CN118560463A - Vehicle control method and device, vehicle and storage medium - Google Patents

Abstract

The application provides a control method and device of a vehicle, the vehicle and a storage medium, wherein the method is applied to the technical field of vehicles and comprises the following steps: judging whether the vehicle enters a parking mode from a rear wheel steering mode, if the vehicle enters the parking mode from the rear wheel steering mode, judging whether the vehicle meets a preset parking mode exit condition, and if the vehicle does not meet the preset parking mode exit condition, controlling rear wheels of the vehicle to execute an APA corner request when the parking mode is four-wheel steering parking. According to the method, when the vehicle enters or exits the parking mode in the rear wheel steering mode, the switching actions among different modes can be better processed, so that threshold constraint is carried out during mode switching, and the situation that accidents cannot be caused by accurately predicting the running track of the vehicle due to fault information during mode switching is avoided.

Description

Vehicle control method and device, vehicle and storage medium

Technical Field

The present application relates to the field of vehicle technology, and more particularly, to a control method and apparatus for a vehicle, and a storage medium in the field of vehicle technology.

Background

With the development of automatic driving technology of vehicles and the continuous improvement of life quality, vehicles have become indispensable vehicles in people's life, and thus, the service performance of the vehicles is very important for the use demands of users, for example, intelligent parking technology of the vehicles can help users to realize automatic parking and improve safety on the basis of intelligent parking.

In the related art, when a vehicle is converted in different steering modes, for example, the vehicle enters a parking mode in a rear-wheel steering mode or exits the parking mode in the rear-wheel steering mode, if a safe conversion action between different modes cannot be processed, the vehicle cannot be correctly predicted to leave the control of a user, so that a safety accident is likely to occur, and a solution is needed.

Disclosure of Invention

The application provides a control method, a device, a vehicle and a storage medium of the vehicle, wherein the method can better process conversion actions among different modes when entering or exiting a parking mode in a rear wheel steering mode, so as to carry out threshold constraint during mode conversion, and avoid failure information during mode conversion, thereby causing accidents caused by incapability of correctly predicting the running track of the vehicle.

In a first aspect, there is provided a control method of a vehicle, the method including: judging whether the vehicle enters a parking mode from a rear wheel steering mode; if the vehicle enters the parking mode from the rear wheel steering mode, judging whether the vehicle meets a preset parking mode exit condition or not; and if the vehicle does not meet the preset parking mode exit condition, controlling a rear wheel of the vehicle to execute an APA (automatic parking assistance) corner request when the parking mode is four-wheel steering parking.

According to the technical scheme, when the vehicle is in the four-wheel steering parking mode, the vehicle is controlled to exit the parking mode or continue to execute the corner request in the APA mode through judging the corner request of the APA, so that the driving safety in the mode conversion is ensured.

With reference to the first aspect, in some possible implementations, the determining whether the vehicle meets a preset parking mode exit condition includes: judging whether an APA message signal of the vehicle is in an invalid state or not; if the APA message signal is in an invalid state, judging that the vehicle meets the preset parking mode exit condition, otherwise, judging whether the APA parking working state of the vehicle is in a fault state or not; if the APA parking working state of the vehicle is in the fault state, judging that the vehicle meets the preset parking mode exit condition, otherwise, judging whether the current running information of the vehicle meets a first preset running condition; and if the current running information of the vehicle does not meet the first preset running condition, judging that the vehicle meets the preset parking mode exit condition.

Through the technical scheme, through fault detection of various parameters of the vehicle, when any one of the APA message signal of the vehicle, the APA parking working state and the running information of the vehicle is in an abnormal state, the vehicle is controlled to exit the parking mode, so that safety accidents in the steering process are avoided.

With reference to the first aspect and the foregoing implementation manner, in some possible implementation manners, after determining that the vehicle meets the preset parking mode exit condition, the method further includes: and controlling the rear wheel steering angle of the vehicle to rotate to a target position, limiting the rear wheel rotating speed through a preset threshold value, and controlling the rear wheel steering angle of the vehicle to execute corresponding actions according to a preset rear wheel steering mode after the rear wheel steering angle is rotated to the target position.

