Vehicle driving linkage control method, system, storage medium and vehicle

Abstract

The present invention proposes a vehicle driving linkage control method, system, storage medium and vehicle. The method includes: when the vehicle information module obtains an association request issued by the user triggering the linkage switch, actively sending an association control instruction to the motion state monitoring module according to the association request, so that the motion state monitoring module and the power steering module enter a linkage mode; and obtaining the vehicle speed information and steering wheel torque information at a first preset time interval to determine whether the motion state switching condition is met; if the motion state switching condition is met, the current mode is switched, and the switched motion state is sent to the power steering module, so that the power steering module switches the current steering mode in a linkage manner according to a preset control strategy. The vehicle driving linkage control method proposed by the present invention can control the switching of the power steering mode in a linkage manner, eliminating the need for the driver to frequently manually switch the power steering mode while driving, greatly improving the driving experience.

Description

Technical Field

[0001] The present invention relates to the field of vehicle internet technology, and in particular to a vehicle driving linkage control method, system, storage medium and vehicle. Background Art

[0002] With the advancement of electrification in the automotive industry, electric power steering has become widely used in passenger cars. Simultaneously, demand for steering comfort is increasing. Different customers have varying requirements for hand strength. For example, men generally have stronger hands than women. Furthermore, different road conditions dictate different hand strength requirements. Low-speed urban roads favor light hand force to reduce fatigue, while suburban and highway conditions favor heavy hand force to maintain control. To accommodate these diverse customer groups and driving environments, multi-mode steering (hereafter referred to as steering modes) was developed.

[0003] In the existing technology, a power steering switch button is generally installed in the vehicle, and the driver can switch the steering mode by pressing the button. Although this method can realize personalized selection of the power steering mode, as road traffic becomes more complicated, the driver needs to frequently switch the power steering mode to adjust the hand force, which leads to a decline in driving experience, distracts the driver's attention, and increases the risk of safe driving. Summary of the Invention

[0004] Based on this, the purpose of the present invention is to propose a vehicle driving linkage control method, system, storage medium and vehicle to solve the poor driving experience and high safety driving risk caused by the traditional use of button switching power steering mode.

[0005] The vehicle driving linkage control method proposed in the present invention is implemented by a linkage control system, which includes an on-board information module, a motion state monitoring module, a power steering module, and a linkage switch. The method includes:

[0006] When the vehicle information module obtains an association request issued by the user triggering the linkage switch, the vehicle information module actively sends an association control instruction to the motion state monitoring module according to the association request, so that the motion state monitoring module enters a linkage mode with the power steering module according to the association control instruction, and the linkage mode is that the steering mode corresponding to the power steering module follows the motion state corresponding to the motion state monitoring module according to a preset control strategy;

[0007] After entering the linkage mode, the motion state monitoring module obtains vehicle speed information and steering wheel torque information of the vehicle at a first preset time interval, and determines whether a motion state switching condition is met based on the vehicle speed information and the steering wheel torque information;

[0008] If the motion state switching condition is met, the motion state monitoring module switches the current mode and sends the switched motion state to the power steering module, so that the power steering module switches the current steering mode in conjunction with a preset control strategy.

[0009] In summary, according to the above-mentioned vehicle driving linkage control method, by linking the motion state with the power steering mode and simultaneously monitoring in real time whether the vehicle's motion state changes, the power steering mode is switched by linkage control. This adapts to the driving environment while automatically adjusting the power steering mode, eliminating the need for the driver to frequently switch the power steering mode while driving, greatly improving the driving experience. Specifically, after the vehicle information module receives an association request, it sends an association control instruction to the motion state monitoring module based on the association request, causing the driving monitoring module and the power steering module to enter a forced linkage. That is, the power steering module changes with the motion state switching based on a preset control strategy. When entering the linkage mode, the driving monitoring module begins to monitor the vehicle's speed information and steering wheel torque information in real time to determine whether the vehicle meets the motion state switching conditions. If the switching conditions are met, the motion state monitoring module changes the current motion state accordingly, and based on the forced linkage relationship, the power steering mode is also switched accordingly. This achieves the purpose of automatically switching the power steering mode according to the driving environment, eliminating the need for the driver to frequently adjust the mode during driving, reducing the driving burden, avoiding distraction of the driver's attention, and improving the driving experience while reducing safety driving risks.

