Active self-centering control method, device, electronic device, and storage medium

Abstract

The embodiments of the present application disclose an active self-centering control method, device, electronic device and storage medium. The method includes: obtaining a steering wheel angle, a vehicle speed, and at least one steering wheel reference data, wherein the steering wheel reference data includes a steering wheel speed and a steering wheel hand torque; determining a self-centering torque value based on the steering wheel angle, the vehicle speed and the proportional integral differential control algorithm; determining a correction coefficient that matches the steering wheel reference data based on the steering wheel reference data; correcting the self-centering torque value based on the correction coefficient, and performing active self-centering control based on the corrected self-centering torque value. This technical solution comprehensively considers various working conditions of vehicle status and driver operation, avoids the problem of interfering with driver operation by setting multiple working modes and switching back and forth, and improves the speed, accuracy and adaptability of active self-centering control.

Description

Technical Field

[0001] The present invention relates to the field of vehicle assisted driving technology, and in particular to an active self-centering control method, device, electronic device, and storage medium. Background Art

[0002] The electric power steering (EPS) system offers advantages such as speed-dependent assistance, energy conservation and environmental protection, and a simple structure. It is key to ensuring accurate steering operations by the driver under various operating conditions and enabling agile and precise vehicle steering. Active centering control is a crucial component of EPS control.

[0003] Existing active return control methods primarily use steering wheel torque thresholds, steering wheel angle direction, and speed as criteria to determine whether to enter active return mode and calculate the active return torque value. However, this approach may result in frequent switching between steering assist mode and active return mode, which, if improperly configured, can significantly interfere with driver control. Existing active return control methods can also process the steering wheel angle signal using the Kalman filter method to obtain a steering wheel speed signal. The target return speed is then determined by looking up a table based on the angle and vehicle speed. The target current of the power assist motor is then determined by the deviation between the target return speed and the actual speed signal. Finally, the target return torque value is determined by comparing the target current with the actual motor current. This approach is computationally complex and has high hardware requirements. Summary of the Invention

[0004] The present invention provides an active self-centering control method, device, electronic equipment and storage medium to improve the speed, accuracy and adaptability of the active self-centering control.

[0005] According to one aspect of the present invention, there is provided an active return control method, the method comprising:

[0006] Acquire a steering wheel angle, a vehicle speed, and at least one item of steering wheel reference data, wherein the steering wheel reference data includes a steering wheel speed and a steering wheel hand torque;

[0007] Determine the return torque value based on the steering wheel angle, vehicle speed and proportional integral differential control algorithm;

[0008] determining, based on the steering wheel reference data, a correction coefficient that matches the steering wheel reference data;

[0009] The return torque value is corrected according to the correction coefficient, and active return control is performed according to the corrected return torque value.

[0010] According to another aspect of the present invention, there is provided an active return control device, comprising:

[0011] a data acquisition module, configured to acquire a steering wheel angle, a vehicle speed, and at least one item of steering wheel reference data, wherein the steering wheel reference data includes a steering wheel speed and a steering wheel hand torque;

[0012] A return torque value determination module is used to determine the return torque value based on the steering wheel angle, vehicle speed and proportional integral differential control algorithm;

[0013] a correction coefficient determination module, configured to determine, based on the steering wheel reference data, a correction coefficient that matches the steering wheel reference data;

[0014] The return torque value correction module is used to correct the return torque value according to the correction coefficient and perform active return control according to the corrected return torque value.

[0015] According to another aspect of the present invention, an electronic device is provided, comprising:

[0016] at least one processor; and

[0017] a memory communicatively connected to the at least one processor; wherein,

[0018] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can perform the active return control method described in any embodiment of the present invention.

[0019] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the active return control method described in any embodiment of the present invention when executed.