According to the technical scheme, when the vehicle exits the parking mode, the threshold value limit is increased through the steering of the rear wheel steering angle and the rotation speed of the rear wheel, so that the instability of the vehicle caused by the too high rotation speed can be prevented.

With reference to the first aspect and the foregoing implementation manner, in some possible implementation manners, when it is determined that the vehicle does not meet the preset parking mode exit condition, the method further includes: and if the parking mode is two-wheel steering parking, controlling the rear wheel steering angle of the vehicle to rotate to a target position, and limiting the rear wheel rotating speed through a preset threshold value.

Through the technical scheme, when the vehicle is in the two-wheel steering parking mode, the rear wheel steering angle and the rear wheel rotating speed of the vehicle can be limited, so that the instability of the vehicle caused by the too high rotating speed is prevented.

With reference to the first aspect and the foregoing implementation manner, in some possible implementation manners, before determining whether the vehicle enters the parking mode from the rear wheel steering mode, the method further includes: receiving a parking request signal of a vehicle; determining whether the vehicle meets a preset parking condition according to the parking request signal and current running information of the vehicle; and if the vehicle meets the preset parking condition, determining a parking mode of the vehicle based on a parking request signal of the vehicle.

According to the technical scheme, when the vehicle meets the parking conditions according to the parking request signal of the vehicle and the current running information of the vehicle, the parking mode can be determined, and the vehicle is controlled to steer according to different parking modes so as to meet the requirements of users.

With reference to the first aspect and the foregoing implementation manners, in some possible implementation manners, the determining, according to the parking request signal and current running information of the vehicle, whether the vehicle meets the preset parking condition includes: judging whether a parking request signal of the vehicle meets a preset state and whether current running information of the vehicle meets a second preset running condition; and if the parking request signal meets the preset state and the current running information of the vehicle meets the second preset running condition, judging that the vehicle meets the preset parking condition.

According to the technical scheme, the fact that the vehicle meets the parking condition can be determined according to the parking request signal of the vehicle and the current running information of the vehicle, so that the vehicle is controlled to enter the parking mode under the condition that the vehicle is safely turned.

In a second aspect, there is provided a control device of a vehicle, the device including:

the first judging module is used for judging whether the vehicle enters a parking mode from a rear wheel steering mode or not;

The second judging module is used for judging whether the vehicle meets a preset parking mode exit condition or not if the vehicle enters the parking mode from the rear wheel steering mode;

and the control module is used for controlling the rear wheels of the vehicle to execute an APA corner request when the parking mode is four-wheel steering parking if the vehicle does not meet the preset parking mode exit condition.

With reference to the second aspect, in some possible implementations, the second determining module includes:

The first judging unit is used for judging whether the APA message signal of the vehicle is in an invalid state or not;

The second judging unit is used for judging whether the vehicle meets the preset parking mode exit condition if the APA message signal is in an invalid state, and judging whether the APA parking working state of the vehicle is in a fault state or not if not;

A third judging unit, configured to determine that the vehicle meets the preset parking mode exit condition if the APA parking working state of the vehicle is in the fault state, and if not, determine whether the current running information of the vehicle meets a first preset running condition;

And the judging unit is used for judging that the vehicle meets the preset parking mode exit condition if the current running information of the vehicle does not meet the first preset running condition.

With reference to the second aspect and the foregoing implementation manner, in some possible implementation manners, after determining that the vehicle meets the preset parking mode exit condition, the second determining unit further includes:

And the control subunit is used for controlling the rear wheel steering angle of the vehicle to rotate to a target position, limiting the rear wheel rotating speed through a preset threshold value, and controlling the rear wheel steering angle of the vehicle to execute corresponding actions according to a preset rear wheel steering mode after the rear wheel steering angle is rotated to the target position.

With reference to the second aspect and the foregoing implementation manner, in some possible implementation manners, when it is determined that the vehicle does not meet the preset parking mode exit condition, the control module further includes:

And the control unit is used for controlling the rear wheel rotation angle of the vehicle to rotate to a target position if the parking mode is two-wheel steering parking, and limiting the rear wheel rotation speed through a preset threshold value.