[0010] Furthermore, after entering the linkage mode, the motion state monitoring module obtains vehicle speed information and steering wheel torque information at first preset intervals, and determines whether a motion state switching condition is met based on the vehicle speed information and the steering wheel torque information. The steps include:

[0011] Obtaining a current motion state of the vehicle, and retrieving a speed range and a steering wheel torque range corresponding to the current motion state from a preset database based on the current motion state, wherein the motion state includes a first-level motion mode, a second-level motion mode, and a third-level motion mode, wherein the hand force torque corresponding to the first-level motion mode is greater than the hand force torque corresponding to the second-level motion mode, and the hand force torque corresponding to the second-level motion mode is greater than the hand force torque corresponding to the third-level motion mode;

[0012] It is determined whether the hand torque applied to the vehicle is insufficient or excessive according to the steering wheel torque information and the steering wheel torque range.

[0013] Furthermore, the speed range includes an upper speed limit and a lower speed limit corresponding to the current motion state, and the steering wheel torque range includes a lower hand torque limit and an upper hand torque limit corresponding to the current mode.

[0014] Furthermore, after the step of determining whether the hand torque applied to the vehicle is insufficient or excessive based on the steering wheel torque information and the steering wheel torque range, the method further includes:

[0015] If the manual torque applied to the vehicle is insufficient, it is determined whether the current speed of the vehicle is greater than the upper speed limit corresponding to the current motion state or less than the lower speed limit corresponding to the current motion state;

[0016] If the current vehicle speed is greater than the speed upper limit corresponding to the current motion state, the current motion state is switched to the first level motion mode or the second level motion mode accordingly, and the torque assist mode is controlled to switch accordingly according to the switched motion state;

[0017] If the current speed of the vehicle is less than the lower speed limit corresponding to the current motion state, the current motion state will be switched to the second-level motion mode or the third-level motion mode accordingly, so that the switched motion state corresponds to the current torque assist mode.

[0018] Furthermore, after the step of determining whether the hand torque applied to the vehicle is insufficient or excessive based on the steering wheel torque information and the steering wheel torque range, the method further includes:

[0019] If the manual torque applied to the vehicle is excessive, it is determined whether the current speed of the vehicle is less than the speed upper limit corresponding to the current motion state;

[0020] If the current speed of the vehicle is less than the speed upper limit corresponding to the current motion state, the current motion state will be switched to the second-level motion mode or the third-level motion mode, and the torque assist mode will be controlled in linkage according to the switched motion state.

[0021] Furthermore, the step of obtaining the current speed of the vehicle includes:

[0022] acquiring wheel speed signals of the four wheels of the vehicle at every second preset time, and acquiring wheel acceleration of each wheel based on the wheel speed signals at adjacent moments;

[0023] Obtaining an average wheel acceleration of the vehicle based on the wheel acceleration of each wheel, and obtaining a difference between any wheel acceleration and the average wheel acceleration;

[0024] Determining whether the difference between any wheel acceleration and the average wheel acceleration is less than a first preset difference;

[0025] If the difference between any wheel acceleration and the average wheel acceleration is less than the first preset difference, the average wheel speed is obtained according to the wheel speed of each wheel, and the average wheel speed is determined to be the current vehicle speed.

[0026] Furthermore, the step of determining whether the difference between any wheel acceleration and the average wheel acceleration is less than a first preset difference further includes:

[0027] If the difference between the acceleration of a certain wheel and the average wheel acceleration is not less than a first preset difference, it is determined that the vehicle corresponding to the wheel that is not less than the first preset difference is slipping, and the current speed of the vehicle is calculated based on the wheel speed corresponding to the non-slipping wheel.

