Steering wheel hand force adjustment method, system, device and storage medium

Abstract

The present invention provides a method, system, device, and storage medium for adjusting steering wheel hand force, belonging to the technical field of steering systems. The method comprises: in response to an on signal of an adaptive hand force calibration switch, obtaining vehicle speed and driving state data, and searching for a speed range corresponding to the vehicle speed based on the vehicle speed; determining the vehicle driving state based on the driving state data; wherein the driving state includes a straight driving state and a non-straight driving state; if the driving state is a straight driving state, searching for multiple gain factors corresponding to the speed range from low to high according to a preset gain rule; and adjusting the steering wheel hand force value in order of the gain factors from low to high to obtain the adjusted steering wheel hand force. The method achieves adaptive adjustment of the steering feel under specific driving conditions, thereby enhancing the driver's driving pleasure.

Description

Technical Field

[0001] The present invention relates to the technical field of steering systems, and in particular to a method, system, device and storage medium for adjusting steering wheel hand force. Background Art

[0002] With the development of electronic appliances and steering system technology, steer-by-wire technology has gradually matured. The steering wheel torque of steer-by-wire is completely realized by the feel simulation motor, which can better support end consumers to adaptively adjust the steering wheel feel that suits them according to their own preferences, so as to achieve a varied and interesting driving style and comprehensively enhance driving pleasure. The existing steering wheel steering feel is usually adjusted subjectively by the OEM's adjustment personnel to adjust a variety of steering feels such as comfortable and sporty. However, the steering wheel steering feel adjusted in this way has only a few preset types, and the end user can only choose from the preset steering feels. The entire vehicle cannot be adaptively adjusted according to the driver's preferences. Therefore, it is necessary to provide a steering wheel hand force adjustment method, system, device and storage medium. Summary of the Invention

[0003] In view of the above shortcomings of the prior art, the purpose of the present invention is to provide a method, system, device and storage medium for adjusting steering wheel hand force, so as to improve the problem in the prior art that the steering wheel hand force has only a few preset types and cannot be adaptively changed according to user needs.

[0004] To achieve the above and other related purposes, the present invention provides a method for adjusting steering wheel hand force, comprising the following steps:

[0005] In response to an on signal of the hand force adaptive calibration switch, obtaining vehicle speed and driving state data of the vehicle, and searching for a vehicle speed interval corresponding to the vehicle speed based on the vehicle speed;

[0006] Determining the driving state of the vehicle based on the driving state data; wherein the driving state includes a straight state and a non-straight state;

[0007] If the driving state is a straight state, searching for a plurality of gain factors corresponding to the vehicle speed range from low to high according to a preset gain rule;

[0008] The hand force values ​​of the steering wheel are adjusted in order from low to high according to the gain factors to obtain the adjusted steering wheel hand force.

[0009] In one embodiment of the present invention, the driving state data includes: a yaw rate signal, a lateral acceleration signal, a steering wheel force signal, and a steering wheel angle signal.

[0010] In one embodiment of the present invention, searching for multiple gain factors corresponding to the vehicle speed range according to a preset gain rule includes:

[0011] In the gain rule, searching for a time interval corresponding to the vehicle speed interval; wherein the gain rule includes a plurality of different time intervals, each time interval corresponding to a vehicle speed interval;

[0012] According to the time intervals corresponding to the vehicle speed intervals, the preset initial gain factors are iteratively processed to obtain a plurality of different gain factors.

[0013] In one embodiment of the present invention, after searching for the gain factor corresponding to the vehicle speed range, the method further includes:

[0014] Determining whether the gain factor is within a preset gain threshold range;

[0015] If the gain factor is not within the gain threshold interval, replacing the gain factor with the gain threshold interval boundary value to which the gain factor is closest;

[0016] If the gain factor is within the gain threshold range, the gain factor is kept unchanged.

[0017] In one embodiment of the present invention, after adjusting the hand force of the steering wheel in order of the gain factors from low to high, the method further includes:

[0018] Determining whether the hand force value of the steering wheel is within a preset hand force threshold range;

[0019] If the hand force value of the steering wheel is not within the hand force threshold, replacing the hand force value of the steering wheel with the boundary value of the hand force threshold interval closest to the hand force value of the steering wheel;

[0020] If the hand force value of the steering wheel is within the hand force threshold range, the hand force of the steering wheel is adjusted according to the hand force value of the steering wheel.

[0021] In one embodiment of the present invention, after responding to the on signal of the hand force adaptive calibration switch, the method further includes: obtaining an initial hand force value of the steering wheel based on an adjustment signal of the hand force adaptive calibration switch.