[0020] The technical solution of the embodiment of the present application includes: obtaining a steering wheel angle, vehicle speed, and at least one steering wheel reference data, wherein the steering wheel reference data includes steering wheel speed and steering wheel hand torque; determining a return torque value based on the steering wheel angle, vehicle speed, and a proportional-integral-differential control algorithm; determining a correction coefficient that matches the steering wheel reference data based on the steering wheel reference data; correcting the return torque value based on the correction coefficient, and performing active return control based on the corrected return torque value. This technical solution corrects the return torque value using the correction coefficient, comprehensively considering various operating conditions of the vehicle state and driver operation, and avoids the problem of setting multiple operating modes and switching back and forth that interferes with driver operation. The control algorithm is simple and easy to calibrate. This technical solution also avoids the problem of obtaining the return torque through complex iterative algorithms such as the Kalman filter method in the prior art, which has high requirements for controller computing power, and the accuracy of the calculation results depends on the measurement accuracy of the sensor, which requires high hardware level of the steering system. It improves the speed, accuracy, and adaptability of active return control.

[0021] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0023] Figure 1 This is a flow chart of an active return control method provided according to the first embodiment of the present application;

[0024] Figure 2 This is a flow chart of an active return control method provided according to the second embodiment of the present application;

[0025] Figure 3 is a schematic diagram of a steering wheel speed coefficient curve provided according to the second embodiment of the present application;

[0026] Figure 4 is a schematic diagram of a hand torque coefficient curve provided according to Example 2 of the present application;

[0027] Figure 5 1 is a schematic diagram of a corrected self-aligning torque value calculation process according to an active self-aligning control method provided in Example 2 of the present application;

[0028] Figure 6 1 is a schematic structural diagram of an active return control device provided according to the third embodiment of the present application;

[0029] Figure 7 It is a structural diagram of an electronic device that implements an active return control method of an embodiment of the present application. DETAILED DESCRIPTION

[0030] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described 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 making creative efforts should fall within the scope of protection of the present invention.

[0031] It should be noted that the terms "first", "second", "target", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0032] Example 1

[0033] Figure 1 A flowchart of an active return control method is provided for the first embodiment of the present application. The embodiment of the present application is applicable to the case of performing active return control on a vehicle. The method can be executed by an active return control device. The active return control device can be implemented in the form of hardware and / or software. The active return control device can be configured in an electronic device with data processing capabilities. Figure 1 As shown, the method includes:

[0034] S110, obtaining a steering wheel angle, a vehicle speed, and at least one item of steering wheel reference data, wherein the steering wheel reference data includes a steering wheel speed and a steering wheel hand torque.

[0035] The technical solutions of the embodiments of the present application can improve the active return control portion of an electric power steering system to enhance the speed, accuracy, and adaptability of the active return control. The steering wheel angle refers to the rotation angle of the steering wheel relative to the return state. The return state refers to the state in which the steering wheel is not rotated, in which the vehicle can travel in a straight line. The steering wheel speed refers to the rotational speed of the steering wheel. The steering wheel hand torque refers to the torsional torque of the steering wheel.

[0036] In a feasible embodiment, the steering wheel angle and steering wheel torque can be obtained by a torque angle sensor installed between the steering wheel and the steering column. The vehicle speed can be obtained from the vehicle controller via the CAN (Controller Area Network) bus.

[0037] Specifically, the steering wheel angle, vehicle speed, and steering wheel reference data will affect the steering wheel return. In subsequent steps, the above data needs to be processed accordingly to determine the corresponding parameters for achieving active return control.

[0038] In this embodiment of the present application, after obtaining the steering wheel angle, vehicle speed, and at least one steering wheel reference data, the method further includes: performing low-pass filtering on the steering wheel angle, vehicle speed, and at least one steering wheel reference data. Low-pass filtering is a filtering method that allows low-frequency signals to pass normally, while blocking or weakening high-frequency signals that exceed a set threshold.