With reference to the second aspect and the foregoing implementation manner, in some possible implementation manners, before determining whether the vehicle enters the parking mode from the rear wheel steering mode, the first determining module further includes:

A receiving unit that receives a parking request signal of a vehicle;

a first determining unit configured to determine whether the vehicle satisfies a preset parking condition according to the parking request signal and current operation information of the vehicle;

And the second determining unit is used for determining a parking mode of the vehicle based on a parking request signal of the vehicle if the vehicle meets the preset parking condition.

With reference to the second aspect and the foregoing implementation manner, in some possible implementation manners, the first determining unit includes:

The judging subunit is used for judging whether the parking request signal of the vehicle meets a preset state and whether the current running information of the vehicle meets a second preset running condition;

And the judging subunit is used for judging that the vehicle meets the preset parking condition if the parking request signal meets the preset state and the current running information of the vehicle meets the second preset running condition.

In a third aspect, there is provided an automobile comprising: the control method of the vehicle described in the above embodiment.

In a fourth aspect, there is provided a computer program product comprising: computer program code which, when run on a computer, causes the computer to perform the method of the first aspect or any one of the possible implementations of the first aspect.

In a fifth aspect, a computer readable storage medium is provided, the computer readable storage medium storing computer program code which, when run on a computer, causes the computer to perform the method of the first aspect or any one of the possible implementations of the first aspect.

Drawings

FIG. 1 is a flow chart of a control method of a vehicle according to an embodiment of the present application;

FIG. 2 is a schematic flow chart of a transition to a park mode in a rear-wheel steering normal mode according to an embodiment of the present application;

FIG. 3 is a schematic flow diagram of a warning control and a mode exit control of a vehicle APA provided by an embodiment of the application;

Fig. 4 is a schematic block diagram of a control device of a vehicle according to an embodiment of the present application;

Fig. 5 is a schematic structural diagram of a vehicle according to an embodiment of the present application.

Detailed Description

The technical scheme of the application will be clearly and thoroughly described below with reference to the accompanying drawings. Wherein, in the description of the embodiments of the present application, unless otherwise indicated, "/" means or, for example, a/B may represent a or B: the text "and/or" is merely an association relation describing the associated object, and indicates that three relations may exist, for example, a and/or B may indicate: the three cases where a exists alone, a and B exist together, and B exists alone, and furthermore, in the description of the embodiments of the present application, "plural" means two or more than two.

The terms "first," "second," and the like, are used below for descriptive purposes only and are not to be construed as implying or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature.

With the acceleration of the urban process, the problem of parking difficulty is increasingly highlighted, especially in narrow parking lots or streets, there is a higher requirement on the steering requirements of vehicles, the vehicles can be converted in different modes, for example, the vehicles enter or exit to a parking mode in a rear-wheel steering mode, the vehicles enter or exit to the parking mode in a front-wheel steering mode, but when the vehicles are controlled to enter or exit to the parking mode from the front-wheel steering mode or the vehicles enter or exit to the parking mode from the rear-wheel steering mode, the safety control on the steering actions between the different modes is very important, if the safety conversion actions between the different modes cannot be processed, the steering actions of users are separated from the control of the vehicles due to the fact that the driving track of the vehicles cannot be predicted correctly, so that the safety accidents are easy to happen, therefore, whether the fault information with different parameters exists in the process of the mode conversion of the vehicles needs to be monitored, and threshold constraint is carried out during the conversion, so that the vehicles are prevented from the control of the users, and the safety of the front-wheel steering and the rear-wheel steering can be ensured when the vehicles enter the parking mode.

Fig. 1 is a schematic flowchart of a control method of a vehicle according to an embodiment of the present application.

Illustratively, as shown in FIG. 1, the method includes:

in step S101, it is determined whether the vehicle enters a parking mode from the rear wheel steering mode.

Optionally, in one embodiment of the present application, before determining whether the vehicle enters the parking mode from the rear wheel steering mode, the method further includes: receiving a parking request signal of a vehicle; determining whether the vehicle meets preset parking conditions according to the parking request signal and current running information of the vehicle; if the vehicle meets the preset parking condition, a parking mode of the vehicle is determined based on a parking request signal of the vehicle.

