A method and device for constructing a vehicle power steering model

Abstract

The present invention discloses a method and device for constructing a vehicle power steering model, and relates to the field of autonomous driving technology. The specific scheme includes: a computer device obtains a mapping relationship corresponding to each of a plurality of mapping modes, each mapping relationship is a relationship between a power supply voltage signal of a motor of a vehicle and a power assist torque limit signal, and a plurality of mapping relationships are obtained by adopting a dual slope hysteresis control algorithm, and a plurality of switching conditions existing in a plurality of mapping modes are obtained, and a vehicle power steering model is established according to the mapping relationship corresponding to each mapping mode, and a plurality of switching conditions, and a library module is established according to the vehicle power steering model. The present invention can accurately and efficiently realize the quantitative description of the complex nonlinear relationship between the power supply voltage signal of the motor of a vehicle and the power assist torque limit signal under the dual slope hysteresis control algorithm, and improves the versatility of the vehicle power steering model.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving technology, and in particular to a method and device for constructing a vehicle steering assistance model. Background Art

[0002] The dual-slope hysteresis control algorithm is a complex nonlinear control algorithm. This algorithm can not only effectively suppress the high-frequency oscillation of the output signal, but also avoid the output signal discontinuity problem caused by the step hysteresis. Therefore, this algorithm can be used in some fields with high requirements on output signal performance, such as the control field of electric power steering.

[0003] In the field of electric power steering control, a dual slope hysteresis control algorithm can be used to establish a nonlinear mapping relationship between an input voltage signal and an output torque limit signal. However, since it is difficult to quantitatively describe the nonlinear mapping relationship between the input voltage signal and the output torque limit signal using a simple mathematical formula, the dual slope hysteresis control algorithm can usually only be used to graphically describe and define the nonlinear mapping relationship. Therefore, it is difficult to directly implement the dual slope hysteresis control algorithm by programming. Summary of the invention

[0004] The present invention provides a method and device for constructing a vehicle power steering model, which solves the problem of difficulty in achieving a quantitative description of the nonlinear mapping relationship between an input voltage signal and an output torque limit signal under a dual-slope hysteresis control algorithm.

[0005] In order to achieve the above object, the present invention adopts the following technical scheme:

[0006] In a first aspect, the present invention provides a method for constructing a vehicle steering assistance model, the method comprising:

[0007] Obtaining a mapping relationship corresponding to each mapping mode in a plurality of mapping modes, each mapping relationship being a relationship between a power supply voltage signal of a motor of a vehicle and a power assist torque limit signal, and the plurality of mapping relationships are obtained by adopting a dual slope hysteresis control algorithm;

[0008] Acquire multiple switching conditions existing in multiple mapping modes, where the switching conditions are preset conditions satisfied when one mapping mode is switched to another mapping mode;

[0009] A vehicle steering assistance model is established according to the mapping relationship corresponding to each mapping mode and multiple switching conditions;

[0010] A library module is established according to a vehicle power steering model, and the library module is used to determine a target power steering torque limit signal when being called.

[0011] In one possible implementation, before encapsulating the vehicle steering assist model into a library module, the method for constructing the vehicle steering assist model also includes: inputting a verification voltage waveform signal into the vehicle steering assist model to obtain a verification assist torque limit waveform signal output by the vehicle steering assist model; and determining that the function verification of the vehicle steering assist model has passed when it is determined that the verification assist torque limit waveform signal meets preset conditions.

[0012] In one possible implementation, the multiple mapping modes include a ramp-up mapping mode, a ramp-down mapping mode and an output hold mapping mode; the mapping relationship corresponding to the ramp-up mapping mode is used to determine the corresponding assist torque limit signal when the power supply voltage signal increases; the mapping relationship corresponding to the ramp-down mapping mode is used to determine the corresponding assist torque limit signal when the power supply voltage signal decreases; in the mapping relationship corresponding to the output hold mapping mode, the assist torque limit signal corresponding to the power supply voltage signal is maintained at a preset value.

[0013] In one possible implementation, the ramp up mapping mode includes entering an up sub-mode, an up line sub-mode and an up line sub-mode; the mapping relationship corresponding to entering the up sub-mode is used to represent the mapping relationship of entering the up line sub-mode when the dual slope hysteresis control algorithm takes effect; in the mapping relationship corresponding to the up line sub-mode, the assist torque limit signal is linearly positively correlated with the supply voltage signal; the up line sub-mode corresponds to multiple sub-mapping relationships, the assist torque limit signal in each sub-mapping relationship remains unchanged, and the assist torque limit signal in each sub-mapping relationship is the assist torque limit signal when entering the sub-mapping relationship.

[0014] In one possible implementation, the ramp down mapping mode includes entering a downlink sub-mode, a downlink online sub-mode and a downlink offline sub-mode; the mapping relationship corresponding to entering the downlink sub-mode is used to represent the mapping relationship of entering the downlink online sub-mode when the dual slope hysteresis control algorithm takes effect; in the mapping relationship corresponding to the downlink online sub-mode, the assist torque limit signal is linearly negatively correlated with the supply voltage signal; the downlink offline sub-mode corresponds to multiple sub-mapping relationships, the assist torque limit signal in each sub-mapping relationship remains unchanged, and the assist torque limit signal in each sub-mapping relationship is the assist torque limit signal when entering the sub-mapping relationship.

