Vehicle steering control method, device and vehicle

Abstract

The present invention discloses a vehicle steering control method, device and vehicle. The method comprises: obtaining driving information, steering parameters and environmental information of the vehicle; constructing a steering condition based on the driving information and environmental information; when the steering parameters meet the steering condition, increasing the steering resistance torque of the steering wheel based on the driving information to obtain a target resistance torque; transmitting the target resistance torque to the steering actuator of the vehicle in the form of an electrical signal. The present invention solves the technical problem of poor flexibility in controlling vehicle steering using a mechanical connection method in the related art.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control, and in particular to a vehicle steering control method, device and vehicle. Background Art

[0002] The traditional vehicle steering system uses a mechanical connection to establish a motion relationship between the vehicle steering wheel and the vehicle's steering wheels. However, this connection relationship does not have a decoupling process. The vehicle steering system has poor flexibility in controlling the vehicle's steering according to the steering angle input by the driver. In some cases, such as when the vehicle is turning at high speed, there may be risks to the vehicle's driving safety.

[0003] To address the above-mentioned problems, no effective solution has been proposed yet. Summary of the invention

[0004] The embodiments of the present invention provide a vehicle steering control method, device and vehicle to at least solve the technical problem of poor flexibility in controlling vehicle steering by mechanical connection in the related art.

[0005] According to one aspect of an embodiment of the present invention, a vehicle steering control method is provided, the method comprising: acquiring driving information, steering parameters and environmental information of the vehicle, wherein the steering parameters are used to characterize parameters generated by turning a steering wheel of the vehicle, and the environmental information is used to characterize information about the current driving environment of the vehicle; constructing a steering condition based on the driving information and the environmental information, wherein the steering condition is used to determine whether the steering parameter is abnormal; when the steering parameter satisfies the steering condition, increasing the steering resistance torque of the steering wheel based on the driving information to obtain a target resistance torque; transmitting the target resistance torque to a steering actuator of the vehicle in the form of an electrical signal, wherein the target resistance torque is used to control the steering of the vehicle through the steering actuator.

[0006] Optionally, constructing a steering condition based on driving information and environmental information includes: determining a target adhesion coefficient of the vehicle based on the driving information and environmental information, wherein the target adhesion coefficient is used to characterize the adhesion coefficient between the vehicle and the driving road; and constructing a steering condition based on the driving information and the target adhesion coefficient.

[0007] Optionally, the driving information includes at least the driving speed, and the target adhesion coefficient of the vehicle is determined based on the driving information and the environmental information, including: obtaining the rack force value of the steering actuator; determining a target pressure value corresponding to the driving speed, wherein the target pressure value is used to characterize the pressure value of the driving road when the vehicle is driving at the driving speed; determining an initial adhesion coefficient based on the target pressure value and the rack force value; and adjusting the initial adhesion coefficient based on the environmental information to obtain the target adhesion coefficient.

[0008] Optionally, determining a target pressure value corresponding to a driving speed includes: obtaining a preset pressure value, wherein the preset pressure value is used to characterize a pressure value of the vehicle on the driving road measured when the vehicle is driving at a preset speed; and adjusting the preset pressure value based on the driving speed to obtain a target pressure value.

[0009] Optionally, determining a target pressure value corresponding to a driving speed includes: obtaining a preset pressure table, wherein the preset pressure table is used to represent a relationship table between measured driving speeds and pressure values; and determining the target pressure value based on the driving speed and the preset relationship table.

[0010] Optionally, the environmental information includes at least: a humidity value of the driving road, and adjusting the initial adhesion coefficient based on the environmental information to obtain a target adhesion coefficient, including: determining a target friction coefficient corresponding to the humidity value, wherein the target friction coefficient is used to characterize the friction coefficient between the vehicle and the driving road; adjusting the initial adhesion coefficient based on the target friction coefficient to obtain the target adhesion coefficient.

[0011] Optionally, determining a target friction coefficient corresponding to a humidity value includes: obtaining a preset friction coefficient, wherein the preset friction coefficient is used to characterize a friction coefficient between a vehicle and a driving road measured when the vehicle is driving at a preset humidity value; and adjusting the preset friction coefficient based on the humidity value to obtain a target friction coefficient.

[0012] Optionally, constructing a steering condition based on the driving information and the target adhesion coefficient includes: determining a critical steering angular velocity of the vehicle based on the driving speed and the target adhesion coefficient; and constructing the steering condition based on the critical steering angular velocity.