Optionally, in one embodiment of the present application, determining whether the vehicle satisfies the preset parking condition according to the parking request signal and the current operation information of the vehicle includes: judging whether a parking request signal of the vehicle meets a preset state and whether current running information of the vehicle meets a second preset running condition; if the parking request signal meets the preset state and the current running information of the vehicle meets the second preset running condition, judging that the vehicle meets the preset parking condition.

The preset parking condition, the preset state and the second preset running condition may be set by a person skilled in the art according to the requirement of actually entering the parking mode, and are not limited herein.

Specifically, in the embodiment of the present application, if a user drives to a scene where parking is required, such as a parking lot, a residential district, a street, etc., firstly, the user may send a parking request signal to the vehicle according to a parking requirement, after the parking control module receives the parking request signal, it needs to determine whether the vehicle meets a preset parking condition in combination with current operation information of the vehicle, for example, obtain information such as a current speed, a rear wheel state, an EPS (Electronic Power Steering, an electronic power steering system) operation state, etc., if the current speed of the vehicle is effective and the speed is less than a set threshold a, the rear wheel is in a failure-free state, the EPS is not intervened by a person, and the EPS is changed from an inactive state to an active state, at this time, it may be determined that the vehicle meets a second preset operation condition, and it may be further determined that the vehicle meets the preset parking condition based on the current operation information of the vehicle and the received parking request signal; next, if the vehicle satisfies the preset parking condition, a parking mode of the vehicle, such as a two-wheel steering parking (front-wheel steering parking) mode and a four-wheel steering parking (rear-wheel steering parking) mode, may be determined based on the parking request signal.

Specifically, as shown in fig. 2, the embodiment of the application judges whether the vehicle can enter a parking mode from the rear wheel based on the parking request signal and the current running information of the vehicle, firstly, acquires the current running information of the vehicle, such as the current speed, the steering wheel angle, the system power state, the network communication signal state and the like of the vehicle, judges whether the rear wheel of the vehicle meets the starting condition according to the acquired current running information of the vehicle, and can judge that the rear wheel of the vehicle meets the starting condition if the current speed is effective, the steering wheel angle is effective, the system power state is effective and the network communication signal is normal, namely, can normally start the rear wheel steering function; and then, further acquiring vehicle gear information and calculating the rear wheel turning angle of the vehicle based on the acquired current vehicle speed, steering wheel turning angle information and other parameter information under the normal mode of the rear wheel, controlling the vehicle to enter a four-wheel steering parking mode according to the parking request signal and the rear wheel turning angle, responding to the APA request turning angle at the moment, monitoring whether the turning angle request in the continuous execution APA mode is met in the steering process when the vehicle enters the four-wheel steering parking mode, and controlling the vehicle to enter the parking mode from the rear wheel steering mode if the turning angle request in the continuous execution APA mode is met in the steering process, namely, controlling the vehicle to enter the four-wheel steering parking mode.

For example, as shown in fig. 3, an APA message signal of a vehicle, an APA parking operation state, a current vehicle speed of the vehicle, an operation state of an EPS, and an operation state of RWS (REAR WHEEL STEERING, rear-wheel steering) are first obtained, and if the APA message signal does not detect an abnormal condition in a detection time interval of a continuous T1 and the APA message signal is valid, the APA parking operation state is detected to be normal in a detection time interval of a continuous T2, the current vehicle speed is detected to be less than or equal to a set vehicle speed threshold B in a detection time interval of a continuous T3, no manual intervention condition of the EPS is detected in a detection time interval of a continuous T4, and a failure signal of RWS is not received in a detection time interval of a continuous T4, this indicates that the vehicle satisfies a corner request in a continuous execution of the APA mode during steering.

In step S102, if the vehicle enters the parking mode from the rear wheel steering mode, it is determined whether the vehicle satisfies a preset parking mode exit condition.

Optionally, in one embodiment of the present application, determining whether the vehicle satisfies a preset parking mode exit condition includes: judging whether an APA message signal of the vehicle is in an invalid state or not; if the APA message signal is in an invalid state, judging that the vehicle meets a preset parking mode exit condition, otherwise, judging whether the APA parking working state of the vehicle is in a fault state or not; if the APA parking working state of the vehicle is in a fault state, judging that the vehicle meets a preset parking mode exit condition, otherwise, judging whether the current running information of the vehicle meets a first preset running condition; if the current running information of the vehicle does not meet the first preset running condition, judging that the vehicle meets the preset parking mode exit condition.

