moment compared with the previous control moment when the current steering wheel steering is consistent with the reference steering. In a specific implementation, as shown in FIG. 5 , the second rate of change Ramp_2 can be obtained by taking the product of the first rate of change of rotation angle Ramp_1 and the rear wheel steering coefficient SAS_gain.

S3015，基于所述基础转角以及所述第二转角变化率，确定所述目标转角。S3015. Determine the target rotation angle based on the base rotation angle and the second rotation angle change rate.

具体的，对基础转角和第二转角变化率求和，即可得到在当前方向盘转向与参考转向一致的情况下控制后轮转向的目标转角。Specifically, the base rotation angle and the second rotation angle change rate are summed to obtain a target rotation angle for controlling the steering of the rear wheels when the current steering wheel steering is consistent with the reference steering.

由本申请实施例的上述技术方案可见，本申请实施例通过比较当前方向盘转向与目标转向，分情况计算控制后轮转向的目标转角，有针对性地控制后轮转向，使得保持车辆稳定行驶的同时，减小对车辆加速性能的压制。It can be seen from the above technical solutions of the embodiments of the present application that the embodiments of the present application compare the current steering wheel steering with the target steering, calculate and control the target angle of the rear wheel steering according to the situation, and control the rear wheel steering in a targeted manner, so that the vehicle can be kept stable while driving. , to reduce the suppression of vehicle acceleration performance.

S1011，基于所述目标转角，按照预设时长控制所述目标车辆的后轮转向。S1011. Based on the target steering angle, control the steering of the rear wheels of the target vehicle according to a preset duration.

其中，预设时长为牵引力控制系统当前控制时刻控制后轮转向的时长。Wherein, the preset duration is the duration for the traction control system to control the steering of the rear wheels at the current control moment.

S1013，确定上一控制时刻所述目标车辆后轮的转向，得到基础转向。S1013. Determine the steering of the rear wheels of the target vehicle at the last control moment to obtain the basic steering.

具体的，在目标车辆的行驶不稳定程度未达到预设不稳定程度时，需要进一步判断上一控制时刻所述目标车辆的后轮转向控制是否为当前控制时刻所需要的后轮转向控制。在基础转向与目标转向一致的情况下，上一控制时刻的后轮转向控制为当前控制时刻所需要的后轮转向控制；在基础转向与目标转向不一致的情况下，上一控制时刻的后轮转向控制为当前控制时刻所不需要的后轮转向控制。Specifically, when the driving instability of the target vehicle does not reach the preset instability level, it is necessary to further determine whether the rear wheel steering control of the target vehicle at the last control moment is the rear wheel steering control required at the current control moment. When the base steering is consistent with the target steering, the rear wheel steering control at the last control moment is the rear wheel steering control required at the current control moment; The steering control is the steering control of the rear wheels that is not needed at the current control moment.

S1015，判断所述基础转向与所述目标转向是否一致。S1015. Determine whether the base steering is consistent with the target steering.

具体的，若判断的结果为是，则可以执行步骤S1019；反之，若判断的结果为否，则可以执行步骤S1017。Specifically, if the judgment result is yes, step S1019 may be executed; otherwise, if the judgment result is no, step S1017 may be executed.

具体的，在基础转向与目标转向一致的情况下，上一控制时刻的后轮转向控制为当前控制时刻所需要的后轮转向控制，需要进一步判断上一控制时刻的控制是否结束，来决定当前控制时刻是否需要继续执行上一控制时刻的控制；在基础转向与目标转向不一致的情况下，上一控制时刻的后轮转向控制为当前控制时刻所不需要的后轮转向控制，因此无需判断上一控制时刻的控制是否结束，无论结束与否，当前控制时刻的后轮都不转向。Specifically, when the basic steering is consistent with the target steering, the rear wheel steering control at the last control moment is the rear wheel steering control required at the current control moment, and it is necessary to further determine whether the control at the last control moment is over to determine the current Whether it is necessary to continue the control at the previous control time at the control time; if the base steering is inconsistent with the target steering, the rear wheel steering control at the previous control time is the rear wheel steering control that is not needed at the current control time, so there is no need to judge the previous control time Whether the control at a control moment ends, no matter whether it ends or not, the rear wheels at the current control moment do not turn.

S1017，控制所述目标车辆的后轮不转向。S1017, controlling the rear wheels of the target vehicle not to turn.

具体实施中，牵引力控制系统令目标转角为0。In a specific implementation, the traction control system sets the target rotation angle to 0.

S1019，确定上一控制时刻所述目标车辆的后轮转向的开始时刻至当前控制时刻的时长，得到转向时长。S1019. Determine the time period from the start time of the rear wheel steering of the target vehicle at the last control time to the current control time to obtain the steering time.