[0013] Optionally, the driving information at least includes the driving speed, and the steering resistance torque of the steering wheel is increased based on the driving information to obtain a target resistance torque, including: obtaining the center of mass position and model of the vehicle; determining a feedback coefficient based on the model of the vehicle, wherein the feedback coefficient is used to characterize a default parameter for adjusting the steering resistance torque; adjusting the feedback coefficient based on the driving speed and the center of mass position to obtain a target feedback coefficient; and increasing the steering resistance torque based on the target feedback coefficient to obtain the target resistance torque.

[0014] According to another aspect of an embodiment of the present invention, a vehicle steering control device is also provided, the device comprising: an acquisition module, used to acquire driving information, steering parameters and environmental information of the vehicle, wherein the steering parameters are used to characterize parameters generated by turning the steering wheel of the vehicle, and the environmental information is used to characterize information of the current driving environment of the vehicle; a construction module, used to construct steering conditions based on driving information and environmental information, wherein the steering conditions are used to determine whether the steering parameters are abnormal; an increase module, used to increase the steering resistance torque of the steering wheel based on driving information to obtain a target resistance torque when the steering parameters meet the steering conditions; and a transmission module, used to transmit the target resistance torque to the steering actuator of the vehicle in the form of an electrical signal, wherein the target resistance torque is used to control the steering of the vehicle through the steering actuator.

[0015] Optionally, the construction module includes: a coefficient determination unit, used to determine the target adhesion coefficient of the vehicle based on driving information and environmental information, wherein the target adhesion coefficient is used to characterize the adhesion coefficient between the vehicle and the driving road; and a condition construction unit, used to construct a steering condition based on the driving information and the target adhesion coefficient.

[0016] Optionally, the driving information includes at least the driving speed, and the coefficient determination unit is further used to: obtain the rack force value of the steering actuator; determine a target pressure value corresponding to the driving speed, wherein the target pressure value is used to characterize the pressure value of the driving road when the vehicle is driving at the driving speed; determine an initial adhesion coefficient based on the target pressure value and the rack force value; and adjust the initial adhesion coefficient based on environmental information to obtain a target adhesion coefficient.

[0017] Optionally, the coefficient determination unit is also used to: obtain a preset pressure value, wherein the preset pressure value is used to characterize the pressure value of the vehicle on the driving road measured when the vehicle is driving at a preset speed; adjust the preset pressure value based on the driving speed to obtain a target pressure value.

[0018] Optionally, the coefficient determination unit is further used to: obtain a preset pressure table, wherein the preset pressure table is used to represent a relationship table between the measured driving speed and the pressure value; and determine the target pressure value based on the driving speed and the preset relationship table.

[0019] Optionally, the environmental information includes at least: a humidity value of the driving road, and the coefficient determination unit is further used to: determine a target friction coefficient corresponding to the humidity value, wherein the target friction coefficient is used to characterize the friction coefficient between the vehicle and the driving road; and adjust the initial adhesion coefficient based on the target friction coefficient to obtain the target adhesion coefficient.

[0020] Optionally, the coefficient determination unit is also used to: obtain a preset friction coefficient, wherein the preset friction coefficient is used to characterize the friction coefficient between the vehicle and the driving road measured when the vehicle is driving under a preset humidity value; adjust the preset friction coefficient based on the humidity value to obtain a target friction coefficient.

[0021] Optionally, the condition construction unit is further used to: determine a critical steering angle velocity of the vehicle based on the driving speed and the target adhesion coefficient; and construct the steering condition based on the critical steering angle velocity.

[0022] Optionally, the driving information at least includes the driving speed, and the adding module includes: a parameter acquisition unit, used to obtain the center of mass position and model of the vehicle; a feedback coefficient determination unit, used to determine the feedback coefficient based on the model of the vehicle, wherein the feedback coefficient is used to characterize the default parameters for adjusting the steering resistance torque; a feedback coefficient adjustment unit, used to adjust the feedback coefficient based on the driving speed and the center of mass position to obtain a target feedback coefficient; a resistance torque increasing unit, used to increase the steering resistance torque based on the target feedback coefficient to obtain a target resistance torque.