The preset parking mode exit condition may be set by a person skilled in the art according to a requirement of actually entering the parking mode, and is not specifically limited herein.

Specifically, in the embodiment of the present application, based on the obtained APA message signal of the vehicle, the APA parking working state, and the current running information of the vehicle, including the current speed of the vehicle, the running state of the EPS, and the running state of the RWS, it is necessary to further determine warning control and parking mode exit control of the vehicle, that is, determine whether the vehicle meets a preset parking mode exit condition, and if the APA message signal of the vehicle is in an invalid state, the APA parking working state of the vehicle is in a fault state, and the current running information of the vehicle does not meet a first preset running condition, that is, the current speed exceeds the speed, and the EPS has a manual intervention condition, and the RWS system fails, it may be determined that the vehicle meets the preset parking mode exit condition, so as to control the vehicle to exit from the parking mode, so as to ensure the driving safety under mode conversion.

For example, as shown in fig. 3, if the APA message signal is abnormally received or the APA message signal is in an invalid state in a detection time interval of the continuous T1, it is determined that the vehicle meets a preset parking mode exit condition, at this time, the vehicle is controlled to exit the parking mode, and a message abnormality warning, such as a warning a, is sent; if the APA parking working state is detected to be in a fault state in the detection time interval of the continuous T2, judging that the vehicle meets a preset parking mode exit condition, controlling the vehicle to exit the parking mode at the moment, and sending out an APA fault warning, for example, sending out a warning b; if the current vehicle speed is detected to be greater than the set vehicle speed threshold B in the detection time interval of the continuous T3, judging that the vehicle meets the preset parking mode exit condition, controlling the vehicle to exit the parking mode at the moment, and sending out an overspeed warning, such as a warning c; if the fact that the EPS has manual intervention is detected in the detection time interval of the continuous T4, judging that the vehicle meets a preset parking mode exit condition, controlling the vehicle to exit the parking mode at the moment, and sending out an EPS manual intervention warning, for example, sending out a warning d; if the fault signal of the RWS is received in the detection time interval of the continuous T5, it is determined that the vehicle meets the preset parking mode exit condition, at this time, the vehicle is controlled to exit the parking mode, and a RWS system fault warning, for example, a warning e is sent, so that the vehicle can exit the parking mode safely through the above-mentioned determination of the current running information of the vehicle, the system working state and the like.

Optionally, in one embodiment of the present application, after determining that the vehicle meets the preset parking mode exit condition, the method further includes: and controlling the rear wheel steering angle of the vehicle to rotate to a target position, limiting the rear wheel rotating speed through a preset threshold value, and controlling the rear wheel steering angle of the vehicle to execute corresponding actions according to a preset rear wheel steering mode after the rear wheel steering angle is rotated to the target position.

The target position, the preset threshold value and the preset rear wheel steering mode may be set by a person skilled in the art according to the requirement of safely exiting the parking mode, and are not limited herein.

Specifically, after the embodiment of the application determines that the vehicle meets the preset parking mode exit condition and controls the vehicle to exit the parking mode, the rear wheel steering angle of the vehicle needs to be corrected.

Specifically, when the vehicle exits from the four-wheel steering parking mode, it is necessary to control the rear wheel steering angle of the vehicle to a target position, that is, to control the rear wheel steering angle to be aligned, and to limit the rear wheel rotational speed by a preset threshold Q, so as to prevent the vehicle from being unstable due to the too fast rotational speed.

In step S103, if the vehicle does not meet the preset parking mode exit condition, when the parking mode is four-wheel steering parking, the rear wheels of the vehicle are controlled to execute the APA corner request.

Optionally, in one embodiment of the present application, when it is determined that the vehicle does not meet the preset parking mode exit condition, the method further includes: and if the parking mode is two-wheel steering parking, controlling the rear wheel steering angle of the vehicle to rotate to a target position, and limiting the rear wheel rotating speed through a preset threshold value.

