Vehicle steering control method, device and system, and vehicle

Patent metadata

Field	Value
Publication number	US-11351985-B2
Application number	US-201816343780-A
Country	US
Kind code	B2
Filing date	Oct 23, 2018
Priority date	Nov 28, 2017
Publication date	Jun 7, 2022
Grant date	Jun 7, 2022

Abstract

A vehicle steering control method, device and system, and a vehicle are provided. The vehicle steering control method includes: in a case where a current vehicle speed is less than a turning vehicle speed threshold, steering of a vehicle is controlled by an Electric Power Steering (EPS) to implement cornering of the vehicle; in a case where a cornering condition of the vehicle is not reached during the cornering of the vehicle, the vehicle is controlled by an Electrical Park Brake (EPB) to perform single-side parking to assist in the cornering of the vehicle; and after the single-side parking of the vehicle is implemented, closed-loop control is performed on an electric control booster, the EPB and the EPS, and the vehicle is controlled to turn under the cornering condition.

First claim

What is claimed is:

1. A vehicle steering control method, comprising:
in a case where a current vehicle speed is less than a turning vehicle speed threshold, controlling steering of a vehicle by an Electric Power Steering (EPS) to implement cornering of the vehicle;
in a case where a cornering condition of the vehicle is not reached during the cornering of the vehicle, controlling the vehicle by an Electrical Park Brake (EPB) to perform single-side parking to assist in the cornering of the vehicle; and
after the single-side parking of the vehicle is implemented, performing closed-loop control on an electric control booster, the EPB and the EPS, and controlling the vehicle to turn under the cornering conditions;
the method further comprising:
acquiring a current cornering radius of the vehicle; and
in a case where the current cornering radius is greater than a cornering radius threshold corresponding to a current working condition, determining that the cornering condition of the vehicle is not reached, wherein the cornering condition is an optimal minimum cornering radius of the vehicle which is acquired at the current vehicle speed in combination with the working conditions during the turning.

2. The vehicle steering control method as claimed in claim 1 , wherein before controlling the steering of the vehicle by the EPS, the method further comprises:
when the vehicle is monitored to be about to perform the cornering, in a case where the current vehicle speed is not less than the turning vehicle speed threshold, decelerating the vehicle by the electric control booster to control the current vehicle speed to be less than the turning vehicle speed threshold.

3. The vehicle steering control method as claimed in claim 1 , wherein controlling the vehicle by the EPB to perform single-side parking comprises:
controlling a clamping force of a left rear wheel or a right rear wheel of the vehicle by the EPB to implement the single-side parking of the vehicle.

4. The vehicle steering control method as claimed in claim 1 , wherein performing the closed-loop control on the electric control booster, the EPB and the EPS comprises:
acquiring real-time control parameters of the electric control booster, the EPB and the EPS; and
performing the closed-loop control on the electric control booster, the EPB and the EPS according to the real-time control parameters.

5. A vehicle steering control device, comprising:
a steering control module, configured to control, in a case where a current vehicle speed is less than a turning vehicle speed threshold, steering of a vehicle by an Electric Power Steering (EPS) to implement cornering of the vehicle;
a parking brake module, configured to control, in a case where a cornering condition of the vehicle is not reached during the cornering of the vehicle, the vehicle by an Electrical Park Brake (EPB) to perform single-side parking to assist in the cornering of the vehicle; and
a closed-loop control module, configured to perform, after the single-side parking of the vehicle is implemented, closed-loop control on an electric control booster, the EPB and the EPS, and control the vehicle to turn under the cornering condition;
wherein the vehicle steering control device is further configured to:
acquire a current cornering radius of the vehicle; and
in a case where the current cornering radius is greater than a cornering radius threshold corresponding to a current working condition, determine that the cornering condition of the vehicle is not reached, wherein the cornering condition is an optimal minimum cornering radius of the vehicle which is acquired at the current vehicle speed in combination with the working conditions during the turning.