[0023] In an embodiment of the present invention, the method of obtaining driving information, steering parameters and environmental information of a vehicle is adopted; a steering condition is constructed based on the driving information and the environmental information; when the steering parameters meet the steering conditions, the steering resistance torque of the steering wheel is increased based on the driving information to obtain a target resistance torque; the target resistance torque is transmitted to a steering actuator of the vehicle in the form of an electrical signal, and by constructing the steering condition in real time according to the driving information and environmental information of the vehicle, it is determined whether the current steering parameters of the vehicle are abnormal. In the case of abnormality, the steering resistance torque of the vehicle is increased to obtain the target resistance torque, and the target resistance torque is input into the steering actuator to control the steering of the vehicle, so that the actual steering result of the vehicle is coupled with the steering parameter input by the driver, thereby making the process of controlling the steering of the vehicle more flexible, improving the safety when controlling the steering of the vehicle according to the steering parameters, and thus solving the technical problem of poor flexibility in controlling the steering of the vehicle using a mechanical connection method in the related art. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0025] Figure 1 is a flow chart of a vehicle steering control method according to an embodiment of the present invention;

[0026] Figure 2 is a schematic diagram of a wire-controlled vehicle steering control according to an embodiment of the present application;

[0027] Figure 3It is a structural block diagram of a vehicle steering control device according to an embodiment of the present application. DETAILED DESCRIPTION

[0028] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0029] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0030] Example 1

[0031] According to an embodiment of the present invention, a method embodiment of a vehicle steering control method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0032] Figure 1 is a flow chart of a vehicle steering control method according to an embodiment of the present invention. Figure 1 As shown, the method comprises the following steps:

[0033] Step S102, obtaining the vehicle's driving information, steering parameters and environmental information.

[0034] The steering parameters are used to characterize the parameters generated by turning the steering wheel of the vehicle, and the environmental information is used to characterize the information of the current driving environment of the vehicle.

[0035] The above-mentioned driving information may refer to information generated by the vehicle during driving, which may affect the steering operation of the vehicle. The driving information may include but is not limited to: the vehicle's driving speed, the pressure of the vehicle on the driving road, the vehicle's center of mass, the center of gravity position, etc.

[0036] The above-mentioned steering parameters may refer to parameters such as steering angle and steering time input by the driver.

[0037] The above-mentioned environmental information may refer to information that may affect the steering operation of the vehicle in the current driving environment of the vehicle. The environmental information may include but is not limited to: the friction coefficient between the vehicle tires and the driving road, the humidity of the driving road, whether there are obstacles in front of the vehicle, etc.

[0038] In an optional scheme of the present embodiment, since the flexibility of a vehicle steering control system with a rigid mechanical connection is relatively poor, a steer-by-wire module may be configured in the vehicle steering control system to couple the steering wheel and the steering wheel with a non-rigid mechanical connection to improve the flexibility of the vehicle steering control system.

[0039] In an optional scheme of the present embodiment, taking into account that when the vehicle is controlled to steer by wire module, it will not only be affected by the vehicle's own driving information, such as the steering parameters input by the driver, but also by the impact of the vehicle's surrounding environment on the vehicle and the driver. Therefore, in order to improve the operating efficiency of the vehicle steering control system and the safety of the vehicle during steering, the vehicle steering control system can first obtain the vehicle's driving information, steering parameters and environmental information when it is determined that the user has a steering intention.

[0040] Step S104: constructing a turning condition based on the driving information and the environmental information.

[0041] Among them, the steering condition is used to determine whether the steering parameter is abnormal.

[0042] The purpose of the above-mentioned steering conditions is to determine whether the steering parameters input by the driver are abnormal, that is, to determine whether there will be driving safety risks when the vehicle steering control system currently controls the vehicle to turn according to the steering parameters input by the user, such as whether the vehicle will roll over or collide with other obstacles.

[0043] Since vehicle steering is affected by many factors, such as the driving speed, road pressure in the aforementioned driving information, the friction coefficient in the environmental information, road humidity and other parameters, in order to avoid driving safety risks when the vehicle is turning due to abnormal steering parameters input by the user, the vehicle steering control system can first use the acquired driving information and environmental information to construct the above-mentioned steering conditions in real time after determining that the driver currently has a steering intention and obtains the aforementioned driving information and environmental information, and use the steering conditions to further determine whether the steering parameters input by the driver are abnormal.

[0044] Step S106: When the steering parameters satisfy the steering conditions, the steering resistance torque of the steering wheel is increased based on the driving information to obtain a target resistance torque.

[0045] The above-mentioned steering resistance torque may refer to the resistance torque used to provide a reverse force for vehicle steering. Through the steering resistance torque, a buffer force can be appropriately provided for the driver to control the vehicle steering, and a steering feedback can be provided to the driver to improve the driver's sense of control over the steering angle when the vehicle is turning, thereby avoiding the situation where the steering parameters are too large, resulting in driving safety risks.

[0046] In an optional scheme of the present embodiment, if the above-mentioned steering parameters satisfy the above-mentioned steering conditions, it means that the steering parameters used to control the vehicle to transform are abnormal, and there may be driving safety risks. At this time, the vehicle steering control system can adjust the steering resistance torque of the vehicle and increase the steering resistance torque according to the driving information to obtain the above-mentioned target resistance torque.