Specifically, after the vehicle enters four-wheel steering parking, the vehicle is judged to meet the corner request in the continuous execution APA mode in the steering process through the acquired APA message signal, APA parking working state, current speed of the vehicle, running state of EPS and running state of RWS of the vehicle, namely, the vehicle does not meet the preset parking mode exit condition, and the corner request in the APA mode is continuously executed; if the current parking mode is the two-wheel steering parking mode based on the parking request signal, the rear wheel steering angle of the vehicle is controlled to be turned to the target position, namely, the rear wheel steering angle is controlled to be corrected, and the rotating speed of the rear wheel is limited through a preset threshold Q, so that the instability of the vehicle caused by the too high rotating speed is prevented.

Therefore, through the discussion of the specific embodiment of the control method of the vehicle, the application can ensure that when the vehicle is converted in different modes, such as entering or exiting a parking mode in a rear wheel steering mode, the conversion action between different modes can be better processed, whether different fault information occurs is monitored in the mode conversion, and a threshold constraint is carried out on the rotating speed in the conversion, so that the vehicle is prevented from being separated from the control of a user, and accidents caused by the fact that the running track of the vehicle cannot be accurately predicted are avoided.

In summary, according to the method for controlling a vehicle in the embodiment of the present application, it is determined whether the vehicle enters a parking mode from a rear-wheel steering mode, if the vehicle enters the parking mode from the rear-wheel steering mode, it is determined whether the vehicle satisfies a preset parking mode exit condition, and if the vehicle does not satisfy the preset parking mode exit condition, when the parking mode is four-wheel steering parking, it is controlled that an APA corner request is executed on the rear wheels of the vehicle. According to the method, when the vehicle enters or exits the parking mode in the rear wheel steering mode, the switching actions among different modes can be better processed, so that threshold constraint is carried out during mode switching, and the situation that accidents cannot be caused by accurately predicting the running track of the vehicle due to fault information during mode switching is avoided.

Fig. 4 is a schematic block diagram of a control device for a vehicle according to an embodiment of the present application.

For example, as shown in fig. 4, the apparatus may include: a first determination module 100, a second determination module 200, and a control module 300.

Wherein, the first judging module 100 is configured to judge whether the vehicle enters a parking mode from a rear wheel steering mode;

a second judging module 200, configured to judge whether the vehicle meets a preset parking mode exit condition if the vehicle enters a parking mode from a rear wheel steering mode;

the control module 300 is configured to control rear wheels of the vehicle to execute the APA corner request when the parking mode is four-wheel steering parking if the vehicle does not satisfy the preset parking mode exit condition.

Optionally, in an embodiment of the present application, the second determining module 200 includes:

the first judging unit is used for judging whether the APA message signal of the vehicle is in an invalid state or not;

The second judging unit is used for judging that the vehicle meets the preset parking mode exit condition if the APA message signal is in an invalid state, and judging whether the APA parking working state of the vehicle is in a fault state or not if not;

The third judging unit is used for judging whether the vehicle meets the preset parking mode exit condition if the APA parking working state of the vehicle is in a fault state, and judging whether the current running information of the vehicle meets the first preset running condition or not if not;

And the judging unit is used for judging that the vehicle meets the preset parking mode exit condition if the current running information of the vehicle does not meet the first preset running condition.

Optionally, in one embodiment of the present application, after determining that the vehicle satisfies the preset parking mode exit condition, the second determining unit further includes:

And the control subunit is used for controlling the rear wheel steering angle of the vehicle to rotate to the target position, limiting the rear wheel rotating speed through a preset threshold value, and controlling the rear wheel steering angle of the vehicle to execute corresponding actions according to a preset rear wheel steering mode after the rear wheel steering angle is rotated to the target position.

Optionally, in one embodiment of the present application, when it is determined that the vehicle does not meet the preset parking mode exit condition, the control module 300 further includes:

and the control unit is used for controlling the rear wheel steering angle of the vehicle to rotate to the target position if the parking mode is two-wheel steering parking and limiting the rear wheel rotating speed through a preset threshold value.

Optionally, in one embodiment of the present application, before determining whether the vehicle enters the parking mode from the rear wheel steering mode, the first determining module 100 further includes:

A receiving unit that receives a parking request signal of a vehicle;

a first determining unit for determining whether the vehicle satisfies a preset parking condition according to the parking request signal and current operation information of the vehicle;

And the second determining unit is used for determining a parking mode of the vehicle based on a parking request signal of the vehicle if the vehicle meets the preset parking condition.