[0028] According to an embodiment of the present invention, a vehicle driving linkage control system includes:

[0029] The vehicle information module, when receiving an association request issued by a user triggering the linkage switch, actively sends an association control instruction to the motion state monitoring module according to the association request, so that the motion state monitoring module enters a linkage mode with the power steering module according to the association control instruction, wherein the linkage mode is that the steering mode corresponding to the power steering module follows the motion state corresponding to the motion state monitoring module according to a preset control strategy;

[0030] a motion state monitoring module, configured to obtain vehicle speed information and steering wheel torque information of the vehicle at first preset intervals after entering the linkage mode, and determine whether a motion state switching condition is satisfied based on the vehicle speed information and the steering wheel torque information;

[0031] and is used to switch the current mode if the motion state switching condition is met, and send the switched motion state to the power steering module;

[0032] The power steering module is used to switch the current steering mode in a linked manner according to the preset control strategy.

[0033] Another aspect of the present invention provides a storage medium, comprising one or more programs stored in the storage medium, which implement the vehicle driving linkage control method as described above when the program is executed.

[0034] Another aspect of the present invention provides a vehicle, comprising a memory and a processor, wherein:

[0035] The memory is used to store computer programs;

[0036] When the processor is used to execute the computer program stored in the memory, the vehicle driving linkage control method as described above is implemented.

[0037] Additional aspects and advantages of the present invention will be set forth in part in the following description and, in part, will be obvious from the following description, or may be learned through embodiments of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 This is a flow chart of the vehicle driving linkage control method proposed in the first embodiment of the present invention;

[0039] Figure 2 This is a flow chart of a vehicle driving linkage control method proposed in a second embodiment of the present invention;

[0040] Figure 3 This is a schematic structural diagram of a vehicle personalized configuration system proposed in the third embodiment of the present invention.

[0041] The following specific embodiments will further illustrate the present invention in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0042] To facilitate understanding of the present invention, the present invention will be described more fully below with reference to the accompanying drawings. The drawings illustrate several embodiments of the present invention. However, the present invention may be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and comprehensive understanding of the present invention.

[0043] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this invention pertains. The terms used in this specification of the present invention are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0044] See also Figure 1 , shown is a flow chart of a vehicle driving linkage control method in a first embodiment of the present invention, which is implemented by a linkage control system. The linkage control system includes a vehicle information module, a motion state monitoring module, a power steering module, and a linkage switch. The method includes steps S01 to S03, wherein:

[0045] Step S01: When the vehicle information module obtains an association request issued by the user triggering the linkage switch, the vehicle information module actively sends an association control instruction to the motion state monitoring module according to the association request, so that the motion state monitoring module enters a linkage mode with the power steering module according to the association control instruction, and the linkage mode is that the steering mode corresponding to the power steering module follows the motion state corresponding to the motion state monitoring module according to a preset control strategy.

[0046] It should be noted that after the vehicle is powered on, the on-board information module will monitor every third preset time whether it receives an association request issued by the user triggering the linkage switch. The linkage switch is installed around the vehicle display instrument to facilitate driver control. If the association request is received through real-time monitoring, an association control instruction will be sent to the motion status monitoring module, thereby forcing the motion status monitoring module and the power steering module to be linked.

[0047] Furthermore, if the user does not trigger the linkage switch, the power steering module and the motion state monitoring module will not enter the linkage mode, that is, the present invention retains the personalized selection of the power steering mode to give the user more driving options.

[0048] Step S02: After entering the linkage mode, the motion state monitoring module obtains vehicle speed information and steering wheel torque information at a first preset time interval to determine whether a motion state switching condition is met based on the vehicle speed information and the steering wheel torque information;

[0049] It can be understood that the motion state monitoring module is used to monitor the current motion state of the vehicle. In the embodiment, the motion state is defined based on the vehicle speed. The user can divide the vehicle speed into multiple intervals from 0-120km / h according to his or her driving habits. Each speed interval corresponds to a motion state and is matched with a moderate hand torque. When the vehicle speed changes greatly, the motion state monitoring module determines that the current motion state does not match the speed interval corresponding to the previous setting based on the vehicle speed information, that is, the current hand torque does not match the current vehicle speed, and then determines whether the motion state switching conditions are met.

[0050] Step S03: If the motion state switching condition is met, the motion state monitoring module switches the current mode and sends the switched motion state to the power steering module, so that the power steering module switches the current steering mode in conjunction with a preset control strategy.

[0051] It can be understood that when the motion state monitoring module monitors the vehicle speed and steering wheel torque in real time, and then determines that the motion state switching conditions are met, it determines whether the current speed of the vehicle is compatible with the steering wheel torque. If not, it means that the current state of the vehicle meets the motion state switching conditions.