[0047] For example, the faster a vehicle travels, the harder it is to turn. Assuming that the steering parameter set by the driver is too large, if the vehicle is traveling at a slower speed, it is relatively safe for the vehicle to turn. If the vehicle is traveling at a faster speed, there may be a risk of rollover. Therefore, if the vehicle's speed is greater than a certain speed threshold, the probability of the vehicle rolling over becomes very high. In order to ensure the steering safety of the vehicle, the vehicle steering control system can increase the steering resistance torque according to the preset curve based on the current driving information, such as the driving speed, so that the above-mentioned reverse force reaches the target resistance torque, thereby gradually reducing the steering parameter and avoiding the problem of vehicle rollover.

[0048] It should be noted that the above examples are only illustrative and not specifically limited. The above preset curve may refer to a curve used to represent the mapping relationship between the reaction force and the vehicle speed.

[0049] In an optional solution of this embodiment, if the above-mentioned steering parameters do not meet the above-mentioned steering conditions, it means that the steering parameters used to control the steering of the vehicle are normal. At this time, the vehicle steering control system can control the steering of the vehicle according to the steering parameters.

[0050] In an optional solution of the present embodiment, the initial steering resistance torque may be calculated by a force simulation module in the vehicle according to vehicle driving information, or may be a preset fixed value, and the specific method for calculating the steering resistance torque is not specifically limited.

[0051] Step S108: transmitting the target resistance torque to the steering actuator of the vehicle in the form of an electrical signal.

[0052] The target resistance torque is used to control the vehicle steering through the steering actuator.

[0053] In an optional scheme of the present embodiment, if the vehicle steering control system determines that the current steering parameters are abnormal and determines the target resistance torque, the target resistance torque can be transmitted to the vehicle steering controller in the form of an electrical signal, thereby providing a reverse force for the driver to turn and improving the safety of the vehicle when steering.

[0054] If the vehicle steering control system determines that the current steering parameters are normal, it may not send an electrical signal and continue to use the current steering resistance torque to provide a reverse force for the driver to steer, thereby reducing the operating pressure of the vehicle system.

[0055] In an embodiment of the present invention, the method of obtaining driving information, steering parameters and environmental information of a vehicle is adopted; a steering condition is constructed based on the driving information and the environmental information; when the steering parameters meet the steering conditions, the steering resistance torque of the steering wheel is increased based on the driving information to obtain a target resistance torque; the target resistance torque is transmitted to a steering actuator of the vehicle in the form of an electrical signal, and by constructing the steering condition in real time according to the driving information and environmental information of the vehicle, it is determined whether the current steering parameters of the vehicle are abnormal. In the case of abnormality, the steering resistance torque of the vehicle is increased to obtain the target resistance torque, and the target resistance torque is input into the steering actuator to control the steering of the vehicle, so that the actual steering result of the vehicle is coupled with the steering parameter input by the driver, thereby making the process of controlling the steering of the vehicle more flexible, improving the safety when controlling the steering of the vehicle according to the steering parameters, and thus solving the technical problem of poor flexibility in controlling the steering of the vehicle using a mechanical connection method in the related art.

[0056] Optionally, constructing a steering condition based on driving information and environmental information includes: determining a target adhesion coefficient of the vehicle based on the driving information and environmental information, wherein the target adhesion coefficient is used to characterize the adhesion coefficient between the vehicle and the driving road; and constructing a steering condition based on the driving information and the target adhesion coefficient.

[0057] The target adhesion coefficient may refer to the adhesion coefficient between the steering wheels of the vehicle and the road on which the vehicle is currently traveling.

[0058] In an optional solution of the present embodiment, considering that the adhesion coefficient can intuitively show the degree of adhesion between the vehicle and the driving road, the larger the adhesion coefficient, the safer the driving process and the steering process of the vehicle, and since the process of determining the adhesion coefficient also needs to take into account the conditions of the driving road, that is, the above-mentioned environmental information, therefore, when constructing the steering condition, the above-mentioned target adhesion coefficient can be first determined based on the current driving information of the vehicle and the environmental information of the driving road of the vehicle, and then the driving information and the target adhesion coefficient can be continued to be used to further construct the above-mentioned steering condition, thereby ensuring the rationality and comprehensiveness of the constructed steering condition.

[0059] Optionally, the driving information includes at least the driving speed, and the target adhesion coefficient of the vehicle is determined based on the driving information and the environmental information, including: obtaining the rack force value of the steering actuator; determining a target pressure value corresponding to the driving speed, wherein the target pressure value is used to characterize the pressure value of the driving road when the vehicle is driving at the driving speed; determining an initial adhesion coefficient based on the target pressure value and the rack force value; and adjusting the initial adhesion coefficient based on the environmental information to obtain the target adhesion coefficient.