[0039] Exemplarily, a torque signal is obtained through a torque angle sensor and low-pass filtered, and the obtained low-frequency signal is the steering wheel hand torque value. A steering wheel angle signal is obtained through a torque angle sensor and low-pass filtered, and the obtained low-frequency signal is the steering wheel angle value. The vehicle speed signal is low-pass filtered, and the low-frequency signal is the vehicle speed value. The steering wheel angle signal after filtering is differentially processed to obtain a steering wheel speed value. In a feasible embodiment, the steering wheel speed value can be obtained by converting the power assist motor speed signal value. If the torque angle sensor has a speed signal output function, the speed signal can be directly collected and low-pass filtered to obtain the steering wheel speed.

[0040] Specifically, low-pass filtering can be performed based on a first-order digital low-pass filter, and the calculation method for obtaining the low-frequency signal is as follows:

[0041] Y(n)=α·X(n)+(1-α)·Y(n-1);

[0042] Where X(n) is the sensor input signal value at time n, α is the filter coefficient, and Y(n) and Y(n-1) are the sensor signal output values at time n and n-1.

[0043] S120: Determine a return torque value based on the steering wheel angle, vehicle speed, and a proportional-integral-differential control algorithm.

[0044] The PID control algorithm implements the PID control strategy. PID control combines proportional, differential, and integral control and can be implemented using a PID controller. The PID controller is the most commonly used feedback controller in industrial control. Its gains include the proportional coefficient kp, the integral coefficient ki, and the differential coefficient kd. The return torque refers to the torque applied to return the steering wheel to center.

[0045] Specifically, the return torque value can be adaptively determined based on the steering wheel angle, vehicle speed, and proportional-integral-differential control algorithm. For example, when the vehicle speed is high, the lateral force between the tire and the ground is large, which can effectively prompt the wheel to actively return to the center position. At this time, there is no need for the EPS power motor to provide a special active return torque. When the vehicle speed is low, the lateral force between the tire and the ground is not enough to return the tire to the center position, and the EPS motor needs to output an active return torque to help return it to the center position. Similarly, when the steering wheel angle is large, the active return torque provided by the EPS motor can be reduced. According to various working conditions, the gain coefficient of the proportional-integral-differential control algorithm under different working conditions can be determined, and then the return torque value under different working conditions can be determined.

[0046] The embodiment of the present application determines the gain coefficient of the proportional-integral-differential control algorithm under each working condition according to different working conditions, so that the proportional-integral-differential control has better adaptability and robustness.

[0047] S130: Determine, based on the steering wheel reference data, a correction coefficient that matches the steering wheel reference data.

[0048] Specifically, since the steering wheel reference data may affect the steering wheel's return to centering, the present embodiment adaptively determines the correction coefficient based on the steering wheel speed and / or steering wheel hand torque to more accurately complete the steering wheel return to centering.

[0049] In an embodiment of the present application, the steering wheel hand torque can reflect the driver's operation of the steering wheel. For example, when the steering wheel hand torque is zero, it reflects that the driver is not operating the steering wheel. When the steering wheel hand torque is a non-zero value, it reflects that the driver is involved in the operation of the steering wheel. Therefore, a correction coefficient matching the steering wheel hand torque can be adaptively determined.

[0050] In an embodiment of the present application, when the steering wheel speed is low, the force acting on the tire and the ground is low, and a larger active self-aligning torque is required to help the wheel return to the center. When the steering wheel speed is high, it indicates that the force acting on the tire and the ground is already pushing the tire to return to the center, and the active self-aligning torque can be appropriately reduced to prevent the steering wheel from returning to the center too quickly, resulting in overshoot and oscillation after reaching the center position. When the steering wheel speed exceeds a set threshold, it indicates that the force acting on the tire and the ground is effectively pushing the tire to return to the center. At this time, the vehicle may be in a high speed or low speed with a large steering wheel angle, so no additional self-aligning torque is required. Based on this, a correction factor that matches the steering wheel speed can be adaptively determined.