[0015] In a second aspect, the present invention provides a device for constructing a vehicle steering assistance model, comprising:

[0016] A first acquisition module is used to acquire a mapping relationship corresponding to each of the multiple mapping modes, each mapping relationship being a relationship between a power supply voltage signal of a motor of a vehicle and a power assist torque limit signal, and the multiple mapping relationships are obtained by adopting a dual slope hysteresis control algorithm;

[0017] A second acquisition module is used to acquire multiple switching conditions existing in multiple mapping modes, where the switching conditions are preset conditions satisfied when one mapping mode is switched to another mapping mode;

[0018] A modeling module, used to establish a vehicle steering assistance model according to a mapping relationship corresponding to each mapping mode and multiple switching conditions;

[0019] The encapsulation module is used to establish a library module according to a vehicle power steering model, and the library module is used to determine a target power steering torque limit signal when being called.

[0020] In one possible implementation, the construction device of the vehicle steering assist model also includes a simulation module and a determination module; the simulation module is used to input the verification voltage waveform signal into the vehicle steering assist model to obtain the verification assist torque limit waveform signal output by the vehicle steering assist model; the determination module is used to determine that the function verification of the vehicle steering assist model has passed when it is determined that the verification assist torque limit waveform signal meets preset conditions.

[0021] In one possible implementation, the multiple mapping modes include a ramp-up mapping mode, a ramp-down mapping mode, and an output hold mapping mode; the mapping relationship corresponding to the ramp-up mapping mode is used to determine the corresponding assist torque limit signal when the power supply voltage signal increases; the mapping relationship corresponding to the ramp-down mapping mode is used to determine the corresponding assist torque limit signal when the power supply voltage signal decreases; in the mapping relationship corresponding to the output hold mapping mode, regardless of whether the power supply voltage signal increases or decreases, the corresponding assist torque limit signal remains at a preset value.

[0022] In one possible implementation, the ramp up mapping mode includes entering an up sub-mode, an up line sub-mode and an up line sub-mode; the mapping relationship corresponding to entering the up sub-mode is used to represent the mapping relationship of entering the up line sub-mode when the dual slope hysteresis control algorithm takes effect; in the mapping relationship corresponding to the up line sub-mode, the assist torque limit signal is linearly positively correlated with the supply voltage signal; the up line sub-mode corresponds to multiple sub-mapping relationships, the assist torque limit signal in each sub-mapping relationship remains unchanged, and the assist torque limit signal in each sub-mapping relationship is the assist torque limit signal when entering the sub-mapping relationship.

[0023] In one possible implementation, the ramp down mapping mode includes entering a downlink sub-mode, a downlink online sub-mode and a downlink offline sub-mode; the mapping relationship corresponding to entering the downlink sub-mode is used to represent the mapping relationship of entering the downlink online sub-mode when the dual slope hysteresis control algorithm takes effect; in the mapping relationship corresponding to the downlink online sub-mode, the assist torque limit signal is linearly negatively correlated with the supply voltage signal; the downlink offline sub-mode corresponds to multiple sub-mapping relationships, the assist torque limit signal in each sub-mapping relationship remains unchanged, and the assist torque limit signal in each sub-mapping relationship is the assist torque limit signal when entering the sub-mapping relationship.

[0024] In a third aspect, the present invention provides a computer device, the computer device comprising: a processor and a memory. The memory is used to store computer program code, and the computer program code includes computer instructions. When the processor executes the computer instructions, the computer device executes the method for constructing a vehicle steering assistance model as described in the first aspect and any possible implementation thereof.

[0025] In a fourth aspect, the present invention provides a computer-readable storage medium having computer instructions stored thereon. When the computer instructions are executed on a computer device, the computer device executes a method for constructing a vehicle steering assist model as in the first aspect or any one of the possible implementations of the first aspect.

[0026] In a fifth aspect, the present invention provides a computer program product, which includes computer instructions. When the computer instructions are executed on a computer device, the computer device executes a method for constructing a vehicle steering assist model as in the first aspect and any possible implementation thereof.

[0027] The method for constructing a vehicle steering assistance model provided by an embodiment of the present invention is that a computer device obtains a mapping relationship corresponding to each mapping mode in a plurality of mapping modes, each mapping relationship is a relationship between a power supply voltage signal of a motor of a vehicle and a power assistance torque limit signal, and a plurality of mapping relationships are obtained by adopting a dual-slope hysteresis control algorithm, and a plurality of switching conditions existing in the plurality of mapping modes are obtained, and the switching condition is a preset condition satisfied when one mapping mode is switched to another mapping mode, and a vehicle steering assistance model is established according to the mapping relationship corresponding to each mapping mode and the plurality of switching conditions, and a library module is established according to the vehicle steering assistance model, and the library module is used to determine the target power assistance torque limit signal when it is called. The present invention encapsulates the complex nonlinear relationship between the power supply voltage signal and the power assistance torque limit signal of the motor of the vehicle obtained by the dual-slope hysteresis control algorithm into a standardized library module, so that the quantitative description of the complex nonlinear relationship between the power supply voltage signal and the power assistance torque limit signal of the motor of the vehicle under the dual-slope hysteresis control algorithm can be accurately and efficiently realized, and the vehicle steering assistance model obtained by the algorithm can be directly called in an actual application scenario or an application software model development scenario, thereby improving the versatility of the vehicle steering assistance model. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 A schematic diagram of the structure of a computer device provided by an embodiment of the present invention;