[0060] In an optional scheme of the present embodiment, since the adhesion coefficient can be regarded as the static friction between the steering tire of the vehicle and the driving road, which is the ratio of the adhesion to the normal pressure of the vehicle, and the rack force value of the vehicle steering actuator can be used to express the adhesion between the vehicle and the driving road, therefore, when determining the target adhesion coefficient, the rack force value of the steering actuator can be obtained. Considering that the pressure value of the vehicle on the driving road will be different at different driving speeds, the faster the driving speed, the smaller the pressure value. Therefore, in order to improve the accuracy of the determined target adhesion coefficient, the target pressure value corresponding to the current driving speed can be further determined, and then the target pressure value and the rack force value are used to preliminarily determine an adhesion coefficient, that is, the above-mentioned initial adhesion coefficient.

[0061] Furthermore, since the above-mentioned rack force value, pressure value and other parameters are not the actual adhesion and pressure values ​​generated during the vehicle driving process, after determining the initial adhesion coefficient, the environmental information can be further used to adjust the initial adhesion coefficient to obtain a target adhesion coefficient with relatively higher accuracy.

[0062] Optionally, determining a target pressure value corresponding to a driving speed includes: obtaining a preset pressure value, wherein the preset pressure value is used to characterize a pressure value of the vehicle on the driving road measured when the vehicle is driving at a preset speed; and adjusting the preset pressure value based on the driving speed to obtain a target pressure value.

[0063] In an optional solution of this embodiment, in order to improve the efficiency of determining the target pressure value, the pressure value of the vehicle can be tested in advance, that is, one or more preset driving speeds are set, and the pressure value of the vehicle on the driving road at the preset driving speed is measured to obtain a preset pressure value. Then, the preset pressure value can be adjusted according to the mathematical relationship, such as a proportional relationship, between the current driving speed of the vehicle and the preset driving speed to obtain the target pressure value.

[0064] Optionally, determining a target pressure value corresponding to a driving speed includes: obtaining a preset pressure table, wherein the preset pressure table is used to represent a relationship table between measured driving speeds and pressure values; and determining the target pressure value based on the driving speed and the preset relationship table.

[0065] In an optional scheme of the present embodiment, in order to improve the accuracy of determining the target pressure value, a pressure value test may be performed on a driving speed range, for example, all driving speeds within a range of 0km / h-160km / h, to construct a preset pressure table. When the vehicle steering control system determines that the vehicle currently needs to turn, the target pressure value may be determined directly from the preset pressure table based on the vehicle's current driving speed.

[0066] Optionally, the environmental information includes at least: a humidity value of the driving road, and adjusting the initial adhesion coefficient based on the environmental information to obtain a target adhesion coefficient, including: determining a target friction coefficient corresponding to the humidity value, wherein the target friction coefficient is used to characterize the friction coefficient between the vehicle and the driving road; adjusting the initial adhesion coefficient based on the target friction coefficient to obtain the target adhesion coefficient.

[0067] In an optional scheme of the present embodiment, since the humidity value of the driving road will largely affect the friction coefficient between the vehicle's steering tire and the road surface, that is, it will affect the initial adhesion coefficient determined above, therefore, when adjusting the initial adhesion coefficient using environmental information, the current humidity value of the driving road can be first obtained, and then the target friction coefficient corresponding to the current humidity value of the driving road can be further determined, and then the target friction coefficient can be used to adjust the initial adhesion coefficient to obtain the above-mentioned target adhesion coefficient.

[0068] Optionally, determining a target friction coefficient corresponding to a humidity value includes: obtaining a preset friction coefficient, wherein the preset friction coefficient is used to characterize a friction coefficient between a vehicle and a driving road measured when the vehicle is driving at a preset humidity value; and adjusting the preset friction coefficient based on the humidity value to obtain a target friction coefficient.

[0069] In an optional solution of this embodiment, similar to the aforementioned process of obtaining the target pressure value, in order to improve the efficiency of determining the target friction coefficient, the friction coefficient of the vehicle can be tested in advance, that is, one or more preset humidity values ​​are set, and the friction coefficient between the vehicle and the road under the preset humidity value is measured to obtain a preset friction coefficient. Then, the preset friction coefficient can be adjusted according to the mathematical relationship, such as a proportional relationship, between the current humidity value and the preset humidity value to obtain the target friction coefficient.