其中，开始时刻为上一控制时刻的后轮转向控制动作开始的时刻。具体的，由于预设时长在通常情况下大于牵引力控制系统的运行周期，上一控制时刻目标车辆的行驶不稳定程度可能未达到预设不稳定程度，因此上一控制时刻的后轮转向控制不一定是从上一控制时刻开始的，开始时刻不等同于上一控制时刻。Wherein, the start time is the time when the rear wheel steering control action at the previous control time starts. Specifically, since the preset duration is generally longer than the operating cycle of the traction control system, the driving instability of the target vehicle at the last control moment may not reach the preset instability level, so the rear wheel steering control at the last control moment is not stable. It must start from the last control time, and the start time is not equal to the last control time.

其中，转向时长为上一控制时刻的后轮转向控制的时长。具体的，由于上一控制时刻的后轮转向控制不一定是从上一控制时刻开始的，转向时长不一定为牵引力控制系统的运行周期，需要另行计时。Wherein, the steering duration is the duration of the rear wheel steering control at the last control moment. Specifically, since the rear wheel steering control at the last control moment does not necessarily start from the last control moment, the steering duration is not necessarily the operation period of the traction control system, and needs to be timed separately.

S1021，判断所述转向时长是否小于或者等于所述预设时长。S1021. Determine whether the turning duration is less than or equal to the preset duration.

具体的，若判断的结果为是，则可以执行步骤S109；反之，若判断的结果为否，则可以执行步骤S1017。Specifically, if the result of the judgment is yes, step S109 may be executed; otherwise, if the result of the judgment is no, step S1017 may be executed.

具体的，在基础转向与目标转向一致的情况下，上一控制时刻的后轮转向控制为当前控制时刻所需要的后轮转向控制，若转向时长小于或者等于预设时长，表明上一控制时刻的后轮转向控制尚未结束，则需要继续控制；若转向时长大于预设时长，表明上一控制时刻的后轮转向控制已经结束，无需继续控制，因此当前控制时刻不控制后轮转向。Specifically, when the base steering is consistent with the target steering, the rear wheel steering control at the last control moment is the rear wheel steering control required at the current control moment. If the steering duration is less than or equal to the preset duration, it indicates that the last control moment If the steering control of the rear wheels has not ended, it is necessary to continue the control; if the steering time is longer than the preset time, it indicates that the rear wheel steering control at the previous control moment has ended, and there is no need to continue the control, so the current control moment does not control the rear wheel steering.

由本申请实施例的上述技术方案可见，本申请实施例通过牵引力控制系统计算车辆在对开路面不稳定的程度，基于方向盘转向以及左右路面附着系数识别来判断后轮转向，进而计算后轮转角，通过后轮转向控制来改变车辆的动态行驶姿态，在对开路面上能更好的控制车辆，使车辆在较小方向盘干预的情况下保持稳定的同时提高车辆的加速性能。It can be seen from the above technical solution of the embodiment of the present application that the embodiment of the present application calculates the degree of instability of the vehicle on the split road through the traction control system, and judges the steering of the rear wheels based on the steering wheel steering and the identification of the left and right road adhesion coefficients, and then calculates the rear wheel rotation angle. The dynamic driving posture of the vehicle can be changed through the rear wheel steering control, and the vehicle can be better controlled on the off-road surface, so that the vehicle can maintain stability and improve the acceleration performance of the vehicle under the condition of small steering wheel intervention.

与上述几种实施例提供的车辆后轮转向控制方法相对应，本申请实施例还提供一种车辆后轮转向控制装置，由于本申请实施例提供的车辆后轮转向控制装置与上述几种实施例提供的车辆后轮转向控制方法相对应，因此前述车辆后轮转向控制方法的实施方式也适用于本实施例提供的车辆后轮转向控制装置，在本实施例中不再详细描述。Corresponding to the vehicle rear wheel steering control method provided in the above several embodiments, the embodiment of the present application also provides a vehicle rear wheel steering control device, because the vehicle rear wheel steering control device provided in the embodiment of the present application The vehicle rear wheel steering control method provided in this example corresponds to the vehicle rear wheel steering control method, so the implementation of the vehicle rear wheel steering control method is also applicable to the vehicle rear wheel steering control device provided in this embodiment, and will not be described in detail in this embodiment.