6. The vehicle steering control device as claimed in claim 5 , further comprising:
a deceleration module, configured to decelerate, when the vehicle is monitored to be about to perform the cornering, in a case where the current vehicle speed is not less than the turning vehicle speed threshold, the vehicle by the electric control booster to control the current vehicle speed to be less than the turning vehicle speed threshold.

7. A vehicle steering control system, comprising: a sensing device, a controller and an execution system, wherein the sensing device is connected to the execution system through the controller;
the sensing device is configured to monitor a running state of a vehicle in real time in a running process of the vehicle, and feed back the running state of the vehicle to the controller;
the controller is configured to perform operations of a vehicle steering control method, and output a control command to the execution system, wherein the operations comprise: in a case where a current vehicle speed is less than a turning vehicle speed threshold, controlling steering of a vehicle by an Electric Power Steering (EPS) to implement cornering of the vehicle; in a case where a cornering condition of the vehicle is not reached during the cornering of the vehicle, controlling the vehicle by an Electrical Park Brake (EPB) to perform single-side parking to assist in the cornering of the vehicle; and after the single-side parking of the vehicle is implemented, performing closed-loop control on an electric control booster, the EPB and the EPS, and controlling the vehicle to turn under the cornering condition; and
the execution system is configured to execute the control command sent by the controller;
wherein the operations further comprise:
acquiring a current cornering radius of the vehicle; and
in a case where the current cornering radius is greater than a cornering radius threshold corresponding to a current working condition, determining that the cornering condition of the vehicle is not reached, wherein the cornering condition is an optimal minimum cornering radius of the vehicle which is acquired at the current vehicle speed in combination with the working conditions during the turning.

8. The vehicle steering control system as claimed in claim 7 , wherein the execution system comprises an electric control booster, an Electrical Park Brake (EPB) and an Electric Power Steering (EPS); and
the electric control booster, the EPB and the EPS are in communicative connection with the controller, respectively.

9. A vehicle, comprising: the vehicle steering control system as claimed in claim 7 .

10. The vehicle steering control device as claimed in claim 5 , wherein the parking brake module is configured to:
control a clamping force of a left rear wheel or a right rear wheel of the vehicle by the EPB to implement the single-side parking of the vehicle.

11. The vehicle steering control device as claimed in claim 5 , wherein the closed-loop control module is configured to:
acquire real-time control parameters of the electric control booster, the EPB and the EPS; and
perform the closed-loop control on the electric control booster, the EPB and the EPS according to the real-time control parameters.

12. The vehicle steering control system as claimed in claim 7 , wherein before controlling the steering of the vehicle by the EPS, the operations further comprise:
when the vehicle is monitored to be about to perform the cornering, in a case where the current vehicle speed is not less than the turning vehicle speed threshold, decelerating the vehicle by the electric control booster to control the current vehicle speed to be less than the turning vehicle speed threshold.

13. The vehicle steering control system as claimed in claim 7 , wherein controlling the vehicle by the EPB to perform single-side parking comprises:
controlling a clamping force of a left rear wheel or a right rear whe

Assignees

• Guangzhou Automobile Group Co

Inventors

• Li Saisai
• Xu Wei
• Huang Liang
• Li Huantao
• Li Qili

Classifications

• B60T2201/16

  Curve braking control, e.g. turn control within ABS control algorithm · CPC title

• B62D11/00

  Steering non-deflectable wheels; Steering endless tracks or the like · CPC title

• B60W10/20

  including control of steering systems · CPC title

• B60T8/1755

  Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve (road vehicle drive control systems for control of driving stability otherwise than by controlling a particular sub-unit B60W30/02) · CPC title

• B62D6/00

  Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits (means for initiating a change in direction B62D1/00; steering valves B62D5/06; combined with means for inclining the vehicle body or wheels on bends B62D9/00) · CPC title