[0051] S140: Correct the aligning torque value according to the correction coefficient, and perform active aligning control according to the corrected aligning torque value.

[0052] Among them, the corrected return torque value can be used for active return control of the EPS power-assisted motor. Specifically, the correction coefficient can adjust the size of the return torque value so that the corrected return torque value is more consistent with the actual return condition of the steering wheel. It is obvious that the correction coefficient can be used in various forms to correct the return torque value, and the embodiment of the present application does not limit the specific correction process. For example: the range of the correction coefficient is [0, 1], and the correction coefficient is multiplied by the return torque value to obtain the corrected return torque value; or, the correction coefficient is a certain torque value, and the corrected return torque value can be obtained according to the addition and subtraction operation of the correction coefficient and the return torque value; or, a certain function is established, and the correction coefficient and the return torque value are substituted into the function to obtain the corrected return torque value.

[0053] In the embodiment of the present application, optionally, active self-aligning control is performed according to the corrected self-aligning torque value, including steps A1-A3:

[0054] Step A1: Obtain the assist torque value.

[0055] Step A2: superimpose the corrected aligning torque value and the assist torque value to obtain an output torque value.

[0056] Step A3: Control the motor to turn according to the output torque value.

[0057] The assist torque value can reflect the torque applied by the driver to the steering wheel. The acquisition of the assist torque value is a prior art technique and will not be further described in detail in the embodiments of this application. For example, if the assist torque value is 0 and the output torque value is negative, this indicates that the driver is not steering the vehicle, the vehicle is in the centering state, and the EPS motor is required to provide an active centering torque in the opposite direction of the steering wheel angle. If the assist torque value is positive and the corrected centering torque value is negative, the EPS motor output torque value is determined by the sum of the two values.

[0058] This solution determines the output torque value by superimposing the corrected return torque value and the power-assist torque value, and controls the motor to steer, thus avoiding the problem of interfering with the driver's operation due to switching between multiple working modes.

[0059] The technical solution of the embodiment of the present application includes: obtaining a steering wheel angle, vehicle speed, and at least one steering wheel reference data, wherein the steering wheel reference data includes steering wheel speed and steering wheel hand torque; determining a return torque value based on the steering wheel angle, vehicle speed, and a proportional-integral-differential control algorithm; determining a correction coefficient that matches the steering wheel reference data based on the steering wheel reference data; correcting the return torque value based on the correction coefficient, and performing active return control based on the corrected return torque value. This technical solution corrects the return torque value using the correction coefficient, comprehensively considering various operating conditions of the vehicle state and driver operation, and avoids the problem of setting multiple operating modes and switching back and forth that interferes with driver operation. The control algorithm is simple and easy to calibrate. This technical solution also avoids the problem of obtaining the return torque through complex iterative algorithms such as the Kalman filter method in the prior art, which has high requirements for controller computing power, and the accuracy of the calculation results depends on the measurement accuracy of the sensor, which requires high hardware level of the steering system. It improves the speed, accuracy, and adaptability of active return control.

[0060] Example 2

[0061] Figure 2 This is a flow chart of an active self-centering control method provided in the second embodiment of the present application. The embodiment of the present application specifies the determination of the correction coefficient based on the above embodiment.

[0062] like Figure 2 As shown, the method of the embodiment of the present application specifically includes the following steps:

[0063] S210, obtaining a steering wheel angle, a vehicle speed, and at least one item of steering wheel reference data, wherein the steering wheel reference data includes a steering wheel speed and a steering wheel hand torque.

[0064] S220: Determine a steering angle error based on the steering wheel angle and a preset steering wheel target angle.

[0065] The target steering wheel angle is the angle at which the steering wheel returns to its normal position and can be set to 0°. This embodiment of the present application does not limit the preset value of the steering wheel angle. The angle error is the difference between the steering wheel angle and the preset target steering wheel angle and can be represented by e. The positive or negative sign of the angle error set in this embodiment of the present application can reflect the direction in which the steering wheel returns to normal.