请参阅图6，其所示为本申请实施例提供的一种车辆后轮转向控制装置的结构示意图，该装置具有实现上述方法实施例中车辆后轮转向控制方法的功能，所述功能可以由硬件实现，也可以由硬件执行相应的软件实现。如图6所示，该装置可以包括：Please refer to FIG. 6 , which is a schematic structural diagram of a vehicle rear wheel steering control device provided in an embodiment of the present application. The device has the function of realizing the vehicle rear wheel steering control method in the above method embodiment. It is realized by hardware, and corresponding software may also be executed by hardware. As shown in Figure 6, the device may include:

路面识别模块610，用于响应于牵引力控制指令，对目标车辆当前行驶路面的路面类型进行识别，得到路面类型识别结果；The road surface identification module 610 is configured to identify the road surface type of the target vehicle's current driving road surface in response to the traction force control command, and obtain a road surface type identification result;

转向确定模块620，用于在所述路面类型识别结果指示为目标类型路面时，基于目标车辆的目标侧车轮在水平方向上相对于目标车辆的方向，确定目标转向；所述目标类型路面是指与车辆左右车轮的附着系数不一致的路面；所述目标侧车轮与所述当前行驶路面的附着系数小于所述目标车辆的另一侧车轮与所述当前行驶路面的附着系数；Steering determination module 620, configured to determine the target steering based on the direction of the target side wheels of the target vehicle relative to the target vehicle in the horizontal direction when the road surface type identification result indicates a target type of road surface; the target type of road surface refers to Road surfaces that are inconsistent with the adhesion coefficients of the left and right wheels of the vehicle; the adhesion coefficient between the wheels on the target side and the current road surface is smaller than the adhesion coefficient between the wheels on the other side of the target vehicle and the current road surface;

第一稳定判断模块630，用于基于所述目标转向和当前方向盘转角，判断所述目标车辆的行驶不稳定程度是否达到预设不稳定程度；The first stability judging module 630 is configured to judge whether the driving instability of the target vehicle reaches a preset degree of instability based on the target steering and the current steering wheel angle;

第一转角确定模块640，用于在所述行驶不稳定程度达到所述预设不稳定程度时，基于所述目标转向和基础转角，确定当前控制时刻所述目标车辆后轮的目标转角；所述基础转角为上一控制时刻所述目标车辆后轮的转角；The first rotation angle determination module 640 is configured to determine the target rotation angle of the rear wheels of the target vehicle at the current control moment based on the target steering and the base rotation angle when the driving instability degree reaches the preset instability degree; The base angle is the angle of the rear wheel of the target vehicle at the last control moment;

第一后轮控制模块650，用于基于所述目标转角，按照预设时长控制所述目标车辆的后轮转向。The first rear wheel control module 650 is configured to control the steering of the rear wheels of the target vehicle according to a preset duration based on the target steering angle.

在一个示例性的实施方式中，所述第一稳定判断模块，包括：In an exemplary embodiment, the first stability judgment module includes:

第一方向盘转向模块，用于基于所述当前方向盘转角确定所述目标车辆的当前方向盘转向；a first steering wheel steering module, configured to determine the current steering wheel steering of the target vehicle based on the current steering wheel angle;

转角判断模块，用于在所述当前方向盘转向与所述目标转向不一致时，判断所述当前方向盘转角的绝对值是否大于或者等于预设方向盘转角阈值；A steering angle judging module, configured to judge whether the absolute value of the current steering wheel angle is greater than or equal to a preset steering wheel angle threshold when the current steering wheel steering is inconsistent with the target steering;

第一不稳定确定模块，用于在所述当前方向盘转角的绝对值大于或者等于所述预设方向盘转角阈值时，确定所述目标车辆的行驶不稳定程度达到所述预设不稳定程度。The first instability determination module is configured to determine that the driving instability of the target vehicle reaches the preset instability degree when the absolute value of the current steering wheel angle is greater than or equal to the preset steering wheel angle threshold.

在一个示例性的实施方式中，所述装置还包括用于基于方向盘转角变化率判断所述目标车辆的行驶不稳定程度是否达到所述预设不稳定程度的第二稳定判断模块，所述第二稳定判断模块，包括：In an exemplary embodiment, the device further includes a second stability judging module for judging whether the driving instability of the target vehicle reaches the preset degree of instability based on the rate of change of the steering wheel angle, the first Two stability judgment modules, including:

变化率获取模块，用于在所述当前方向盘转角的绝对值小于所述预设方向盘转角阈值时，获取当前方向盘转角变化率；A rate-of-change acquisition module, configured to acquire the rate of change of the current steering wheel angle when the absolute value of the current steering wheel angle is less than the preset steering wheel angle threshold;

变化率判断模块，用于判断所述当前方向盘转角变化率的绝对值是否小于预设方向盘转角变化率阈值；A rate-of-change judging module, configured to determine whether the absolute value of the rate of change of the current steering wheel angle is less than a preset threshold value of the rate of change of the steering wheel angle;

第二不稳定确定模块，用于在所述当前方向盘转角变化率的绝对值小于所述预设方向盘转角变化率阈值时，确定所述目标车辆的行驶不稳定程度达到所述预设不稳定程度。A second instability determination module, configured to determine that the driving instability of the target vehicle reaches the preset instability degree when the absolute value of the current steering wheel angle change rate is less than the preset steering wheel angle change rate threshold .