[0052] It should be noted that if the driving environment is more complex, such as in urban traffic, due to crowds and restrictions such as traffic regulations, the traffic conditions are generally more crowded, so the vehicle speed is generally lower, while on highways or certain national highways, the vehicle speed is generally higher. Therefore, the complexity of the driving environment determines the speed of the vehicle to a certain extent. Therefore, in this solution, by establishing a motion state for the vehicle speed range and setting an adaptive steering wheel hand force torque, the purpose of reducing or increasing the driver's hand force is achieved, and on this basis, a set of effective motion state and power steering mode linkage solutions is established.

[0053] In summary, according to the above-mentioned vehicle driving linkage control method, by linking the motion state with the power steering mode and simultaneously monitoring in real time whether the vehicle's motion state changes, the power steering mode is switched by linkage control. This adapts to the driving environment while automatically adjusting the power steering mode, eliminating the need for the driver to frequently switch the power steering mode while driving, greatly improving the driving experience. Specifically, after the vehicle information module receives an association request, it sends an association control instruction to the motion state monitoring module based on the association request, causing the driving monitoring module and the power steering module to enter a forced linkage. That is, the power steering module changes with the motion state switching based on a preset control strategy. When entering the linkage mode, the driving monitoring module begins to monitor the vehicle's speed information and steering wheel torque information in real time to determine whether the vehicle meets the motion state switching conditions. If the switching conditions are met, the motion state monitoring module changes the current motion state accordingly, and based on the forced linkage relationship, the power steering mode is also switched accordingly. This achieves the purpose of automatically switching the power steering mode according to the driving environment, eliminating the need for the driver to frequently adjust the mode during driving, reducing the driving burden, avoiding distraction of the driver's attention, and improving the driving experience while reducing safety driving risks.

[0054] See also Figure 2 , which shows a vehicle driving linkage control method in a second embodiment of the present invention, the method includes steps S101 to S108, wherein:

[0055] Step S101: When the vehicle information module obtains an association request issued by the user triggering the linkage switch, the vehicle information module actively sends an association control instruction to the motion state monitoring module according to the association request, so that the motion state monitoring module enters a linkage mode with the power steering module according to the association control instruction;

[0056] Step S102: obtaining the current motion state of the vehicle, and retrieving the speed range and steering wheel torque range corresponding to the current motion state from a preset database according to the current motion state;

[0057] It should be noted that the linkage control system also includes a motion state memory switch, which is used to record the motion state of the vehicle before the power was cut off during the last drive. During this drive, when the entire vehicle is powered on, the motion state monitoring module establishes communication with the motion state memory switch and receives the motion state sent by the motion state memory switch at the time of the power cut off during the last drive, so as to avoid the motion state returning to the default mode after the linkage mode is turned on and the vehicle is started again, causing the power steering mode to follow the switch, and avoid frequent switching of the power steering mode, which makes the customer uncomfortable.

[0058] In this embodiment, the motion state includes a first-level motion mode, a second-level motion mode and a third-level motion mode, and the hand force torque corresponding to the first-level motion mode is greater than the hand force torque corresponding to the second-level motion mode, and the hand force torque corresponding to the second-level motion mode is greater than the hand force torque corresponding to the third-level motion mode. It can be understood that the user can also add more motion states and set corresponding hand force torques according to his or her driving habits, that is, the preset database is composed of multiple motion states, and speed ranges and hand force torque ranges corresponding to each motion state.

[0059] Step S103: determining whether the hand torque applied to the vehicle is insufficient or excessive based on the steering wheel torque information and the steering wheel torque range;

[0060] It should be noted that after obtaining the current motion state of the vehicle, the motion state monitoring module obtains the corresponding steering wheel torque range based on a preset database. The motion state monitoring module then compares the real-time monitored steering wheel torque information with the hand torque range corresponding to the current motion state. If it is determined that the steering wheel torque assist information is less than the hand torque lower limit, it is determined that the hand torque applied to the vehicle is insufficient. If the monitored steering wheel hand torque is greater than the hand torque upper limit, it is determined that the hand torque applied to the vehicle is excessive. It is understandable that if the hand torque information is within the corresponding hand torque range, it means that no linkage switching is required.