[0029] Figure 2 One of the flow charts of a method for constructing a vehicle steering assistance model provided by an embodiment of the present invention;

[0030] Figure 3 A schematic diagram of a graphical representation of a complete mapping relationship between a power supply voltage signal of a motor of a vehicle and a power assist torque limit signal provided by an embodiment of the present invention;

[0031] Figure 4 A second flowchart of a method for constructing a vehicle steering assistance model provided by an embodiment of the present invention;

[0032] Figure 5 A simulation result diagram of a vehicle power steering model provided by an embodiment of the present invention;

[0033] Figure 6 A flow chart of a vehicle steering assist control method provided by an embodiment of the present invention;

[0034] Figure 7 One of the schematic diagrams of a device for constructing a vehicle power steering model provided by an embodiment of the present invention;

[0035] Figure 8A second schematic diagram of a vehicle power steering model construction device provided by an embodiment of the present invention;

[0036] Fig. 9 A schematic diagram of the composition of a vehicle power steering control device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions 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 are within the scope of protection of the present invention.

[0038] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present disclosure, unless otherwise specified, "multiple" means two or more. In addition, the use of "based on" or "according to" means openness and inclusiveness, because the process, steps, calculations or other actions "based on" or "according to" one or more of the conditions or values ​​may be based on additional conditions or values ​​beyond the described values ​​in practice.

[0039] In order to solve the problem of poor versatility when implementing a dual-slope hysteresis control algorithm by programming, an embodiment of the present invention provides a method and device for constructing a vehicle steering assist model, wherein a computer device obtains a mapping relationship corresponding to each of a plurality of mapping modes, each mapping relationship being a relationship between a power supply voltage signal of a vehicle's motor and a power assist torque limit signal, and the plurality of mapping relationships are obtained by adopting a dual-slope hysteresis control algorithm, and a plurality of switching conditions existing in the plurality of mapping modes are obtained, the switching conditions being preset conditions satisfied when one mapping mode is switched to another mapping mode, and a vehicle steering assist model is established according to the mapping relationship corresponding to each mapping mode and the plurality of switching conditions, and the vehicle steering assist model is encapsulated into a library module in a modeling tool, and the library module is used to determine a target power assist torque limit signal when being called. The present invention encapsulates the complex nonlinear relationship between the power supply voltage signal of the vehicle's motor and the power assist torque limit signal obtained by the dual-slope hysteresis control algorithm into a standardized library module, thereby being able to accurately and efficiently achieve a quantitative description of the complex nonlinear relationship between the power supply voltage signal of the vehicle's motor and the power assist torque limit signal under the dual-slope hysteresis control algorithm, and enables the vehicle steering assist model obtained by the algorithm to be directly called in actual application scenarios or application software model development scenarios, thereby improving the versatility of the vehicle steering assist model.

[0040] The traditional step hysteresis algorithm is a nonlinear algorithm often used in the field of vehicle steering automatic control. Its main function is to prevent the output signal from oscillating frequently when the input signal oscillates within a specific small range. However, although the traditional step hysteresis algorithm can greatly reduce the oscillation frequency of the output signal, it will introduce a step-like discontinuous jump of the output signal at the hysteresis endpoint, which cannot meet the performance requirements in practical applications. The dual slope hysteresis control algorithm can not only effectively suppress the high-frequency oscillation of the output signal, but also avoid the discontinuous output signal caused by the step hysteresis. Therefore, in the field of vehicle steering automatic control, it can be used to control the power assist torque limit signal that changes with the power supply voltage of the vehicle's motor, thereby controlling the vehicle steering.

[0041] The execution subject of the method for constructing a vehicle steering assistance model provided in the embodiment of the present invention is a computer device. The computer device can be a terminal device, a server, or a server cluster. The embodiment of the present invention does not limit this. In the embodiment of the present invention, a computer device is used as an example to introduce the method for constructing a vehicle steering assistance model in the embodiment of the present invention.

[0042] Figure 1 A schematic diagram of the structure of a computer device provided in an embodiment of the present invention. The computer device includes a processor, a memory, a communication interface, a display screen and an input device connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner. When the computer program is executed by the processor, a method for constructing a vehicle steering assist model is implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a key, trackball or touchpad provided on the computer device housing, or an external keyboard, touchpad or mouse, etc.

[0043] Figure 2 The flowchart of a method for constructing a vehicle steering assistance model provided by an embodiment of the present invention is as follows. Figure 2 As shown, the method for constructing a vehicle power steering model may include the following steps S201 to S204.

[0044] S201. A computer device obtains a mapping relationship corresponding to each of a plurality of mapping modes, each mapping relationship being a relationship between a power supply voltage signal of a motor of a vehicle and a power assist torque limit signal, and the plurality of mapping relationships are obtained by adopting a dual slope hysteresis control algorithm.