在一个示例性的实施方式中，所述装置还包括用于在不稳定程度不满足时判断上一控制时刻后轮转向的转向判断模块，所述转向判断模块，包括：In an exemplary embodiment, the device further includes a steering judging module for judging the steering of the rear wheels at the last control moment when the degree of instability is not satisfied. The steering judging module includes:

基础转向模块，用于在所述行驶不稳定程度未达到所述预设不稳定程度时，确定上一控制时刻所述目标车辆后轮的转向，得到基础转向；A basic steering module, configured to determine the steering of the rear wheels of the target vehicle at the last control moment when the degree of driving instability does not reach the preset degree of instability, so as to obtain the basic steering;

第二后轮控制模块，用于在所述基础转向与所述目标转向不一致时，控制所述目标车辆的后轮不转向。The second rear wheel control module is configured to control the rear wheels of the target vehicle not to turn when the base steering is inconsistent with the target steering.

在一个示例性的实施方式中，所述装置还包括用于判断后轮转向时长是否达到预设时长的时长判断模块，所述时长判断模块，包括：In an exemplary embodiment, the device further includes a duration judging module for judging whether the rear wheel steering duration reaches a preset duration, and the duration judging module includes:

转向时长模块，用于在所述基础转向与所述目标转向一致时，确定上一控制时刻所述目标车辆的后轮转向的开始时刻至当前控制时刻的时长，得到转向时长；The steering duration module is used to determine the duration from the starting moment of the rear wheel steering of the target vehicle at the last control moment to the current control moment when the basic steering is consistent with the target steering, to obtain the steering duration;

第二转角确定模块，用于在所述转向时长小于或者等于所述预设时长时，基于所述目标转向和所述基础转角，确定当前控制时刻所述目标车辆后轮的目标转角；A second steering angle determination module, configured to determine the target steering angle of the rear wheels of the target vehicle at the current control moment based on the target steering and the base steering angle when the steering duration is less than or equal to the preset duration;

第三后轮控制模块，用于基于所述目标转角，按照所述预设时长控制所述目标车辆的后轮转向。The third rear wheel control module is configured to control the steering of the rear wheels of the target vehicle according to the preset duration based on the target steering angle.

在一个示例性的实施方式中，所述装置还包括用于在后轮转向时长达到预设时长时控制后轮不转向的第四后轮控制模块，所述第四后轮控制模块，包括：In an exemplary embodiment, the device further includes a fourth rear wheel control module for controlling the rear wheels not to turn when the rear wheel steering duration reaches a preset duration, and the fourth rear wheel control module includes:

第四后轮控制模块，用于在所述转向时长大于所述预设时长时，控制所述目标车辆的后轮不转向。The fourth rear wheel control module is configured to control the rear wheels of the target vehicle not to turn when the steering duration is longer than the preset duration.

在一个示例性的实施方式中，所述第一转角确定模块或者所述第二转角确定模块，包括：In an exemplary embodiment, the first rotation angle determination module or the second rotation angle determination module includes:

数据获取模块，用于基于所述路面类型识别结果确定当前制动控制干预扭矩；获取所述当前制动控制干预扭矩对应的后轮转角基础变化率；A data acquisition module, configured to determine the current braking control intervention torque based on the road surface type identification result; acquire the basic change rate of the rear wheel rotation angle corresponding to the current braking control intervention torque;

第二方向盘转向模块，用于基于所述目标转向的反方向，确定当前方向盘的参考转向；基于所述当前方向盘转角确定所述目标车辆的当前方向盘转向；The second steering wheel steering module is configured to determine the current steering wheel reference steering based on the opposite direction of the target steering; determine the current steering wheel steering of the target vehicle based on the current steering wheel angle;

第一转角变化率模块，用于在所述当前方向盘转向与所述参考转向不一致时，基于当前制动控制干预扭矩变化率、当前方向盘转角变化率、当前横摆角变化率以及所述后轮转角基础变化率，确定所述目标车辆后轮的第一转角变化率；The first steering angle change rate module is configured to, when the current steering wheel steering is inconsistent with the reference steering, based on the current brake control intervention torque change rate, the current steering wheel angle change rate, the current yaw angle change rate and the rear wheel The basic rate of change of the corner is used to determine the first rate of change of the rear wheel of the target vehicle;

第一目标转角模块，用于基于所述基础转角以及所述第一转角变化率，确定所述目标转角。A first target angle of rotation module, configured to determine the target angle of rotation based on the base angle of rotation and the first rate of change of angle of rotation.