Optionally, in one embodiment of the present application, the first determining unit includes:

the judging subunit is used for judging whether a parking request signal of the vehicle meets a preset state and whether the current running information of the vehicle meets a second preset running condition;

And the judging subunit is used for judging that the vehicle meets the preset parking condition if the parking request signal meets the preset state and the current running information of the vehicle meets the second preset running condition.

In summary, according to the control device for a vehicle in the embodiment of the present application, it is determined whether the vehicle enters a parking mode from a rear-wheel steering mode, if the vehicle enters the parking mode from the rear-wheel steering mode, it is determined whether the vehicle satisfies a preset parking mode exit condition, and if the vehicle does not satisfy the preset parking mode exit condition, when the parking mode is four-wheel steering parking, it is controlled that an APA corner request is executed on the rear wheels of the vehicle. According to the method, when the vehicle enters or exits the parking mode in the rear wheel steering mode, the switching actions among different modes can be better processed, so that threshold constraint is carried out during mode switching, and the situation that accidents cannot be caused by accurately predicting the running track of the vehicle due to fault information during mode switching is avoided.

Fig. 5 is a schematic structural diagram of a vehicle according to an embodiment of the present application.

It should be appreciated that the method described above may be applied to a vehicle having the configuration shown in fig. 5.

In addition, the embodiment of the present application further protects an apparatus, which may include a memory 501 and a processor 502, where the memory 501 stores executable program codes, and the processor 502 is configured to invoke and execute the executable program codes to execute the switching method of the EPS feel parameter provided by the embodiment of the present application.

Further, the apparatus further comprises: a communication interface 503 for communication between the memory 501 and the processor 502.

In this embodiment, the functional modules of the apparatus may be divided according to the above method example, for example, each functional module may be corresponding to one processing module, or two or more functions may be integrated into one processing module, where the integrated modules may be implemented in a hardware form. It should be noted that, in this embodiment, the division of the modules is schematic, only one logic function is divided, and another division manner may be implemented in actual implementation.

In the case of dividing the respective function modules by the respective functions, the apparatus may further include an acquisition module, a determination module, a control module, and the like. It should be noted that, all relevant contents of each step related to the above method embodiment may be cited to the functional description of the corresponding functional module, which is not described herein.

It should be understood that, the device provided in this embodiment is configured to perform the above-mentioned switching method of the EPS feel parameter, so that the same effect as that of the implementation method can be achieved.

In case of an integrated unit, the apparatus may comprise a processing module, a memory module. When the device is applied to an automobile, the processing module can be used for controlling and managing the action of the automobile. The memory module may be used to support the car to execute inter-program code, etc.

Wherein the processing module may be a processor 502 or a controller that may implement or execute the various illustrative logical blocks, modules, and circuits described in connection with the present disclosure. The processor 502 may also be a combination of computing functions, including for example one or more microprocessors, digital Signal Processing (DSP) and a microprocessor, etc., and the memory module may be the memory 501.

In addition, the apparatus provided by the embodiment of the present application may be a chip, a component or a module, where the chip may include a processor 502 and a memory 501 connected to each other; the memory 501 is configured to store instructions, which when invoked and executed by the processor, enable the chip to perform the vehicle control method provided in the above embodiment.

The present embodiment also provides a computer-readable storage medium having stored therein computer program code which, when run on a computer, causes the computer to execute the above-described related method steps to implement a method for controlling a vehicle provided by the above-described embodiments.

The present embodiment also provides a computer program product which, when run on a computer, causes the computer to perform the above-described related steps to implement a vehicle control method provided by the above-described embodiments.

The apparatus, the computer readable storage medium, the computer program product, or the chip provided in this embodiment are used to execute the corresponding method provided above, and therefore, the advantages achieved by the apparatus, the computer readable storage medium, the computer program product, or the chip can refer to the advantages of the corresponding method provided above, which are not described herein.