[0066] S230 , determining a return torque value based on the steering angle error and a proportional-integral-differential control algorithm, wherein a gain used by the proportional-integral-differential control algorithm matches the vehicle speed and the steering wheel angle.

[0067] Specifically, the gain used by the proportional-integral-differential control algorithm is determined according to the actual working conditions. The value of the gain can be calibrated to determine the working condition range in which the active return control works. The gain used by the proportional-integral-differential control algorithm is expressed as: k p (u a ,θ sw ), k i (u a ,θ sw ) and k d (u a ,θ sw ), where u a is the vehicle speed, θ sw is the steering wheel angle. The expression of the return torque value is:

[0068]

[0069] Among them, T AR (n) is the aligning torque value at time n, e(n-1) is the angular error at time n-1, and e(n) is the angular error at time n.

[0070] In the embodiments of this application, the proportional and integral components of the PID control algorithm help the tires and steering wheel return to neutral quickly and accurately. The differential component provides damping at higher vehicle speeds to prevent overshoot and oscillation after the steering wheel returns to center. Obviously, if the EPS control includes a dedicated damping control component, the above-mentioned PID control can be simplified to PID control.

[0071] S240, determine the steering wheel speed coefficient based on the steering wheel speed; wherein, the value range of the steering wheel speed coefficient is [0, 1], when the steering wheel speed is greater than the first speed threshold, the steering wheel speed coefficient is 0, when the steering wheel speed is less than or equal to the second speed threshold, the steering wheel speed coefficient is 1, when the steering wheel speed is less than or equal to the first speed threshold and greater than the second speed threshold, the smaller the steering wheel speed, the larger the steering wheel speed coefficient.

[0072] Among them, the first speed threshold and the second speed threshold can be determined according to actual conditions, and the embodiments of the present application do not limit this. For example, if the steering wheel speed is greater than the first speed threshold, the force between the tire and the ground can push the tire to return to the center, and no active return torque is required, so the speed coefficient is set to 0. If the steering wheel speed is less than or equal to the second speed threshold, an active return torque is required to help the wheel return to the center, so the steering wheel speed coefficient is set to 1. When the steering wheel speed is less than or equal to the first speed threshold and greater than the second speed threshold, an active return torque should be adaptively provided to help the wheel return to the center, and the smaller the steering wheel speed, the greater the torque provided should be.

[0073] For example, the steering wheel speed coefficient may be expressed as:

[0074]

[0075] Among them, C StrVel is the steering wheel speed coefficient, is the steering wheel speed, a StrVel and b StrVel is the curve shape coefficient, which can be obtained by calibration. For example, in a StrVel =2.18, b StrVel = 0.73 when the steering wheel speed coefficient curve is as follows Figure 3 shown.

[0076] S250, determine the hand torque coefficient based on the steering wheel hand torque; wherein, the value range of the hand torque coefficient is [0, 1]. When the steering wheel hand torque is greater than the preset hand torque threshold, the hand torque coefficient is 0. When the steering wheel hand torque is less than or equal to the preset hand torque threshold, the smaller the steering wheel hand torque, the larger the hand torque coefficient.

[0077] Among them, the preset hand torque threshold can be determined according to actual conditions, and the embodiments of the present application do not limit this. For example, when the steering wheel hand torque is greater than the preset hand torque threshold, the driver is operating the steering wheel, so the steering wheel hand torque coefficient is set to 0. When the steering wheel hand torque is less than or equal to the preset hand torque threshold, it means that the driver is not operating the steering wheel or is operating the steering wheel lightly, and the hand torque coefficient should be determined adaptively. When the preset hand torque threshold is 2Nm, the hand torque coefficient expression is as follows:

[0078]

[0079] Among them, C StrTrq is the hand torque coefficient, T sw is the steering wheel torque, a StrTrq and b StrTrq is the curve shape coefficient, which can be obtained by calibration. For example, a StrTrq =1,b StrTrq=1.6 when the hand torque coefficient curve is as follows Figure 4 shown.