在一个示例性的实施方式中，所述第一转角变化率模块，包括：In an exemplary embodiment, the first rotation angle change rate module includes:

权值获取模块，用于获取所述当前制动控制干预扭矩变化率对应的第一权值、所述当前方向盘转角变化率对应的第二权值和所述当前横摆角变化率对应的第三权值；所述第一权值为正值，所述第二权值为负值，所述第三权值为负值；A weight value acquisition module, configured to acquire a first weight value corresponding to the current brake control intervention torque change rate, a second weight value corresponding to the current steering wheel angle change rate, and a first weight value corresponding to the current yaw angle change rate Three weights; the first weight is positive, the second weight is negative, and the third weight is negative;

加权求和模块，用于基于所述当前制动控制干预扭矩变化率以及所述第一权值、所述当前方向盘转角变化率以及所述第二权值、所述当前横摆角变化率以及所述第三权值，进行加权求和，得到所述第一转角变化率。a weighted summation module, configured to intervene based on the current rate of change of brake control torque and the first weight, the current rate of change of steering wheel angle and the second weight, the current rate of change of yaw angle, and The third weight value is weighted and summed to obtain the first rotation angle change rate.

在一个示例性的实施方式中，所述装置还包括用于在当前方向盘转向与参考转向一致时计算目标转角的第三转角确定模块，所述第三转角确定模块，包括：In an exemplary embodiment, the device further includes a third rotation angle determining module for calculating a target rotation angle when the current steering wheel steering is consistent with the reference steering, and the third rotation angle determination module includes:

系数获取模块，用于在所述当前方向盘转向与所述参考转向一致时，获取所述当前方向盘转角对应的后轮转向系数；所述后轮转向系数大于或者等于预设数值；A coefficient acquisition module, configured to acquire a rear wheel steering coefficient corresponding to the current steering wheel angle when the current steering wheel steering is consistent with the reference steering; the rear wheel steering coefficient is greater than or equal to a preset value;

第二转角变化率模块，用于基于所述第一转角变化率以及所述后轮转向系数求积，得到第二转角变化率；The second corner change rate module is used to obtain a second corner change rate based on the product of the first corner change rate and the rear wheel steering coefficient;

第二目标转角模块，用于基于所述基础转角以及所述第二转角变化率，确定所述目标转角。A second target rotation angle module, configured to determine the target rotation angle based on the base rotation angle and the second rotation angle change rate.

在一个示例性的实施方式中，所述装置还包括用于判断后轮转向系数的运算符号是否正确的系数判断模块，所述系数判断模块，包括：In an exemplary embodiment, the device further includes a coefficient judging module for judging whether the operation sign of the rear wheel steering coefficient is correct, and the coefficient judging module includes:

系数判断模块，用于在所述后轮转角基础变化率的运算符号与所述当前制动控制干预扭矩的运算符号不一致时，确定所述目标转角为零。A coefficient judging module, configured to determine that the target rotation angle is zero when the operation sign of the basic change rate of the rear wheel rotation angle is inconsistent with the operation sign of the current braking control intervention torque.

需要说明的是，上述实施例提供的装置，在实现其功能时，仅以上述各功能模块的划分进行举例说明，实际应用中，可以根据需要而将上述功能分配由不同的功能模块完成，即将设备的内部结构划分成不同的功能模块，以完成以上描述的全部或者部分功能。另外，上述实施例提供的装置与方法实施例属于同一构思，其具体实现过程详见方法实施例，这里不再赘述。It should be noted that, when realizing the functions of the device provided by the above-mentioned embodiments, the division of the above-mentioned functional modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional modules according to the needs. The internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the device and the method embodiment provided by the above embodiment belong to the same idea, and the specific implementation process thereof is detailed in the method embodiment, and will not be repeated here.

本申请实施例提供了一种电子设备，该电子设备包括处理器和存储器，该存储器中存储有至少一条指令或者至少一段程序，该至少一条指令或者该至少一段程序由该处理器加载并执行以实现如上述方法实施例所提供的任意一种车辆后轮转向控制方法。An embodiment of the present application provides an electronic device, the electronic device includes a processor and a memory, at least one instruction or at least one program is stored in the memory, the at least one instruction or the at least one program is loaded and executed by the processor to Realize any one of the vehicle rear wheel steering control methods provided in the above method embodiments.