[0061] Step S104: If the manual torque applied to the vehicle is insufficient, determining whether the current vehicle speed is greater than an upper speed limit corresponding to the current motion state or less than a lower speed limit corresponding to the current motion state;

[0062] Step S105: If the current vehicle speed is greater than the speed upper limit corresponding to the current motion state, the current motion state is switched to the first level motion mode or the second level motion mode, and the torque assist mode is controlled to switch accordingly according to the switched motion state;

[0063] It should be noted that if the hand torque is insufficient and the current speed of the vehicle is greater than the corresponding speed upper limit, the current motion state will be adjusted up one level, that is, if it was previously in the third level motion mode, it will be switched to the second level motion mode; if it was previously in the second level motion mode, it will be switched to the first level motion mode, and the torque-assisted steering mode will be switched accordingly, so that the hand torque can be increased to adapt to the current high vehicle speed.

[0064] Step S106: If the manual torque applied to the vehicle is excessive, determining whether the current vehicle speed is less than a lower speed limit corresponding to the current motion state;

[0065] Step S107: If the current speed of the vehicle is less than the lower speed limit corresponding to the current motion state, the current motion state is switched to the second-level motion mode or the third-level motion mode, and the torque assist mode is controlled in linkage according to the switched motion state.

[0066] It should also be noted that when the hand force torque overflows and the motion state monitoring module also monitors that the current vehicle speed is less than the corresponding lower speed limit, the driving module monitoring module will lower the current motion state by one level to reduce the hand force torque to match the current motion state.

[0067] It should also be noted that, in the step of obtaining the vehicle speed, the motion state monitoring module obtains the wheel speed signals of the four wheels of the vehicle at intervals of a second preset time, and obtains the wheel acceleration of each wheel based on the wheel speed signals at adjacent moments; obtains the average wheel acceleration of the vehicle based on the wheel acceleration of each wheel, and obtains the difference between any wheel acceleration and the average wheel acceleration; and determines whether the wheel acceleration of any vehicle is too low, that is, whether there is slippage, by monitoring the difference between the wheel accelerations of all vehicles and the average acceleration. The specific monitoring method is to determine whether the difference between any wheel acceleration and the average wheel acceleration is less than a first preset difference.

[0068] If the difference between any wheel acceleration and the average wheel acceleration is less than the first preset difference, it means that there is no situation where the wheel acceleration is obviously too low, that is, there is no vehicle slippage. Correspondingly, the average wheel speed is obtained based on the wheel speed of each wheel, and the average wheel speed is determined to be the current vehicle speed.

[0069] Furthermore, if the difference between the acceleration of a particular wheel and the average wheel acceleration is not less than a first predetermined difference, the wheel corresponding to the wheel with the difference not less than the first predetermined difference is determined to be slipping. In this case, the motion state monitoring module calculates the vehicle's current speed based on the wheel speeds of the non-slipping wheels. This means that the wheel speed data corresponding to the slipping wheel is deleted, and the average wheel speed is calculated from the speeds of all non-slipping wheels to determine the vehicle's current speed. This ensures that the vehicle speed obtained by the motion state monitoring module is more accurate, ensuring a close match between the motion state and the power steering mode.

[0070] In summary, according to the above-mentioned vehicle driving linkage control method, by linking the motion state with the power steering mode and simultaneously monitoring in real time whether the vehicle's motion state changes, the power steering mode is switched by linkage control. This adapts to the driving environment while automatically adjusting the power steering mode, eliminating the need for the driver to frequently switch the power steering mode while driving, greatly improving the driving experience. Specifically, after the vehicle information module receives an association request, it sends an association control instruction to the motion state monitoring module based on the association request, causing the driving monitoring module and the power steering module to enter a forced linkage. That is, the power steering module changes with the motion state switching based on a preset control strategy. When entering the linkage mode, the driving monitoring module begins to monitor the vehicle's speed information and steering wheel torque information in real time to determine whether the vehicle meets the motion state switching conditions. If the switching conditions are met, the motion state monitoring module changes the current motion state accordingly, and based on the forced linkage relationship, the power steering mode is also switched accordingly. This achieves the purpose of automatically switching the power steering mode according to the driving environment, eliminating the need for the driver to frequently adjust the mode during driving, reducing the driving burden, avoiding distraction of the driver's attention, and improving the driving experience while reducing safety driving risks.