[0045] It is understandable that each mapping mode may correspond to a mapping relationship, and the dual slope hysteresis control algorithm may be a complete mapping relationship composed of multiple mapping relationships. In this embodiment, the input signal in each mapping relationship may be a power supply voltage signal of the motor of the vehicle, and the output signal in each mapping relationship may be a power assist torque limit signal. The relationship between the power supply voltage signal of the motor of the vehicle and the power assist torque limit signal may be obtained based on the actual operation of the vehicle, or may be manually set, which is not limited here.

[0046] Specifically, the computer device can obtain a mapping relationship corresponding to each of the multiple mapping modes, wherein each mapping relationship can be a relationship between a power supply voltage signal of a motor of the vehicle and a power assist torque limit signal, and multiple mapping relationships can be obtained using a dual slope hysteresis control algorithm.

[0047] In a possible implementation, the multiple mapping modes may include a ramp-up mapping mode, a ramp-down mapping mode, and an output-hold mapping mode. The mapping relationship corresponding to the ramp-up mapping mode may be used to determine the corresponding power-assist torque limit signal when the power supply voltage signal increases; the mapping relationship corresponding to the ramp-down mapping mode may be used to determine the corresponding power-assist torque limit signal when the power supply voltage signal decreases; in the mapping relationship corresponding to the output-hold mapping mode, the power-assist torque limit signal corresponding to the power supply voltage signal is maintained at a preset value.

[0048] In another possible implementation, the ramp up mapping mode may also include entering an up sub-mode, an up line sub-mode, and an up line sub-mode. Among them, the mapping relationship corresponding to entering the up sub-mode can be used to represent the mapping relationship of entering the up line sub-mode when the dual slope hysteresis control algorithm takes effect; in the mapping relationship corresponding to the up line sub-mode, the power assist torque limit signal can be linearly positively correlated with the power supply voltage signal; the up line sub-mode corresponds to multiple sub-mapping relationships, the power assist torque limit signal in each sub-mapping relationship can remain unchanged, and the power assist torque limit signal in each sub-mapping relationship can be the power assist torque limit signal when entering the sub-mapping relationship.

[0049] In another possible implementation, the ramp down mapping mode may also include entering a down sub-mode, a down line sub-mode, and a down line sub-mode. Among them, the mapping relationship corresponding to entering the down sub-mode can be used to represent the mapping relationship of entering the down line sub-mode when the dual slope hysteresis control algorithm takes effect; in the mapping relationship corresponding to the down line sub-mode, the power assist torque limit signal can be linearly negatively correlated with the power supply voltage signal; the down line sub-mode corresponds to multiple sub-mapping relationships, the power assist torque limit signal in each sub-mapping relationship can remain unchanged, and the power assist torque limit signal in each sub-mapping relationship can be the power assist torque limit signal when entering the sub-mapping relationship.

[0050] In order to facilitate the understanding of the above technical solution, the following Figure 3 , supplementary explanation is given to the dual slope hysteresis control algorithm in the above embodiment. Figure 3 FIG. 1 is a graphical representation of the complete mapping relationship between the power supply voltage signal of the vehicle's motor and the power assist torque limit signal under a possible dual-slope hysteresis control algorithm, wherein the horizontal axis in the figure is the power supply voltage signal of the vehicle's motor and the vertical axis is the power assist torque limit signal. It can be understood that according to Figure 3 The characteristic that the output signal changes with the input signal can split the complete mapping mode corresponding to the dual slope hysteresis control algorithm into:

[0051] When the input increases, the output signal is located on the upward slope line. The mapping mode corresponding to the mapping relationship at this time can be defined as an upward slope mapping mode, wherein the upward slope line can include an upward solid line and an upward dotted line, the upward dotted line is a family of parallel lines, and the corresponding output value depends on the corresponding output value when entering the upward dotted line.

[0052] When the input decreases, the output signal is located on the downward slope line. The mapping mode corresponding to the mapping relationship at this time can be defined as a downward slope mapping mode, wherein the downward slope line can include a downward solid line and a downward dotted line, the downward dotted line is a family of parallel lines, and the corresponding output value depends on the corresponding output value when entering the downward dotted line.

[0053] In addition, the mapping relationship corresponding to entering the uplink sub-mode may be the mapping relationship corresponding to the starting point N of the uplink solid line; the mapping relationship corresponding to entering the downlink sub-mode may be the mapping relationship corresponding to the starting point M of the downlink solid line.

[0054] In summary, when the input power supply voltage signal of the vehicle's motor is a specific value, the output power assist torque limit signal has infinite possibilities, and the method for determining the specific output value is difficult to quantitatively describe using a simple mathematical formula.

[0055] For example, Figure 3As shown, assuming that the input-output mapping relationship at the current moment is on the upward solid line, and the input is a, and the output is b, when the input continues to increase, the output will continue to increase along the upward solid line until it reaches the output holding line; when the input continues to decrease, the output will switch from the upward solid line to the downward dotted line Y=b, and the output will always be b unchanged, and after reaching the intersection O of the downward dotted line Y=b and the downward solid line, it will continue to decrease along the downward solid line. The changes in the mapping relationship in other cases refer to the above examples and will not be repeated here. It can be seen that the algorithm can not only effectively suppress the high-frequency oscillation of the output power torque limit signal, but also avoid the discontinuity problem of the output power torque limit signal caused by the step hysteresis loop.