存储器可用于存储软件程序以及模块，处理器通过运行存储在存储器的软件程序以及模块，从而执行各种功能应用以及数据处理。存储器可主要包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、功能所需的应用程序等；存储数据区可存储根据所述设备的使用所创建的数据等。此外，存储器可以包括高速随机存取存储器，还可以包括非易失性存储器，例如至少一个磁盘存储器件、闪存器件、或其他易失性固态存储器件。相应地，存储器还可以包括存储器控制器，以提供处理器对存储器的访问。The memory can be used to store software programs and modules, and the processor executes various functional applications and data processing by running the software programs and modules stored in the memory. The memory may mainly include a program storage area and a data storage area, wherein the program storage area may store operating systems, application programs required by functions, etc.; the data storage area may store data created according to the use of the device, etc. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage devices. Correspondingly, the memory may also include a memory controller to provide processor access to the memory.

本申请实施例所提供的方法实施例可以在计算机终端、服务器或者类似的运算装置中执行，即上述电子设备可以包括计算机终端、服务器或者类似的运算装置。图7是本发明实施例提供的运行一种车辆后轮转向控制方法的计算机设备的硬件结构框图，如图7所示，该计算机设备的内部结构可包括但不限于：处理器、网络接口及存储器。其中，计算机设备内的处理器、网络接口及存储器可通过总线或其他方式连接，在本说明书实施例所示图7中以通过总线连接为例。The method embodiments provided in the embodiments of the present application may be executed in a computer terminal, a server, or a similar computing device, that is, the above-mentioned electronic device may include a computer terminal, a server, or a similar computing device. Fig. 7 is a block diagram of the hardware structure of a computer device running a vehicle rear wheel steering control method provided by an embodiment of the present invention. As shown in Fig. 7, the internal structure of the computer device may include but not limited to: a processor, a network interface and memory. Wherein, the processor, the network interface and the memory in the computer device can be connected through a bus or in other ways. In FIG. 7 shown in the embodiment of this specification, the connection through a bus is taken as an example.

其中，处理器(或称CPU(Central Processing Unit，中央处理器))是计算机设备的计算核心以及控制核心。网络接口可选的可以包括标准的有线接口、无线接口(如WI-FI、移动通信接口等)。存储器(Memory)是计算机设备中的记忆设备，用于存放程序和数据。可以理解的是，此处的存储器可以是高速RAM存储设备，也可以是非不稳定的存储设备(non-volatile memory)，例如至少一个磁盘存储设备；可选的还可以是至少一个位于远离前述处理器的存储装置。存储器提供存储空间，该存储空间存储了电子设备的操作系统，可包括但不限于：Windows系统(一种操作系统)，Linux(一种操作系统)，Android(安卓，一种移动操作系统)系统、IOS(一种移动操作系统)系统等等，本发明对此并不作限定；并且，在该存储空间中还存放了适于被处理器加载并执行的一条或一条以上的指令，这些指令可以是一个或一个以上的计算机程序(包括程序代码)。在本说明书实施例中，处理器加载并执行存储器中存放的一条或一条以上指令，以实现上述方法实施例提供的车辆后轮转向控制方法。Wherein, a processor (or called a CPU (Central Processing Unit, central processing unit)) is a calculation core and a control core of a computer device. Optionally, the network interface may include a standard wired interface and a wireless interface (such as WI-FI, a mobile communication interface, etc.). Memory (Memory) is a memory device in a computer device that is used to store programs and data. It can be understood that the memory here can be a high-speed RAM storage device, or a non-volatile storage device (non-volatile memory), such as at least one magnetic disk storage device; device storage device. The memory provides storage space, which stores the operating system of the electronic device, including but not limited to: Windows system (an operating system), Linux (an operating system), Android (Android, a mobile operating system) system , IOS (a mobile operating system) system, etc., the present invention is not limited to this; and, one or more instructions suitable for being loaded and executed by the processor are also stored in the storage space, and these instructions can be is one or more computer programs (including program code). In the embodiment of this specification, the processor loads and executes one or more instructions stored in the memory, so as to realize the method for controlling the rear wheel steering of the vehicle provided in the above method embodiment.

本申请的实施例还提供了一种计算机可读存储介质，所述计算机可读存储介质可设置于电子设备之中以保存用于实现一种车辆后轮转向控制方法相关的至少一条指令或者至少一段程序，该至少一条指令或者该至少一段程序由该处理器加载并执行以实现上述方法实施例提供的任意一种车辆后轮转向控制方法。Embodiments of the present application also provide a computer-readable storage medium, which can be set in an electronic device to store at least one instruction related to a vehicle rear-wheel steering control method or at least A section of program, the at least one instruction or the at least one section of program is loaded and executed by the processor to implement any one of the vehicle rear wheel steering control methods provided by the above method embodiments.