[0070] Optionally, determining a target friction coefficient corresponding to a humidity value includes: obtaining a preset coefficient table, wherein the preset coefficient table is used to characterize a relationship table between measured humidity values ​​and friction coefficients; and determining the target friction coefficient based on the target friction coefficient and the preset relationship table.

[0071] In an optional scheme of the present embodiment, in order to improve the accuracy of determining the target friction coefficient, the friction coefficient test may be performed on a humidity value range, for example, all humidity values ​​within 0%-100% RH, to construct a preset coefficient table. When the vehicle steering control system determines that the vehicle currently needs to turn, the target friction coefficient can be determined directly from the preset coefficient table based on the current humidity value of the road.

[0072] Optionally, constructing a steering condition based on the driving information and the target adhesion coefficient includes: determining a critical steering angular velocity of the vehicle based on the driving speed and the target adhesion coefficient; and constructing the steering condition based on the critical steering angular velocity.

[0073] In an optional solution of this embodiment, after determining the target adhesion coefficient, when constructing the turning condition using the target adhesion coefficient and the driving information, the critical steering angular velocity when the vehicle is turning can be determined first according to the driving speed in the driving information and the target adhesion coefficient, that is, when turning at the current driving speed, the vehicle may have a driving safety risk, such as vehicle rollover, and the corresponding maximum steering angular velocity. Then, the turning condition can be constructed according to the critical steering angular velocity.

[0074] If the vehicle's current steering angular velocity is greater than the critical steering angular velocity, it can be considered that the aforementioned steering parameters meet the steering conditions and the steering parameters are determined to be abnormal; if the vehicle's current steering angular velocity is not greater than the critical steering angular velocity, it can be considered that the aforementioned steering parameters do not meet the steering conditions and the steering parameters are determined to be normal.

[0075] Optionally, the driving information at least includes the driving speed, and the steering resistance torque of the steering wheel is increased based on the driving information to obtain a target resistance torque, including: obtaining the center of mass position and model of the vehicle; determining a feedback coefficient based on the model of the vehicle, wherein the feedback coefficient is used to characterize a default parameter for adjusting the steering resistance torque; adjusting the feedback coefficient based on the driving speed and the center of mass position to obtain a target feedback coefficient; and increasing the steering resistance torque based on the target feedback coefficient to obtain the target resistance torque.

[0076] In an optional solution of this embodiment, if the current steering parameters are abnormal, considering that arbitrarily increasing the steering resistance torque may also affect the safety and steering efficiency of the vehicle steering process, therefore, when increasing the steering resistance torque of the vehicle, the center of mass position and vehicle model of the vehicle can be first obtained, and the default parameters for adjusting the steering resistance torque, i.e., the above-mentioned feedback coefficient, can be determined according to the vehicle model. After determining the center of mass position and feedback coefficient, considering that the target resistance torque required for different driving speeds is different, the feedback coefficient can be further adjusted using the center of mass position and driving speed of the vehicle to obtain the target feedback coefficient.

[0077] For example, the above feedback coefficient generally corresponds to the coefficient for adjusting the steering resistance torque when driving on urban roads. At this time, the vehicle's driving speed is generally between 20km / h and 60km / h. If the vehicle is currently driving at high speed, for example, the driving speed is 100km / h, then at this time it is necessary to adjust the feedback coefficient according to the driving speed. For example, according to the proportional relationship between the above two driving speeds, the feedback coefficient is adaptively increased to obtain the above target feedback coefficient.

[0078] After the target feedback coefficient is obtained, the target feedback coefficient may be further used to adjust the steering resistance torque. For example, the steering resistance torque is multiplied by the target feedback coefficient to obtain the above target feedback coefficient.

[0079] In order to clearly show the above vehicle steering control process, Figure 2 is a schematic diagram of a wire-controlled vehicle steering control according to an embodiment of the present application, such as Figure 2 As shown, the specific vehicle steering control-by-wire process can be: when the vehicle steering control system detects that the driver currently has a steering intention, it can obtain the vehicle's steering parameters, driving information and environmental information within a detection cycle, and use the driving information and environmental information to estimate the target adhesion coefficient of the vehicle's current driving road, and then use the target adhesion coefficient and the vehicle's current driving speed to determine the vehicle's current critical steering angular velocity, and use the critical steering angular velocity to build the steering condition in real time.