[0022] In one embodiment of the present invention, adjusting the steering wheel hand force values ​​in ascending order of the gain factors to obtain the adjusted steering wheel hand force includes:

[0023] S41, sorting the gain factors in ascending order;

[0024] S42, selecting the gain factor with the lowest value as the target gain factor;

[0025] S43, multiplying the target gain factor by the initial hand force value of the steering wheel to obtain a hand force value of the steering wheel;

[0026] S44, regulating the motor according to the hand force value of the steering wheel to change the hand force of the steering wheel;

[0027] S45 , selecting another gain factor in sequence as the target gain factor, and repeating steps S43 to S44 until all gain factors are selected, thereby obtaining the adjusted steering wheel hand force.

[0028] In one embodiment of the present invention, a steering wheel hand force adjustment system is further provided, the system comprising:

[0029] a data acquisition module, configured to acquire vehicle speed and driving state data of the vehicle in response to an on signal of the hand force adaptive calibration switch, and search for a vehicle speed interval corresponding to the vehicle speed based on the vehicle speed;

[0030] A driving state judgment module, configured to judge the driving state of the vehicle based on the driving state data; wherein the driving state includes a straight state and a non-straight state;

[0031] a gain factor acquisition module, configured to search for a plurality of gain factors corresponding to the vehicle speed range from low to high according to a preset gain rule if the driving state is a straight state;

[0032] The hand force adjustment module is used to adjust the hand force value of the steering wheel in sequence according to the gain factors from low to high to obtain the adjusted steering wheel hand force.

[0033] In one embodiment of the present invention, a device for adjusting steering wheel hand force is also provided, comprising a processor coupled to a memory, wherein the memory stores program instructions, and when the program instructions stored in the memory are executed by the processor, any of the above-described methods is implemented.

[0034] In one embodiment of the present invention, a computer-readable storage medium is further provided, comprising a program, which executes any one of the above methods when the program is run on a computer.

[0035] In summary, in the present invention, in response to the activation signal of the adaptive steering force calibration switch, vehicle speed and driving state data are acquired. The speed range corresponding to the current vehicle speed is then determined from the vehicle speed. The vehicle's driving state is then determined based on the driving state data. When the vehicle is traveling straight ahead, multiple gain factors corresponding to the current speed range are acquired. Steering wheel force is then adjusted sequentially based on the gain factors, in ascending order, to achieve a gradual change in steering wheel force. This ensures driving safety and a smooth transition in steering feel, enabling adaptive adjustment of steering feel under specific driving conditions. This smooth adaptive adjustment of steering wheel force allows the adjusted steering wheel force to be adjusted to the driver's preference, enhancing driving pleasure. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. 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 paying any creative work.

[0037] Figure 1 Shown is a flow chart of a method for adjusting steering wheel hand force according to an embodiment of the present invention;

[0038] Figure 2 Shown is a schematic flow chart of a gain factor acquisition process according to an embodiment of the present invention;

[0039] Figure 3 Shown is a schematic diagram of the principle structure of a steering wheel hand force adjustment system according to one embodiment of the present invention.

[0040] Component number description:

[0041] 100. Steering wheel hand force adjustment system; 110. Data acquisition module; 120. Driving state judgment module; 130. Gain factor acquisition module; 140. Hand force adjustment module. DETAILED DESCRIPTION

[0042] The following describes the embodiments of the present invention through specific examples. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following examples and the features in the examples can be combined with each other unless they conflict. It should also be understood that the terms used in the examples of the present invention are for the purpose of describing specific embodiments, not for the purpose of limiting the scope of protection of the present invention. The test methods for which specific conditions are not specified in the following examples are generally carried out under conventional conditions or under the conditions recommended by the manufacturers.

[0043] See also Figures 1 to 3 . It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention. Therefore, they have no substantive technical significance. Any modification of the structure, change in the proportional relationship or adjustment of the size should still fall within the scope of the technical content disclosed by the present invention without affecting the efficacy and purpose that can be achieved by the present invention. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" quoted in this specification are only for the convenience of description, and are not used to limit the scope of the implementation of the present invention. Changes or adjustments in their relative relationships should also be regarded as the scope of the implementation of the present invention without substantially changing the technical content.

[0044] When numerical ranges are given in the examples, it should be understood that unless otherwise specified herein, both endpoints of each numerical range and any value between the two endpoints may be used. Unless otherwise defined, all technical and scientific terms used herein are consistent with the prior art as understood by those skilled in the art and the description of the present invention. Any prior art methods, devices, and materials similar or equivalent to those described in the examples of the present invention may also be used to implement the present invention.