可选地，在本实施例中，上述存储介质可以包括但不限于：U盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、移动硬盘、磁碟或者光盘等各种可以存储程序代码的介质。Optionally, in this embodiment, the above-mentioned storage medium may include but not limited to: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk Various media that can store program codes such as discs or optical discs.

需要说明的是：上述本申请实施例先后顺序仅仅为了描述，不代表实施例的优劣。且上述对本说明书特定实施例进行了描述。其它实施例在所附权利要求书的范围内。在一些情况下，在权利要求书中记载的动作或步骤可以按照不同于实施例中的顺序来执行并且仍然可以实现期望的结果。另外，在附图中描绘的过程不一定要求示出的特定顺序或者连续顺序才能实现期望的结果。在某些实施方式中，多任务处理和并行处理也是可以的或者可能是有利的。It should be noted that: the order of the above-mentioned embodiments of the present application is only for description, and does not represent the advantages and disadvantages of the embodiments. And the above describes the specific embodiments of this specification. Other implementations are within the scope of the following claims. In some cases, the actions or steps recited in the claims can be performed in an order different from that in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. Multitasking and parallel processing are also possible or may be advantageous in certain embodiments.

本说明书中的各个实施例均采用递进的方式描述，各个实施例之间相同相似的部分互相参见即可，每个实施例重点说明的都是与其他实施例的不同之处。尤其，对于装置实施例而言，由于其基本相似于方法实施例，所以描述的比较简单，相关之处参见方法实施例的部分说明即可。Each embodiment in this specification is described in a progressive manner, the same and similar parts of each embodiment can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, as for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and for relevant parts, please refer to part of the description of the method embodiment.

本领域普通技术人员可以理解实现上述实施例的全部或部分步骤可以通过硬件来完成，也可以通过程序来指令相关的硬件完成，所述的程序可以存储于一种计算机可读存储介质中，上述提到的存储介质可以是只读存储器，磁盘或光盘等。Those of ordinary skill in the art can understand that all or part of the steps for implementing the above embodiments can be completed by hardware, and can also be completed by instructing related hardware through a program. The program can be stored in a computer-readable storage medium. The above-mentioned The storage medium mentioned may be a read-only memory, a magnetic disk or an optical disk, and the like.

以上所述仅为本申请的较佳实施例，并不用以限制本申请，凡在本申请的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的保护范围之内。The above descriptions are only preferred embodiments of the application, and are not intended to limit the application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the application shall be included in the protection of the application. within range.

Claims (11)

1. A vehicle rear wheel steering control method, characterized by comprising:

responding to the traction control instruction, and identifying the road surface type of the current running road surface of the target vehicle to obtain a road surface type identification result;

Determining a target steering based on a direction of a target-side wheel of the target vehicle in a horizontal direction with respect to the target vehicle when the road surface type recognition result indicates a target-type road surface; the target type road surface is a road surface inconsistent with attachment coefficients of left and right wheels of a vehicle; the adhesion coefficient of the wheels on the target side and the current running road surface is smaller than that of the wheels on the other side of the target vehicle and the current running road surface;

judging whether the running instability degree of the target vehicle reaches a preset instability degree or not based on the target steering and the current steering wheel angle;

when the running instability degree reaches the preset instability degree, determining a target rotation angle of a rear wheel of the target vehicle at the current control moment based on the target steering and a basic rotation angle; the basic rotation angle is the rotation angle of the rear wheel of the target vehicle at the last control moment;

and controlling the rear wheel steering of the target vehicle according to the preset time based on the target steering angle.

2. The vehicle rear wheel steering control method according to claim 1, wherein the determining whether the degree of running instability of the target vehicle reaches a preset degree of instability based on the target steering and the current steering wheel angle includes:

Determining a current steering wheel turn of the target vehicle based on the current steering wheel turn;

when the current steering wheel steering is inconsistent with the target steering, judging whether the absolute value of the current steering wheel steering angle is larger than or equal to a preset steering wheel steering angle threshold value;

and when the absolute value of the current steering wheel angle is larger than or equal to the preset steering wheel angle threshold value, determining that the running instability degree of the target vehicle reaches the preset instability degree.

3. The vehicle rear wheel steering control method according to claim 2, characterized in that the method further comprises:

when the absolute value of the current steering wheel angle is smaller than the preset steering wheel angle threshold value, acquiring the current steering wheel angle change rate;

judging whether the absolute value of the current steering wheel angle change rate is smaller than a preset steering wheel angle change rate threshold value or not;

and when the absolute value of the current steering wheel angle change rate is smaller than the preset steering wheel angle change rate threshold value, determining that the running instability degree of the target vehicle reaches the preset instability degree.