[0056] S202: The computer device obtains a plurality of switching conditions existing in a plurality of mapping modes, where the switching conditions are preset conditions satisfied when one mapping mode is switched to another mapping mode.

[0057] Specifically, the computer device may obtain multiple switching conditions existing in multiple mapping modes, and the switching conditions may be preset conditions satisfied when one mapping mode is switched to another mapping mode.

[0058] Based on the above Figure 3 From the exemplary description, it can be understood that in the above dual slope hysteresis control algorithm, all existing switching conditions need to be defined in order to splice multiple mapping modes to form a complete and continuous input-output mapping relationship.

[0059] Exemplarily, one of the preset conditions related to the uplink online sub-mode can be defined as: the mapping mode at the previous moment is the uplink online sub-mode, and the input at the current moment is less than the input at the previous moment. Assuming that the input-output mapping relationship at the current moment is on the uplink solid line, that is, the mapping mode is the uplink online sub-mode at this time, at the next moment, if the input decreases, the mapping mode can be switched from the uplink online sub-mode to the downlink offline sub-mode.

[0060] Exemplarily, one of the preset conditions related to the output hold mode can be defined as: the mapping mode at the previous moment is the output hold mode, and the input at the current moment is the horizontal coordinate value of the starting point M of the downward solid line. Assuming that the input-output mapping relationship at the current moment is located on the output hold line, that is, the mapping mode at this moment is the output hold mode, at the next moment, if the input is reduced to the horizontal coordinate value of point M, the mapping mode can be switched from the output hold mode to the downward sub-mode.

[0061] The above examples only illustrate two switching conditions existing in the various mapping modes in the present invention, but not all of them. Other switching conditions will not be described in detail here.

[0062] S203: The computer device establishes a vehicle steering assistance model according to the mapping relationship corresponding to each mapping mode and multiple switching conditions.

[0063] It can be understood that, based on the mapping relationship corresponding to each of the above mapping modes and the multiple switching conditions existing in the multiple mapping modes, a complete and continuous mapping relationship can be spliced ​​together.

[0064] Specifically, the computer device can determine a complete and continuous mapping relationship based on the mapping relationship corresponding to each mapping mode and multiple switching conditions, and establish a vehicle steering assist model based on the mapping relationship. The input of the vehicle steering assist model can be the power supply voltage signal of the vehicle's motor, and the output of the vehicle steering assist model can be a power assist torque limit signal.

[0065] S204. The computer device establishes a library module according to the vehicle power steering model, and the library module is used to determine the target power steering torque limit signal when it is called.

[0066] Specifically, the computer device can encapsulate the vehicle power steering model into a library module in the modeling tool and reserve input and output ports, wherein the library module is used to determine the target power steering torque limit signal when being called.

[0067] It is understandable that the modeling tool comes with a set of modeling library modules, which can better support the development of various control algorithms. It also supports the development of custom library modules based on encapsulation technology. Users can develop exclusive custom library modules based on this module encapsulation technology. For example, the modeling tool can be Simulink software. The library module can be a standardized library module that can be called directly. For example, in actual application scenarios, the library module can be directly called by computer equipment to output the power torque limit signal to control the steering of the vehicle. For example, in the application software development scenario, the library module can be directly called by the modeling tool to build a complex control algorithm model together with other models in a building block manner.

[0068] The method for constructing a vehicle steering assistance model provided in this embodiment is that a computer device obtains a mapping relationship corresponding to each mapping mode in a plurality of mapping modes, each mapping relationship is a relationship between a power supply voltage signal of a motor of a vehicle and a power assistance torque limit signal, and a plurality of mapping relationships are obtained by adopting a dual-slope hysteresis control algorithm, and a plurality of switching conditions existing in a plurality of mapping modes are obtained, and a switching condition is a preset condition satisfied when a mapping mode is switched to another mapping mode, and a vehicle steering assistance model is established according to the mapping relationship corresponding to each mapping mode and the plurality of switching conditions, and a library module is established according to the vehicle steering assistance model, and the library module is used to determine a target power assistance torque limit signal when it is called. The present invention encapsulates the complex nonlinear relationship between the power supply voltage signal and the power assistance torque limit signal of the motor of a vehicle obtained by adopting the dual-slope hysteresis control algorithm into a standardized library module, so that the quantitative description of the complex nonlinear relationship between the power supply voltage signal and the power assistance torque limit signal of the motor of the vehicle under the dual-slope hysteresis control algorithm can be accurately and efficiently realized, and the vehicle steering assistance model obtained by the algorithm can be directly called in an actual application scenario or an application software model development scenario, thereby improving the versatility of the vehicle steering assistance model.

[0069] Optionally, based on the above embodiment, Figure 2 ,like Figure 4 As shown, the method for constructing the vehicle power steering model also includes:

[0070] S401. The computer device inputs the verification voltage waveform signal into the vehicle power steering model to obtain the verification power steering torque limit waveform signal output by the vehicle power steering model.

[0071] It is understandable that after the vehicle power steering model is established, the computer device can simulate and verify the function of the vehicle power steering model to verify whether the vehicle power steering model can be used normally.

[0072] Specifically, the computer device may input the verification voltage waveform signal into the vehicle power steering model to obtain the verification power steering torque limit waveform signal output by the vehicle power steering model.