[0045] See also Figure 1 , Figure 1Shown is a flow chart of a method for adjusting steering wheel hand force according to one embodiment of the present invention. The present invention provides a method for adjusting steering wheel hand force. In response to an activation signal from a hand force adaptive calibration switch, vehicle speed and driving state data are acquired. The vehicle speed is then used to determine the vehicle's driving state. When the vehicle is traveling straight ahead, multiple gain factors corresponding to the current speed range are acquired. Steering wheel hand force is then adjusted sequentially based on the gain factors, in ascending order, to gradually change the steering wheel hand force. In conjunction with safety limits, steering wheel hand force is adaptively adjusted. While ensuring driving safety and a smooth transition in steering feel, adaptive adjustment of steering feel is achieved under specific driving conditions. Smooth adaptive adjustment of steering hand force allows the adjusted steering wheel hand force to be set to the driver's preference, enhancing driving pleasure.

[0046] See also Figure 1 In one embodiment of the present invention, a method for adjusting steering wheel hand force is provided, comprising the following steps:

[0047] S10 . In response to an on signal of the hand force adaptive calibration switch, obtain vehicle speed and driving status data of the vehicle, and search for a vehicle speed interval corresponding to the vehicle speed based on the vehicle speed.

[0048] While driving, when the driver turns on the onboard adaptive hand force calibration switch, the vehicle enters adaptive hand force adjustment mode. The adaptive hand force calibration switch is derived from the vehicle's human-machine interaction system. In adaptive hand force adjustment mode, steering wheel hand force can be adaptively adjusted based on the driver's personal preferences. Steering wheel hand force refers to the force applied by the driver to the steering wheel to turn it left or right while the vehicle is in motion. It should be noted that in this application, the adaptive hand force calibration switch can be turned on not only during driving but also before the vehicle starts, thereby recording the entire driving process. When the driver turns on the adaptive hand force calibration switch, the braking system acquires the vehicle's speed, and the onboard sensors acquire driving status data. Specifically, in one embodiment of the present invention, the driving status data includes: yaw rate signal, lateral acceleration signal, steering wheel hand force signal, and steering wheel angle signal. The yaw rate and lateral acceleration are directly acquired by the vehicle's inertia sensor, while the steering wheel angle signal and steering wheel hand force signal are directly measured and acquired by sensors within the onboard steer-by-wire system. It should be noted that the specific process of acquiring the driving status data described above is prior art and will not be described in detail here. Since the steering wheel force varies depending on the vehicle speed, after acquiring the vehicle speed and driving status data, the vehicle speed can be compared with multiple preset speed intervals to determine the speed interval in which the current vehicle speed is located. For example, the speed interval may include a low-speed interval of 0-40 km / h, a medium-speed interval of 40-80 km / h, and a high-speed interval of 80 km / h or above. When the vehicle speed is greater than 0 and less than or equal to 40 km / h, it is in the low-speed interval.

[0049] S20. Determine a driving state of the vehicle based on the driving state data; wherein the driving state includes a straight-ahead state and a non-straight-ahead state.

[0050] When the vehicle is traveling straight, adaptively changing the steering wheel force based on the driver's preference can effectively enhance the driver's driving experience. However, when the vehicle is not traveling straight, changing the steering wheel force does not significantly improve the driver's driving experience. Furthermore, when adjusting the steering wheel force, it is important to avoid adjusting it during aggressive driving conditions or on curves to ensure driving safety. Therefore, in this application, it is first necessary to determine whether the vehicle is traveling straight. Therefore, in this application, the relevant steering wheel force changes are made when the vehicle is traveling straight. The currently acquired driving state data can be compared with the thresholds corresponding to each driving state within the current speed range to determine the vehicle's driving state. For example, for the low-speed range: the steering wheel force signal must be within 0.2 Nm, the steering wheel angle must be within ±2 degrees, the yaw rate must be within ±10° / s, and the lateral acceleration must be within ±0.01 g. Only when all driving state data meet the preset thresholds can the vehicle be determined to be traveling straight. It should be noted that the criteria for determining the driving state are different for each speed range. For example, for the low-speed range, the corresponding straight-ahead state determination threshold is greater than the corresponding straight-ahead state determination threshold for the high-speed range. For example, for the high-speed range, the steering wheel hand force signal must be within 0.1Nm, the steering wheel angle must be within plus or minus 1°, the yaw angular velocity must be within plus or minus 7° / s, and the lateral acceleration must be within plus or minus 0.008g. This ensures safety and reliability during the steering wheel hand force adjustment process and avoids safety accidents caused by improper hand force adjustment. It is understandable that those skilled in the art can adapt the settings of the above-mentioned driving state thresholds according to actual needs and are not limited here.