4. The vehicle rear wheel steering control method according to claim 1, characterized in that the method further comprises:

When the running instability degree does not reach the preset instability degree, determining the steering of the rear wheels of the target vehicle at the last control moment to obtain basic steering;

and when the basic steering is inconsistent with the target steering, controlling rear wheels of the target vehicle not to steer.

5. The vehicle rear wheel steering control method according to claim 4, characterized in that the method further comprises:

when the basic steering is consistent with the target steering, determining the duration from the starting time of the rear wheel steering of the target vehicle to the current control time at the last control time to obtain the steering duration;

when the steering time is less than or equal to the preset time, determining a target turning angle of the rear wheels of the target vehicle at the current control moment based on the target steering and the basic turning angle;

and controlling the rear wheel steering of the target vehicle according to the preset duration based on the target steering angle.

6. The vehicle rear wheel steering control method according to claim 5, characterized in that the method further comprises:

and when the steering time period is longer than the preset time period, controlling the rear wheels of the target vehicle not to steer.

7. The vehicle rear wheel steering control method according to claim 1 or 5, characterized in that the determining the target steering angle of the target vehicle rear wheel at the current control time based on the target steering and the base steering angle includes:

Determining a current brake control intervention torque based on the road surface type recognition result; acquiring a rear wheel steering angle basic change rate corresponding to the current braking control intervention torque;

determining a reference steering of the current steering wheel based on a reverse direction of the target steering; determining a current steering wheel turn of the target vehicle based on the current steering wheel turn;

determining a first angle change rate of rear wheels of the target vehicle based on a current brake control intervention torque change rate, a current steering wheel angle change rate, a current yaw angle change rate, and the rear wheel angle base change rate when the current steering wheel steering is inconsistent with the reference steering;

the target rotation angle is determined based on the base rotation angle and the first rotation angle change rate.

8. The vehicle rear wheel steering control method according to claim 7, characterized in that the determining the first change rate of angle of the target vehicle rear wheels based on the current brake control intervention torque change rate, the current steering wheel angle change rate, the current yaw angle change rate, and the rear wheel angle base change rate includes:

acquiring a first weight corresponding to the current braking control intervention torque change rate, a second weight corresponding to the current steering wheel angle change rate and a third weight corresponding to the current yaw angle change rate; the first weight is a positive value, the second weight is a negative value, and the third weight is a negative value;

And carrying out weighted summation based on the current braking control intervention torque change rate, the first weight, the current steering wheel angle change rate, the second weight, the current yaw angle change rate and the third weight to obtain the first angle change rate.

9. The vehicle rear wheel steering control method according to claim 7, characterized in that the method further comprises:

when the current steering wheel steering is consistent with the reference steering, acquiring a rear wheel steering coefficient corresponding to the current steering wheel steering angle; the rear wheel steering coefficient is larger than or equal to a preset value;

obtaining a second rotation angle change rate based on the first rotation angle change rate and the rear wheel steering coefficient;

the target rotation angle is determined based on the base rotation angle and the second rotation angle change rate.

10. The vehicle rear wheel steering control method according to claim 7, characterized in that after the obtaining of the rear wheel steering base change rate corresponding to the current brake control intervention torque, the method further comprises:

and when the operation symbol of the basic change rate of the rear wheel steering angle is inconsistent with the operation symbol of the current brake control intervention torque, determining that the target steering angle is zero.

11. A rear wheel steering control apparatus of a vehicle, characterized by comprising:

the road surface identification module is used for responding to the traction control instruction, identifying the road surface type of the current running road surface of the target vehicle and obtaining a road surface type identification result;

a steering determination module configured to determine a target steering based on a direction of a target-side wheel of a target vehicle in a horizontal direction with respect to the target vehicle when the road surface type recognition result indicates a target-type road surface; the target type road surface is a road surface inconsistent with attachment coefficients of left and right wheels of a vehicle; the adhesion coefficient of the wheels on the target side and the current running road surface is smaller than that of the wheels on the other side of the target vehicle and the current running road surface;

the first stability judging module is used for judging whether the running instability degree of the target vehicle reaches a preset instability degree or not based on the target steering and the current steering wheel angle;

the first rotation angle determining module is used for determining a target rotation angle of the rear wheels of the target vehicle at the current control moment based on the target steering and the basic rotation angle when the running instability degree reaches the preset instability degree; the basic rotation angle is the rotation angle of the rear wheel of the target vehicle at the last control moment;

And the first rear wheel control module is used for controlling the rear wheel steering of the target vehicle according to the preset duration based on the target steering angle.

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