[0073] For example, Figure 5 This is the simulation result diagram of the vehicle power steering model. Figure 5 From top to bottom are the input signal waveform diagram (the waveform diagram for verifying the voltage waveform signal), the hysteresis activation mark diagram, and the output signal waveform diagram (the waveform diagram for verifying the assist torque limit waveform signal). Among them, in the hysteresis activation mark diagram, when the hysteresis activation mark is 1 (the second signal value in the diagram is 1), it indicates that the dual slope hysteresis control algorithm is in effect, and the mapping relationship between input and output is calculated according to the dual slope hysteresis control algorithm in this application. Figure 5It can be seen that when the input signal continues to decrease and the dual slope hysteresis control algorithm is activated, as the input signal decreases, the output signal decreases continuously and smoothly along the downward solid line. When the input signal changes from continuously decreasing to continuously increasing, it first enters the upward offline mode, and the output remains unchanged along the upward dotted line. When the input signal continues to increase to the intersection of the upward dotted line and the upward solid line, the output mode switches to the upward online mode. As the input increases, the output increases continuously and smoothly along the upward solid line.

[0074] S402: When the computer device determines that the verification power-assist torque limit waveform signal satisfies a preset condition, it determines that the function verification of the vehicle power-assist model has passed.

[0075] Specifically, the computer device may obtain a verification power-assist torque limit waveform signal, and determine that the function verification of the vehicle steering power-assist model has passed when it is determined that the verification power-assist torque limit waveform signal satisfies a preset condition.

[0076] Exemplarily, the preset condition may be: the output signal is a continuous signal and the oscillation frequency of the output signal is lower than a preset frequency.

[0077] In this embodiment, the computer device inputs the verification voltage waveform signal into the vehicle steering assist model, obtains the verification assist torque limit waveform signal output by the vehicle steering assist model, and determines whether the function verification of the vehicle steering assist model has passed based on the verification assist torque limit waveform signal, which can greatly improve the reliability of the library module.

[0078] It can be understood that the above embodiment only takes the dual slope hysteresis control algorithm in the control field of the assist torque limit waveform signal as an example to illustrate that on this basis, any complex nonlinear control algorithm can be modeled using the technical concepts in this application in practical applications, and should not be considered to exceed the scope of protection of the present invention.

[0079] Based on the introduction of the construction method of the vehicle steering assist model in the above embodiment, Figure 6 A flow chart of a vehicle steering assist control method provided by an embodiment of the present invention is as follows: Figure 6 As shown, the vehicle steering assist control method includes:

[0080] S601. The computer device obtains a current voltage signal at the current moment, as well as a previous voltage signal, a previous assist torque limit signal, and a previous mapping mode at a moment before the current moment.

[0081] It can be understood that this embodiment is an application method of the library module described in the above embodiments, which is specifically used to control the assist torque when the vehicle is turning.

[0082] Specifically, the computer device may obtain a current voltage signal at the current moment, and a previous voltage signal, a previous assist torque limit signal, and a previous mapping mode at a moment before the current moment.

[0083] S602. The computer device calls the library module.

[0084] Specifically, the computer device can call out the library module from the modeling tool.

[0085] S603, the computer device determines the current mapping mode according to the current voltage signal, the previous voltage signal and the previous mapping relationship through the library module, and determines the current assist torque limit signal according to the mapping relationship corresponding to the current mapping mode and the current voltage signal.

[0086] Specifically, the computer device can determine the current mapping mode according to the current voltage signal, the previous voltage signal and the previous mapping relationship through the library module, and determine the current assist torque limit signal according to the mapping relationship corresponding to the current mapping mode and the current voltage signal.

[0087] S604: The computer device controls the power assist torque when the vehicle is turning according to the current power assist torque limit signal.

[0088] Specifically, the computer device may control the assist torque when the vehicle is turning according to the current assist torque limit signal.

[0089] In this embodiment, the computer device obtains the current voltage signal at the current moment, as well as the previous voltage signal, the previous power assist torque limit signal and the previous mapping mode at the previous moment before the current moment, and calls the library module. Through the library module, the current mapping mode is determined according to the current voltage signal, the previous voltage signal and the previous mapping relationship, and the current power assist torque limit signal is determined according to the mapping relationship corresponding to the current mapping mode and the current voltage signal, and the power assist torque during vehicle steering is controlled according to the current power assist torque limit signal, thereby controlling the steering of the vehicle.

[0090] The above mainly introduces the solution provided by the embodiment of the present invention from the perspective of the device. It is understandable that in order to realize the above functions, the device includes a hardware structure and / or software module corresponding to each function. Those skilled in the art should easily realize that, in combination with the algorithm steps of each example described in the embodiment disclosed in this article, the present invention can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0091] Figure 7 A schematic diagram of a possible vehicle power steering model construction device is shown, such as Figure 7 As shown, the vehicle power steering model construction device may include a first acquisition module 71 , a second acquisition module 72 , a modeling module 73 and a packaging module 74 .

[0092] The first acquisition module 71 is used to obtain a mapping relationship corresponding to each of the multiple mapping modes, each mapping relationship is a relationship between a power supply voltage signal of a motor of the vehicle and a power assist torque limit signal, and the multiple mapping relationships are obtained by adopting a dual slope hysteresis control algorithm.