[0080] Then the current steering angular velocity of the vehicle in the steering parameter can be compared with the critical steering angular velocity to determine whether the steering parameter is abnormal. If the current steering angular velocity is greater than the critical steering angular velocity, it means that the steering parameter is abnormal. Using the steering parameter to steer the vehicle may pose a driving safety risk. At this time, the steering resistance torque of the vehicle can be further adjusted according to the center of mass position, feedback coefficient and other parameters of the vehicle to obtain the target resistance torque, and then the target resistance torque is input into the steering actuator to control the steering of the vehicle. If the current steering angular velocity is not greater than the critical steering angular velocity, the steering resistance torque is directly input into the steering controller to control the steering of the vehicle. Among them, the steering resistance torque can be calculated by other modules in the vehicle, such as the force simulation module, and the specific judgment of whether the steering parameter is abnormal can be performed in the brake electronic stability control unit.

[0081] Example 2

[0082] According to another aspect of the embodiment of the present invention, corresponding to the above-mentioned embodiment of vehicle steering control, this specification also provides a vehicle steering control device, please refer to Figure 3 , Figure 3 It is a structural block diagram of a vehicle steering control device shown in an embodiment of the present application, and the device includes: an acquisition module 302, used to acquire the vehicle's driving information, steering parameters and environmental information, wherein the steering parameters are used to characterize the parameters generated by turning the steering wheel of the vehicle, and the environmental information is used to characterize the information of the vehicle's current driving environment; a construction module 304, used to construct a steering condition based on the driving information and the environmental information, wherein the steering condition is used to determine whether the steering parameter is abnormal; an increase module 306, used to increase the steering resistance torque of the steering wheel based on the driving information to obtain a target resistance torque when the steering parameters meet the steering conditions; a transmission module 308, used to transmit the target resistance torque to the vehicle's steering actuator in the form of an electrical signal, wherein the target resistance torque is used to control the vehicle steering through the steering actuator.

[0083] Optionally, the construction module 304 includes: a coefficient determination unit, used to determine a target adhesion coefficient of the vehicle based on driving information and environmental information, wherein the target adhesion coefficient is used to characterize the adhesion coefficient between the vehicle and the driving road; and a condition construction unit, used to construct a steering condition based on the driving information and the target adhesion coefficient.

[0084] Optionally, the driving information includes at least the driving speed, and the coefficient determination unit is further used to: obtain the rack force value of the steering actuator; determine a target pressure value corresponding to the driving speed, wherein the target pressure value is used to characterize the pressure value of the driving road when the vehicle is driving at the driving speed; determine an initial adhesion coefficient based on the target pressure value and the rack force value; and adjust the initial adhesion coefficient based on environmental information to obtain a target adhesion coefficient.

[0085] Optionally, the coefficient determination unit is also used to: obtain a preset pressure value, wherein the preset pressure value is used to characterize the pressure value of the vehicle on the driving road measured when the vehicle is driving at a preset speed; adjust the preset pressure value based on the driving speed to obtain a target pressure value.

[0086] Optionally, the coefficient determination unit is further used to: obtain a preset pressure table, wherein the preset pressure table is used to represent a relationship table between the measured driving speed and the pressure value; and determine the target pressure value based on the driving speed and the preset relationship table.

[0087] Optionally, the environmental information includes at least: a humidity value of the driving road, and the coefficient determination unit is further used to: determine a target friction coefficient corresponding to the humidity value, wherein the target friction coefficient is used to characterize the friction coefficient between the vehicle and the driving road; and adjust the initial adhesion coefficient based on the target friction coefficient to obtain the target adhesion coefficient.

[0088] Optionally, the coefficient determination unit is also used to: obtain a preset friction coefficient, wherein the preset friction coefficient is used to characterize the friction coefficient between the vehicle and the driving road measured when the vehicle is driving under a preset humidity value; adjust the preset friction coefficient based on the humidity value to obtain a target friction coefficient.

[0089] Optionally, the condition construction unit is further used to: determine a critical steering angle velocity of the vehicle based on the driving speed and the target adhesion coefficient; and construct the steering condition based on the critical steering angle velocity.

[0090] Optionally, the driving information at least includes the driving speed, and the adding module 306 includes: a parameter acquisition unit, used to obtain the center of mass position and model of the vehicle; a feedback coefficient determination unit, used to determine the feedback coefficient based on the model of the vehicle, wherein the feedback coefficient is used to characterize the default parameters for adjusting the steering resistance torque; a feedback coefficient adjustment unit, used to adjust the feedback coefficient based on the driving speed and the center of mass position to obtain a target feedback coefficient; a resistance torque increasing unit, used to increase the steering resistance torque based on the target feedback coefficient to obtain a target resistance torque.

[0091] Example 3

[0092] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is provided, including a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute any one of the above-mentioned vehicle steering control methods.

[0093] Example 4

[0094] According to another aspect of an embodiment of the present invention, a processor is further provided, wherein any one of the above-mentioned vehicle steering control methods is executed when a program of the processor is running.