[0071] See also Figure 3 , which is a schematic structural diagram of a vehicle driving linkage control system in a third embodiment of the present invention, the system includes:

[0072] The vehicle information module 10, when receiving an association request issued by a user triggering the linkage switch, proactively sends an association control instruction to the motion state monitoring module according to the association request, so that the motion state monitoring module enters a linkage mode with the power steering module according to the association control instruction, wherein the linkage mode is such that the steering mode corresponding to the power steering module follows the motion state corresponding to the motion state monitoring module according to a preset control strategy;

[0073] The motion state monitoring module 20 is configured to obtain vehicle speed information and steering wheel torque information of the vehicle at first preset intervals after entering the linkage mode, and determine whether a motion state switching condition is met based on the vehicle speed information and the steering wheel torque information;

[0074] and is used to switch the current mode if the motion state switching condition is met, and send the switched motion state to the power steering module;

[0075] Furthermore, the motion state monitoring module 20 is further configured to obtain the current motion state of the vehicle and retrieve the speed range and steering wheel torque range corresponding to the current motion state from a preset database according to the current motion state;

[0076] determining whether the hand torque applied to the vehicle is insufficient or excessive based on the steering wheel torque information and the steering wheel torque range;

[0077] If the manual torque applied to the vehicle is insufficient, it is determined whether the current speed of the vehicle is greater than the upper speed limit corresponding to the current motion state;

[0078] If the current vehicle speed is greater than the speed upper limit corresponding to the current motion state, the current motion state is switched to the first level motion mode or the second level motion mode accordingly, and the torque assist mode is controlled to switch accordingly according to the switched motion state;

[0079] If the manual torque applied to the vehicle is excessive, it is determined whether the current speed of the vehicle is less than the lower speed limit corresponding to the current motion state;

[0080] If the current speed of the vehicle is less than the lower speed limit corresponding to the current motion state, the current motion state will be switched to the second-level motion mode or the third-level motion mode, and the torque assist mode will be controlled in linkage according to the switched motion state.

[0081] The power steering module 30 is used to switch the current steering mode in a coordinated manner according to a preset control strategy.

[0082] Furthermore, in some optional embodiments of the present invention, the motion state monitoring module is further configured to:

[0083] acquiring wheel speed signals of the four wheels of the vehicle at every second preset time, and acquiring wheel acceleration of each wheel based on the wheel speed signals at adjacent moments;

[0084] Obtaining an average wheel acceleration of the vehicle based on the wheel acceleration of each wheel, and obtaining a difference between any wheel acceleration and the average wheel acceleration;

[0085] Determining whether the difference between any wheel acceleration and the average wheel acceleration is less than a first preset difference;

[0086] If the difference between any wheel acceleration and the average wheel acceleration is less than a first preset difference, obtaining an average wheel speed based on the wheel speed of each wheel, and determining the average wheel speed as the current vehicle speed;

[0087] If the difference between the acceleration of a certain wheel and the average wheel acceleration is not less than a first preset difference, it is determined that the wheel corresponding to the difference not less than the first preset difference is slipping, and the current speed of the vehicle is calculated based on the wheel speed corresponding to the non-slip wheel.

[0088] In summary, according to the above-mentioned vehicle driving linkage control system, by linking the motion state with the power steering mode and simultaneously monitoring in real time whether the vehicle's motion state changes, the power steering mode is switched by linkage control. This adapts to the driving environment while automatically adjusting the power steering mode, eliminating the need for the driver to frequently switch the power steering mode while driving, greatly improving the driving experience. Specifically, after the vehicle information module receives an association request, it sends an association control instruction to the motion state monitoring module based on the association request, causing the driving monitoring module and the power steering module to enter a forced linkage. That is, the power steering module changes with the motion state switching based on a preset control strategy. When entering the linkage mode, the driving monitoring module begins to monitor the vehicle's speed information and steering wheel torque information in real time to determine whether the vehicle meets the motion state switching conditions. If the switching conditions are met, the motion state monitoring module changes the current motion state accordingly, and based on the forced linkage relationship, the power steering mode is also switched accordingly. This achieves the purpose of automatically switching the power steering mode according to the driving environment, eliminating the need for the driver to frequently adjust the mode during driving, reducing the driving burden, avoiding distraction of the driver's attention, and improving the driving experience while reducing safety driving risks.