[0093] The second acquisition module 72 is used to acquire a plurality of switching conditions existing in the plurality of mapping modes, wherein the switching conditions are preset conditions satisfied when one mapping mode is switched to another mapping mode.

[0094] The modeling module 73 is used to establish the vehicle steering assistance model according to the mapping relationship corresponding to each mapping mode and the multiple switching conditions.

[0095] The encapsulation module 74 is used to encapsulate the vehicle power steering model into a library module in the modeling tool, and the library module is used to determine the target power steering torque limit signal when being called.

[0096] Optional, such as Figure 8 As shown, the construction device of the vehicle steering assist model also includes a simulation module 75 and a determination module 76; the simulation module 75 is used to input the verification voltage waveform signal into the vehicle steering assist model to obtain the verification assist torque limit waveform signal output by the vehicle steering assist model; the determination module 76 is used to determine whether the function verification of the vehicle steering assist model has passed when it is determined that the verification assist torque limit waveform signal meets the preset conditions.

[0097] Optionally, the multiple mapping modes include a ramp-up mapping mode, a ramp-down mapping mode and an output hold mapping mode; the mapping relationship corresponding to the ramp-up mapping mode is used to determine the corresponding assist torque limit signal when the power supply voltage signal increases; the mapping relationship corresponding to the ramp-down mapping mode is used to determine the corresponding assist torque limit signal when the power supply voltage signal decreases; in the mapping relationship corresponding to the output hold mapping mode, regardless of whether the power supply voltage signal increases or decreases, the corresponding assist torque limit signal remains at a preset value.

[0098] Optionally, the ramp up mapping mode includes entering an up sub-mode, an up line sub-mode and an up line sub-mode; the mapping relationship corresponding to entering the up sub-mode is used to represent the mapping relationship of entering the up line sub-mode when the dual slope hysteresis control algorithm takes effect; in the mapping relationship corresponding to the up line sub-mode, the assist torque limit signal is linearly positively correlated with the supply voltage signal; the up line sub-mode corresponds to multiple sub-mapping relationships, the assist torque limit signal in each sub-mapping relationship remains unchanged, and the assist torque limit signal in each sub-mapping relationship is the assist torque limit signal when entering the sub-mapping relationship.

[0099] Optionally, the ramp down mapping mode includes entering a downlink sub-mode, a downlink online sub-mode and a downlink offline sub-mode; the mapping relationship corresponding to entering the downlink sub-mode is used to represent the mapping relationship of entering the downlink online sub-mode when the dual slope hysteresis control algorithm takes effect; in the mapping relationship corresponding to the downlink online sub-mode, the assist torque limit signal is linearly negatively correlated with the supply voltage signal; the downlink offline sub-mode corresponds to multiple sub-mapping relationships, the assist torque limit signal in each sub-mapping relationship remains unchanged, and the assist torque limit signal in each sub-mapping relationship is the assist torque limit signal when entering the sub-mapping relationship.

[0100] Fig. 9 A possible schematic diagram of a vehicle steering assist control device is shown in FIG. Fig. 9 As shown, the vehicle steering assist control device may include an acquisition module 91 , a calling module 92 , a calculation module 93 and a control module 94 .

[0101] The acquisition module 91 is used to acquire the current voltage signal at the current moment, and the previous voltage signal, the previous assist torque limit signal and the previous mapping mode at the previous moment before the current moment.

[0102] The calling module 92 is used to call the library module.

[0103] The calculation module 93 is used to determine the current mapping mode according to the current voltage signal, the previous voltage signal and the previous mapping relationship through the library module, and determine the current assist torque limit signal according to the mapping relationship corresponding to the current mapping mode and the current voltage signal.

[0104] The control module 94 is used to control the assist torque when the vehicle is turning according to the current assist torque limit signal.

[0105] Of course, the vehicle steering assistance model construction device and the vehicle steering assistance control device provided by the embodiments of the present invention include but are not limited to the above modules.

[0106] The vehicle power steering model construction device provided in the embodiment of the present invention is used to execute the above-mentioned vehicle power steering model construction method, and thus can achieve the same effect as the above-mentioned vehicle power steering model construction method.

[0107] The vehicle steering assist control device provided by the embodiment of the present invention is used to execute the above-mentioned vehicle steering assist control method, and thus can achieve the same effect as the above-mentioned vehicle steering assist control method.

[0108] Another embodiment of the present invention further provides a computer device, the computer device comprising: a processor and a memory. The memory is used to store computer program code, and the computer program code includes computer instructions. When the processor executes the computer instructions, the computer device executes the vehicle steering assistance model construction method or vehicle steering assistance control method shown in the above method embodiment.

[0109] Another embodiment of the present invention further provides a computer-readable storage medium, which stores computer instructions. When the computer instructions are executed on a computer device, the computer device executes each step executed by the computer device in the method flow shown in the above method embodiment.

[0110] Another embodiment of the present invention further provides a computer program product, which includes computer instructions. When the computer instructions are executed on a computer device, the computer device executes each step executed by the computer device in the method flow shown in the above method embodiment.