[0080] It should be noted that S240 and S250 in the embodiment of the present application are only examples. In actual situations, S240 and S250 can be executed in any order or simultaneously.

[0081] S260: Taking the product of the correction coefficient and the return torque value as the corrected return torque value, and performing active return control according to the corrected return torque value.

[0082] Specifically, the corrected return torque value is obtained based on the product of the steering wheel speed coefficient and / or hand torque coefficient and the return torque value. The corrected return torque value should limit the torque value range, and its upper and lower limits are respectively the upper and lower limits of the EPS power motor value, or a value less than the maximum rated output torque of the EPS motor.

[0083] In the embodiment of the present application, the sign of the steering wheel angle can optionally be used to determine the direction of the corrected self-aligning torque. Specifically, the following can be done: based on the sign of the steering wheel angle, the sgn() function is determined, and the sgn() function is multiplied by the corrected self-aligning torque value. After obtaining the corrected self-aligning torque value, it is added to the power assist torque value to obtain the output torque value, and the motor is controlled to steer according to the output torque value.

[0084] In a specific application scenario, Figure 5 A schematic diagram of the calculation process of the corrected return torque value is provided. Figure 5 As shown, the return torque value is calculated based on the angle error between the steering wheel angle and the target angle and the proportional-integral-differential control algorithm, the hand torque coefficient is calculated based on the steering wheel hand torque, the steering wheel speed coefficient is calculated based on the steering wheel speed, and the sgn() function value is calculated based on the steering wheel angle. The torque limit processing is performed based on the product of the return torque value, the hand torque coefficient, the steering wheel speed coefficient and the sgn() function value to obtain the corrected return torque value.

[0085] The technical solution of the embodiment of the present application determines the return torque value based on the angle error and the proportional-integral-differential control algorithm. Since the gain coefficient of the proportional-integral-differential control algorithm matches the actual working conditions, the return torque value has better adaptability and robustness; the embodiment of the present application determines the steering wheel speed coefficient based on the steering wheel speed; determines the hand torque coefficient based on the steering wheel hand torque; and uses the product of the correction coefficient and the return torque value as the corrected return torque value, so that the corrected torque value reflects the influence of the steering wheel speed and the hand torque on the steering wheel return; finally, the control method proposed in the embodiment of the present application has a small amount of calculation, and the steering return characteristics of different driving styles and different vehicle models can be set by adjusting the calibrated parameters, and it is practical and adaptable.

[0086] Example 3

[0087] Figure 6 This is a structural diagram of an active return control device provided in the third embodiment of the present application. The device can execute the active return control method provided in any embodiment of the present invention and has the corresponding functional modules and beneficial effects of the execution method. Figure 6 As shown, the device includes:

[0088] A data acquisition module 310 is configured to acquire a steering wheel angle, a vehicle speed, and at least one item of steering wheel reference data, wherein the steering wheel reference data includes a steering wheel speed and a steering wheel hand torque;

[0089] A return torque value determination module 320 is used to determine the return torque value based on the steering wheel angle, vehicle speed, and a proportional-integral-differential control algorithm;

[0090] a correction coefficient determination module 330 for determining, based on the steering wheel reference data, a correction coefficient that matches the steering wheel reference data;

[0091] The return torque value correction module 340 is configured to correct the return torque value according to the correction coefficient and perform active return control according to the corrected return torque value.

[0092] Optionally, the aligning torque value determination module 320 includes:

[0093] a steering angle error determination unit, configured to determine a steering angle error based on a steering wheel angle and a preset steering wheel target angle;

[0094] The return torque value determination unit is used to determine the return torque value according to the angle error and the proportional integral differential control algorithm, wherein the gain used by the proportional integral differential control algorithm matches the vehicle speed and the steering wheel angle.