[0089] On the other hand, the present invention further provides a storage medium on which one or more programs are stored, and when the programs are executed by a processor, the above-mentioned vehicle driving linkage control method is implemented.

[0090] On the other hand, the present invention further proposes a vehicle, comprising a memory and a processor, wherein the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory to implement the above-mentioned vehicle driving linkage control method.

[0091] Those skilled in the art will appreciate that the logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, apparatus, or device (e.g., a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device), or in conjunction with such instruction execution system, apparatus, or device. For purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transmit a program for use by an instruction execution system, apparatus, or device, or in conjunction with such instruction execution system, apparatus, or device.

[0092] More specific examples (a non-exhaustive list) of computer-readable media include the following: an electrical connection with one or more wires (electronic devices), a portable computer disk cartridge (magnetic devices), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disc read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, deciphering, or processing in another suitable manner as necessary, and then stored in a computer memory.

[0093] It should be understood that various parts of the present invention can be implemented using hardware, software, firmware, or a combination thereof. In the above-described embodiments, multiple steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used to implement the hardware: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0094] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0095] The above-described embodiments merely illustrate several implementations of the present invention, and while their descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make numerous variations and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended claims.

Claims

1. A vehicle driving linkage control method, characterized in that: This is achieved through a linkage control system, which includes a vehicle information module, a motion state monitoring module, a power steering module, and a linkage switch. The method includes: When the vehicle information module obtains an association request issued by the user triggering the linkage switch, the vehicle information module actively sends an association control instruction to the motion state monitoring module according to the association request, so that the motion state monitoring module enters a linkage mode with the power steering module according to the association control instruction, and the linkage mode is that the steering mode corresponding to the power steering module follows the motion state corresponding to the motion state monitoring module according to a preset control strategy; After entering the linkage mode, the motion state monitoring module obtains vehicle speed information and steering wheel torque information of the vehicle at a first preset time interval, and determines whether a motion state switching condition is met based on the vehicle speed information and the steering wheel torque information; If the motion state switching condition is met, the motion state monitoring module switches the current mode and sends the switched motion state to the power steering module, so that the power steering module switches the current steering mode in a linked manner according to a preset control strategy; The step of determining whether a motion state switching condition is met according to the vehicle speed information and the steering wheel torque information includes: Obtain the current motion state of the vehicle, and retrieve the speed range and steering wheel torque range corresponding to the current motion state from a preset database according to the current motion state, wherein the motion state includes a first-level motion mode, a second-level motion mode, and a third-level motion mode, the hand force torque corresponding to the first-level motion mode is greater than the hand force torque corresponding to the second-level motion mode, the hand force torque corresponding to the second-level motion mode is greater than the hand force torque corresponding to the third-level motion mode, the speed range includes a speed upper limit and a speed lower limit corresponding to the current motion state, and the steering wheel torque range includes a hand force torque lower limit and a hand force torque upper limit corresponding to the current mode, Determine whether the hand torque applied to the vehicle is insufficient or excessive based on the steering wheel torque information and the steering wheel torque range; If the hand torque applied to the vehicle is insufficient, it is determined whether the current speed of the vehicle is greater than the speed upper limit corresponding to the current motion state. If the current speed of the vehicle is greater than the speed upper limit corresponding to the current motion state, the current motion state is switched to the first level motion mode or the second level motion mode, and the torque assist mode is controlled in linkage according to the switched motion state. If the manual torque applied to the vehicle is excessive, it is determined whether the current speed of the vehicle is less than the lower speed limit corresponding to the current motion state. If the current speed of the vehicle is less than the lower speed limit corresponding to the current motion state, the current motion state is switched to the second-level motion mode or the third-level motion mode accordingly, and the torque assistance mode is controlled in linkage according to the switched motion state.