[0111] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A method for constructing a vehicle power steering model, characterized in that: include: Obtaining a mapping relationship corresponding to each of the multiple mapping modes, wherein the mapping relationship is a relationship between a power supply voltage signal of a vehicle motor and a power assist torque limit signal, and the mapping relationship is obtained by adopting a dual-slope hysteresis control algorithm; the multiple mapping modes include a ramp-up mapping mode, a ramp-down mapping mode, and an output-hold mapping mode; the mapping relationship corresponding to the ramp-up mapping mode is used to determine the corresponding power assist torque limit signal when the power supply voltage signal increases; the mapping relationship corresponding to the ramp-down mapping mode is used to determine the corresponding power assist torque limit signal when the power supply voltage signal decreases; in the mapping relationship corresponding to the output-hold mapping mode, the power assist torque limit signal corresponding to the power supply voltage signal is maintained at a preset value; Acquire multiple switching conditions in the multiple mapping modes, where the switching conditions are preset conditions satisfied when one mapping mode is switched to another mapping mode; Establishing the vehicle steering assistance model according to the mapping relationship corresponding to each mapping mode and the multiple switching conditions; A library module is established according to the vehicle steering assistance model, and the library module is used to determine a target assistance torque limit signal when being called.

2. The method according to claim 1, characterized in that Before establishing a library module according to the vehicle power steering model, the method further includes: Inputting the verification voltage waveform signal into the vehicle steering assistance model to obtain a verification assistance torque limit waveform signal output by the vehicle steering assistance model; When it is determined that the verification assist torque limit waveform signal satisfies a preset condition, it is determined that the function verification of the vehicle steering assist model has passed.

3. The method according to claim 1, characterized in that The ramp up mapping mode includes entering an uplink sub-mode, an uplink online sub-mode and an uplink offline sub-mode; The mapping relationship corresponding to entering the uplink sub-mode is used to represent the mapping relationship of entering the uplink sub-mode when the dual-slope hysteresis control algorithm takes effect; In the mapping relationship corresponding to the sub-mode on the uplink line, the assist torque limit signal is linearly positively correlated with the supply voltage signal; The upline sub-mode corresponds to a plurality of sub-mapping relationships, the power assist torque limit signal in each sub-mapping relationship remains unchanged, and the power assist torque limit signal in each sub-mapping relationship is the power assist torque limit signal when entering the sub-mapping relationship.

4. The method according to claim 1, characterized in that: The ramp down mapping mode includes entering a downlink sub-mode, a downlink online sub-mode and a downlink offline sub-mode; The mapping relationship corresponding to entering the downlink sub-mode is used to represent the mapping relationship of entering the downlink line sub-mode when the dual slope hysteresis control algorithm takes effect; In the mapping relationship corresponding to the sub-mode on the downlink line, the assist torque limit signal is linearly negatively correlated with the supply voltage signal; The downlink line sub-mode corresponds to a plurality of sub-mapping relationships, the power assist torque limit signal in each sub-mapping relationship remains unchanged, and the power assist torque limit signal in each sub-mapping relationship is the power assist torque limit signal when entering the sub-mapping relationship.

5. A device for constructing a vehicle power steering model, characterized in that: The vehicle power steering model construction device comprises: a first acquisition module, for acquiring a mapping relationship corresponding to each of a plurality of mapping modes, wherein the mapping relationship is a relationship between a power supply voltage signal of a motor of a vehicle and a power assist torque limit signal, and the mapping relationship is obtained by adopting a dual-slope hysteresis control algorithm; the plurality of mapping modes include a ramp-up mapping mode, a ramp-down mapping mode, and an output-hold mapping mode; the mapping relationship corresponding to the ramp-up mapping mode is used to determine a corresponding power assist torque limit signal when the power supply voltage signal increases; the mapping relationship corresponding to the ramp-down mapping mode is used to determine a corresponding power assist torque limit signal when the power supply voltage signal decreases; in the mapping relationship corresponding to the output-hold mapping mode, the power assist torque limit signal corresponding to the power supply voltage signal is maintained at a preset value; A second acquisition module is used to acquire a plurality of switching conditions existing in the plurality of mapping modes, wherein the switching conditions are preset conditions satisfied when one mapping mode is switched to another mapping mode; A modeling module, used for establishing the vehicle steering assistance model according to the mapping relationship corresponding to each mapping mode and the multiple switching conditions; The encapsulation module is used to establish a library module according to the vehicle steering assistance model, and the library module is used to determine the target assistance torque limit signal when being called.

6. The device according to claim 5, characterized in that The device also includes: A simulation unit, used for inputting a verification voltage waveform signal into the vehicle steering assistance model to obtain a verification assistance torque limit waveform signal output by the vehicle steering assistance model; The determination unit is used to determine that the function verification of the vehicle steering power model has passed when it is determined that the verification power-assist torque limit waveform signal meets a preset condition.

7. A computer device, characterized in that: The computer device comprises: a processor and a memory; the memory is used to store computer program code, and the computer program code comprises computer instructions; when the processor executes the computer instructions, the computer device executes the method for constructing a vehicle steering assist model as described in any one of claims 1 to 4.

8. A computer-readable storage medium, characterized in that: It includes computer instructions, and when the computer instructions are executed on a computer device, the computer device executes the method for constructing a vehicle steering assist model as described in any one of claims 1 to 4.

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