[0095] Optionally, the correction coefficient determination module 330 includes:

[0096] A steering wheel speed coefficient determination unit, configured to determine a steering wheel speed coefficient according to the steering wheel speed;

[0097] Among them, the value range of the steering wheel speed coefficient is [0,1]. When the steering wheel speed is greater than the first speed threshold, the steering wheel speed coefficient is 0. When the steering wheel speed is less than or equal to the second speed threshold, the steering wheel speed coefficient is 1. When the steering wheel speed is less than or equal to the first speed threshold and greater than the second speed threshold, the smaller the steering wheel speed, the larger the steering wheel speed coefficient.

[0098] Optionally, the correction coefficient determination module 330 includes:

[0099] A hand torque coefficient determination unit, used for determining a hand torque coefficient according to a hand torque of a steering wheel;

[0100] Among them, the value range of the hand torque coefficient is [0,1]. When the steering wheel hand torque is greater than the preset hand torque threshold, the hand torque coefficient is 0. When the steering wheel hand torque is less than or equal to the preset hand torque threshold, the smaller the steering wheel hand torque, the larger the hand torque coefficient.

[0101] Optionally, the aligning torque value correction module 340 includes:

[0102] The self-aligning torque value correction unit is used to take the product of the correction coefficient and the self-aligning torque value as the corrected self-aligning torque value.

[0103] Optionally, the aligning torque value correction module 340 includes:

[0104] An assist torque value obtaining unit, used for obtaining an assist torque value;

[0105] an output torque value determining unit, configured to superimpose the corrected self-aligning torque value and the assist torque value to obtain an output torque value;

[0106] The motor control unit is used to control the motor to turn according to the output torque value.

[0107] Optionally, the device further includes:

[0108] The low-pass filter processing module is used to perform low-pass filter processing on the steering wheel angle, the vehicle speed, and at least one steering wheel reference data.

[0109] An active return control device provided in an embodiment of the present application can execute an active return control method provided in any embodiment of the present invention, and has functional modules and beneficial effects corresponding to the execution method.

[0110] Example 4

[0111] Figure 7A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0112] like Figure 7 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., which is communicatively connected to the at least one processor 11. The memory stores a computer program that can be executed by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. Various programs and data required for the operation of the electronic device 10 can also be stored in the RAM 13. The processor 11, ROM 12, and RAM 13 are connected to each other via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0113] Multiple components in the electronic device 10 are connected to the I / O interface 15, including an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0114] The processor 11 can be any general-purpose and / or specialized processing component with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the active return control method.

[0115] In some embodiments, the active return control method can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the active return control method described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to perform the active return control method in any other appropriate manner (for example, by means of firmware).

[0116] Various embodiments of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system-on-chip systems (SOCs), programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0117] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the computer program is executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer program may be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0118] In the context of the present invention, computer-readable storage media can be tangible media that can contain or store a computer program for use with an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. Computer-readable storage media can include but are not limited to electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, computer-readable storage media can be machine-readable signal media. More specific examples of machine-readable storage media can include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0119] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0120] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0121] A computing system may include clients and servers. The clients and servers are typically remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers, creating a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host. This server is a hosting product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosting and VPS services.

[0122] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. This is not limited herein.

[0123] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. An active return control method, characterized in that: include: Acquire a steering wheel angle, a vehicle speed, and at least one item of steering wheel reference data, wherein the steering wheel reference data includes a steering wheel speed and a steering wheel hand torque; determining an angle error based on a steering wheel angle and a preset steering wheel target angle, wherein the steering wheel target angle is an angle of the steering wheel returning to a center position; The return torque value is determined based on the steering angle error and the proportional-integral-differential control algorithm, wherein the gain used by the proportional-integral-differential control algorithm matches the vehicle speed and the steering wheel angle; the gain used by the proportional-integral-differential control algorithm is determined based on the actual working conditions, and the gain used by the proportional-integral-differential control algorithm is expressed as: k p (u a ,θ sw ), k i (u a ,θ sw ) and k d (u a ,θ sw ), where u a is the vehicle speed, θ sw is the steering wheel angle, and the expression of the return torque value is: Among them, T AR (n) is the aligning torque value at time n, e(n-1) is the angular error at time n-1, and e(n) is the angular error at time n; determining, based on the steering wheel reference data, a correction coefficient that matches the steering wheel reference data; The return torque value is corrected according to the correction coefficient, and active return control is performed according to the corrected return torque value.