2. The vehicle driving linkage control method according to claim 1, characterized in that: The steps for obtaining the current speed of the vehicle include: acquiring wheel speed signals of the four wheels of the vehicle at every second preset time, and acquiring wheel acceleration of each wheel based on the wheel speed signals at adjacent moments; Obtaining an average wheel acceleration of the vehicle based on the wheel acceleration of each wheel, and obtaining a difference between any wheel acceleration and the average wheel acceleration; Determining whether the difference between any wheel acceleration and the average wheel acceleration is less than a first preset difference; If the difference between any wheel acceleration and the average wheel acceleration is less than the first preset difference, the average wheel speed is obtained according to the wheel speed of each wheel, and the average wheel speed is determined to be the current vehicle speed.

3. The vehicle driving linkage control method according to claim 2, characterized in that: The step of determining whether the difference between any wheel acceleration and the average wheel acceleration is less than a first preset difference further includes: If the difference between the acceleration of a certain wheel and the average wheel acceleration is not less than a first preset difference, it is determined that the wheel corresponding to the difference not less than the first preset difference is slipping, and the current speed of the vehicle is calculated based on the wheel speed corresponding to the non-slip wheel.

4. A vehicle driving linkage control system, characterized in that: The system is used to implement the vehicle driving linkage control method according to any one of claims 1 to 3, and the system includes a vehicle information module, a motion state monitoring module, a power steering module, and a linkage switch. The vehicle information module, when receiving an association request issued by a user triggering a linkage switch, actively sends an association control instruction to the motion state monitoring module according to the association request, so that the motion state monitoring module enters a linkage mode with the power steering module according to the association control instruction, wherein the linkage mode is that the steering mode corresponding to the power steering module follows the motion state corresponding to the motion state monitoring module according to a preset control strategy; a motion state monitoring module, configured to obtain vehicle speed information and steering wheel torque information of the vehicle at first preset intervals after entering the linkage mode, and determine whether a motion state switching condition is satisfied based on the vehicle speed information and the steering wheel torque information; and is used to switch the current mode if the motion state switching condition is met, and send the switched motion state to the power steering module; Power steering module, used to switch the current steering mode in a coordinated manner according to the preset control strategy; The step of determining whether a motion state switching condition is met according to the vehicle speed information and the steering wheel torque information includes: Obtain the current motion state of the vehicle, and retrieve the speed range and steering wheel torque range corresponding to the current motion state from a preset database according to the current motion state, wherein the motion state includes a first-level motion mode, a second-level motion mode, and a third-level motion mode, the hand force torque corresponding to the first-level motion mode is greater than the hand force torque corresponding to the second-level motion mode, the hand force torque corresponding to the second-level motion mode is greater than the hand force torque corresponding to the third-level motion mode, the speed range includes a speed upper limit and a speed lower limit corresponding to the current motion state, and the steering wheel torque range includes a hand force torque lower limit and a hand force torque upper limit corresponding to the current mode, Determine whether the hand torque applied to the vehicle is insufficient or excessive based on the steering wheel torque information and the steering wheel torque range; If the hand torque applied to the vehicle is insufficient, it is determined whether the current speed of the vehicle is greater than the speed upper limit corresponding to the current motion state. If the current speed of the vehicle is greater than the speed upper limit corresponding to the current motion state, the current motion state is switched to the first level motion mode or the second level motion mode, and the torque assist mode is controlled in linkage according to the switched motion state. If the manual torque applied to the vehicle is excessive, it is determined whether the current speed of the vehicle is less than the lower speed limit corresponding to the current motion state. If the current speed of the vehicle is less than the lower speed limit corresponding to the current motion state, the current motion state is switched to the second-level motion mode or the third-level motion mode accordingly, and the torque assistance mode is controlled in linkage according to the switched motion state.

5. A storage medium, characterized in that include: The storage medium stores one or more programs, which, when executed by the processor, implement the vehicle driving linkage control method as described in any one of claims 1 to 3.

6. A vehicle, characterized in that: The vehicle includes a memory and a processor, wherein: The memory is used to store computer programs; When the processor is used to execute the computer program stored in the memory, it implements the vehicle driving linkage control method described in any one of claims 1-3.

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