[0095] Example 5

[0096] According to another aspect of an embodiment of the present invention, a target vehicle is further provided, comprising: one or more processors; a storage device for storing one or more programs; when the one or more programs are executed by the one or more processors, the one or more processors execute any one of the above vehicle steering control methods. The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages and disadvantages of the embodiments.

[0097] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0098] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0099] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed over multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0100] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0101] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0102] The above are only preferred embodiments of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A vehicle steering control method, characterized in that: The method comprises: Acquiring driving information, steering parameters and environmental information of the vehicle, wherein the steering parameters are used to represent parameters generated by turning the steering wheel of the vehicle, and the environmental information is used to represent information of the current driving environment of the vehicle; constructing a steering condition based on the driving information and the environmental information, wherein the steering condition is used to determine whether the steering parameter is abnormal; When the steering parameter satisfies the steering condition, increasing the steering resistance torque of the steering wheel based on the driving information to obtain a target resistance torque; Transmitting the target resistance torque to a steering actuator of the vehicle in the form of an electrical signal, wherein the target resistance torque is used to control the steering of the vehicle through the steering actuator; The method further includes: obtaining the center of mass position and a feedback coefficient of the vehicle, wherein the feedback coefficient is used to characterize a default parameter for adjusting the steering resistance torque; and adjusting the steering resistance torque based on the center of mass position and the feedback coefficient to obtain the target resistance torque.

2. The method according to claim 1, characterized in that Constructing a turning condition based on the driving information and the environmental information includes: Determining a target adhesion coefficient of the vehicle based on the driving information and the environmental information, wherein the target adhesion coefficient is used to characterize an adhesion coefficient between the vehicle and a driving road; The steering condition is constructed based on the driving information and the target adhesion coefficient.

3. The method according to claim 2, characterized in that The driving information at least includes a driving speed, and determining a target adhesion coefficient of the vehicle based on the driving information and the environmental information includes: Obtaining a rack force value of the steering actuator; Determining a target pressure value corresponding to the driving speed, wherein the target pressure value is used to represent the pressure value of the driving road when the vehicle is driving at the driving speed; determining an initial adhesion coefficient based on the target pressure value and the rack force value; The initial adhesion coefficient is adjusted based on the environmental information to obtain the target adhesion coefficient.

4. The method according to claim 3, characterized in that Determining a target pressure value corresponding to the driving speed includes: Acquiring a preset pressure value, wherein the preset pressure value is used to represent a pressure value of the vehicle on the driving road measured when the vehicle is driving at a preset speed; The preset pressure value is adjusted based on the driving speed to obtain the target pressure value.

5. The method according to claim 3, characterized in that: Determining a target pressure value corresponding to the driving speed includes: Obtaining a preset pressure gauge, wherein the preset pressure gauge is used to represent a relationship between the measured driving speed and the pressure value; The target pressure value is determined based on the driving speed and a preset relationship table.

6. The method according to claim 3, characterized in that The environmental information at least includes: a humidity value of the driving road; and adjusting the initial adhesion coefficient based on the environmental information to obtain the target adhesion coefficient includes: Determining a target friction coefficient corresponding to the humidity value, wherein the target friction coefficient is used to characterize the friction coefficient between the vehicle and the driving road; The initial adhesion coefficient is adjusted based on the target friction coefficient to obtain the target adhesion coefficient.

7. The method according to claim 6, characterized in that Determining a target friction coefficient corresponding to the humidity value includes: Obtaining a preset friction coefficient, wherein the preset friction coefficient is used to characterize the friction coefficient between the vehicle and the driving road measured when the vehicle is driving under a preset humidity value; The preset friction coefficient is adjusted based on the humidity value to obtain the target friction coefficient.

8. The method according to claim 2, characterized in that: The driving information at least includes a driving speed. Based on the driving information and the target adhesion coefficient, the steering condition is constructed, including: determining a critical steering angular velocity of the vehicle based on the driving speed and the target adhesion coefficient; The steering condition is established based on the critical steering angle velocity.

9. The method according to claim 1, characterized in that: The driving information at least includes a driving speed, and the steering resistance torque of the steering wheel is increased based on the driving information to obtain a target resistance torque, including: Obtain the model of the vehicle; Determining the feedback coefficient based on the model of the vehicle; Based on the driving speed and the center of mass position, the feedback coefficient is adjusted to obtain a target feedback coefficient; The target resistance torque is obtained by increasing the steering resistance torque based on the target feedback coefficient.

10. A vehicle comprising: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the vehicle steering control method according to any one of claims 1 to 9.

Images