It will be appreciated by those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional modules is illustrated, and in practical application, the above-described functional allocation may be performed by different functional modules according to needs, i.e. the internal structure of the apparatus is divided into different functional modules to perform all or part of the functions described above.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of modules or units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another apparatus, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.

The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present application. Therefore, the protection scope of the application is subject to the protection scope of the claims.

Claims (10)

1. A control method of a vehicle, characterized by comprising:

Judging whether the vehicle enters a parking mode from a rear wheel steering mode;

If the vehicle enters the parking mode from the rear wheel steering mode, judging whether the vehicle meets a preset parking mode exit condition or not;

and if the vehicle does not meet the preset parking mode exit condition, controlling the rear wheels of the vehicle to execute an APA corner request when the parking mode is four-wheel steering parking.

2. The method of claim 1, wherein the determining whether the vehicle satisfies a preset parking pattern exit condition comprises:

Judging whether an APA message signal of the vehicle is in an invalid state or not;

if the APA message signal is in an invalid state, judging that the vehicle meets the preset parking mode exit condition, otherwise, judging whether the APA parking working state of the vehicle is in a fault state or not;

If the APA parking working state of the vehicle is in the fault state, judging that the vehicle meets the preset parking mode exit condition, otherwise, judging whether the current running information of the vehicle meets a first preset running condition;

and if the current running information of the vehicle does not meet the first preset running condition, judging that the vehicle meets the preset parking mode exit condition.

3. The method according to claim 2, characterized by further comprising, after determining that the vehicle satisfies the preset parking mode exit condition:

And controlling the rear wheel steering angle of the vehicle to rotate to a target position, limiting the rear wheel rotating speed through a preset threshold value, and controlling the rear wheel steering angle of the vehicle to execute corresponding actions according to a preset rear wheel steering mode after the rear wheel steering angle is rotated to the target position.

4. The method according to claim 1, characterized by further comprising, upon determining that the vehicle does not satisfy the preset parking mode exit condition:

And if the parking mode is two-wheel steering parking, controlling the rear wheel steering angle of the vehicle to rotate to a target position, and limiting the rear wheel rotating speed through a preset threshold value.

5. The method of claim 1, further comprising, prior to determining whether the vehicle enters the park mode from the rear wheel steering mode:

Receiving a parking request signal of a vehicle;

Determining whether the vehicle meets a preset parking condition according to the parking request signal and current running information of the vehicle;

And if the vehicle meets the preset parking condition, determining a parking mode of the vehicle based on a parking request signal of the vehicle.

6. The method of claim 5, wherein the determining whether the vehicle satisfies the preset parking condition based on the parking request signal and current operation information of the vehicle comprises:

Judging whether a parking request signal of the vehicle meets a preset state and whether current running information of the vehicle meets a second preset running condition;

And if the parking request signal meets the preset state and the current running information of the vehicle meets the second preset running condition, judging that the vehicle meets the preset parking condition.

7. A control device for a vehicle, comprising:

the first judging module is used for judging whether the vehicle enters a parking mode from a rear wheel steering mode or not;

The second judging module is used for judging whether the vehicle meets a preset parking mode exit condition or not if the vehicle enters the parking mode from the rear wheel steering mode;

and the control module is used for controlling the rear wheels of the vehicle to execute an APA corner request when the parking mode is four-wheel steering parking if the vehicle does not meet the preset parking mode exit condition.

8. The apparatus of claim 7, wherein the second determining module comprises:

The first judging unit is used for judging whether the APA message signal of the vehicle is in an invalid state or not;

The second judging unit is used for judging whether the vehicle meets the preset parking mode exit condition if the APA message signal is in an invalid state, and judging whether the APA parking working state of the vehicle is in a fault state or not if not;

A third judging unit, configured to determine that the vehicle meets the preset parking mode exit condition if the APA parking working state of the vehicle is in the fault state, and if not, determine whether the current running information of the vehicle meets a first preset running condition;

and if the current running information of the vehicle does not meet the first preset running condition, judging that the vehicle meets the preset parking mode exit condition.

9. A vehicle, characterized in that the vehicle comprises: the control method of a vehicle according to any one of claims 1 to 6.

10. A computer readable storage medium, characterized in that the computer readable storage medium stores a computer program which, when executed, implements the method according to any of claims 1 to 6.