2. The method according to claim 1, characterized in that Determining, based on the steering wheel reference data, a correction coefficient that matches the steering wheel reference data, including: According to the steering wheel speed, the steering wheel speed coefficient is determined; Among them, the value range of the steering wheel speed coefficient is [0,1]. When the steering wheel speed is greater than the first speed threshold, the steering wheel speed coefficient is 0. When the steering wheel speed is less than or equal to the second speed threshold, the steering wheel speed coefficient is 1. When the steering wheel speed is less than or equal to the first speed threshold and greater than the second speed threshold, the smaller the steering wheel speed, the larger the steering wheel speed coefficient.

3. The method according to claim 1, characterized in that Determining, based on the steering wheel reference data, a correction coefficient that matches the steering wheel reference data, including: Determine the hand torque coefficient based on the steering wheel hand torque; Among them, the value range of the hand torque coefficient is [0,1]. When the steering wheel hand torque is greater than the preset hand torque threshold, the hand torque coefficient is 0. When the steering wheel hand torque is less than or equal to the preset hand torque threshold, the smaller the steering wheel hand torque, the larger the hand torque coefficient.

4. The method according to claim 1, wherein Correcting the aligning torque value according to the correction coefficient includes: The product of the correction coefficient and the self-aligning torque value is used as the corrected self-aligning torque value.

5. The method according to claim 4, characterized in that Active self-aligning control is performed based on the corrected self-aligning torque value, including: Acquiring a power assist torque value, wherein the power assist torque value is used to reflect the torque applied by the driver to the steering wheel; The corrected return torque value is superimposed on the assist torque value to obtain the output torque value; The motor is controlled to perform steering according to the output torque value.

6. The method according to any one of claims 1 to 5, characterized in that After obtaining the steering wheel angle, vehicle speed, and at least one steering wheel reference data, the following is also included: Low-pass filtering is performed on the steering wheel angle, the vehicle speed, and at least one steering wheel reference data.

7. An active return control device, characterized in that: include: a data acquisition module, configured to acquire a steering wheel angle, a vehicle speed, and at least one item of steering wheel reference data, wherein the steering wheel reference data includes a steering wheel speed and a steering wheel hand torque; The return torque value determination module is used to determine the steering angle error based on the steering wheel angle and a preset steering wheel target angle, wherein the steering wheel target angle is the angle of the steering wheel return position; determine the return torque value based on the steering angle error and the proportional integral differential control algorithm, wherein the gain used by the proportional integral differential control algorithm matches the vehicle speed and the steering wheel angle; the gain used by the proportional integral differential control algorithm is determined according to the actual working conditions, and the gain used by the proportional integral differential control algorithm is expressed as: k p (u a ,θ sw ), k i (u a ,θ sw ) and k d (u a ,θ sw ), where u a is the vehicle speed, θ sw is the steering wheel angle, and the expression of the return torque value is: Among them, T AR (n) is the aligning torque value at time n, e(n-1) is the angular error at time n-1, and e(n) is the angular error at time n; a correction coefficient determination module, configured to determine, based on the steering wheel reference data, a correction coefficient that matches the steering wheel reference data; The return torque value correction module is used to correct the return torque value according to the correction coefficient and perform active return control according to the corrected return torque value.

8. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor. The computer program is executed by the at least one processor so that the at least one processor can perform the active return control method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the active return control method according to any one of claims 1 to 6 when executed.

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