[0051] S30: If the driving state is a straight state, searching for a plurality of gain factors corresponding to the vehicle speed range from low to high according to a preset gain rule.

[0052] When the vehicle is currently traveling in a straight-ahead state, steering wheel hand force can be adjusted. Specifically, the vehicle's central control system pre-stores gain rules. When the vehicle meets the straight-ahead state and the hand force adaptive calibration switch is turned on, the gain rules are searched and multiple corresponding gain factors are obtained according to the vehicle speed range. Steering wheel hand force can then be adjusted based on the gain factors.

[0053] Specifically, see Figure 2 , Figure 2 The figure shows a flow chart of the process of obtaining the gain factor in one embodiment of the present invention. In one embodiment of the present invention, searching for multiple gain factors corresponding to the vehicle speed range according to the preset gain rule includes:

[0054] S31. Searching the gain rule for a time interval corresponding to the vehicle speed interval; wherein the gain rule includes a plurality of different time intervals, each time interval corresponding to a vehicle speed interval;

[0055] S32 . Iteratively process the preset initial gain factor according to the time interval corresponding to the vehicle speed range to obtain a plurality of different gain factors.

[0056] Because the gain rules pre-store multiple different speed ranges, each speed range corresponds to a time interval, and each time interval includes one or more time periods. It should be noted that the time required for the timer in the central control system or on-board software to run one cycle is a time period. Therefore, when the vehicle is in a straight-ahead state and the adaptive hand force calibration switch is turned on, the corresponding time interval can be obtained based on the current speed range. Then, the initial gain factor is weighted every one or more time intervals to obtain an adjusted gain factor. The adjusted gain factor is: k = m, m(1+a), m(1+a)(1+a)... Through this iterative calculation method, multiple different gain factors can be obtained based on the initial gain factor. It should be noted that the number of time periods included in the time interval in this embodiment can be adaptively adjusted by those skilled in the art according to actual needs and is not limited here. It should be noted that the gain factor can be positive or negative. For a negative gain factor, adjusting the steering wheel hand force reduces the steering wheel hand force; for a positive gain factor, adjusting the steering wheel hand force increases the steering wheel hand force.

[0057] In one embodiment of the present invention, after searching for the gain factor corresponding to the vehicle speed range, the method further includes:

[0058] S301, determining whether the gain factor is within a preset gain threshold range;

[0059] S302: If the gain factor is not within the gain threshold interval, replacing the gain factor with the boundary value of the gain threshold interval to which the gain factor is closest;

[0060] S303: If the gain factor is within the gain threshold range, keep the gain factor unchanged.

[0061] Considering that an excessively large gain factor can cause significant changes in steering wheel force, potentially impacting driving safety, one embodiment of the present invention requires limiting the gain factor to determine whether it is within a preset gain threshold range. It should be noted that, as used herein, "a gain factor within the gain threshold range" means that the gain factor is greater than or equal to the preset lower gain threshold and less than or equal to the preset upper gain threshold. The boundary value of the gain threshold range refers to either the lower gain threshold or the upper gain threshold. Specifically, the gain factor can be compared with the preset gain threshold range. If the current gain factor is within the gain threshold range, adjusting steering wheel force using this gain factor will not result in excessively large changes in steering wheel force, thus preventing a traffic accident. Furthermore, when adjusting steering wheel force using this gain factor, the driver can easily perceive changes in hand force. Therefore, in this scenario, the calculated gain factor can be used to control steering wheel force. However, if the current gain factor is greater than the upper gain threshold, the gain factor calculated using the iterative algorithm described above will result in excessively large changes in steering wheel force, posing a safety hazard. Therefore, the gain factor should be replaced with the upper gain threshold. If the gain factor is less than the lower gain threshold, the calculated gain factor will reduce the current steering wheel hand force too much, resulting in insufficient steering wheel hand force and a subsequent driving safety risk. Therefore, the gain factor needs to be replaced with the lower gain threshold. It is understandable that different speed ranges require different gain factors, and therefore corresponding gain threshold ranges are also different. It should be noted that the gain factor is related to vehicle speed and gradually decreases as vehicle speed increases.

[0062] S40 , adjusting the steering wheel hand force values ​​in order of the gain factors from low to high, to obtain an adjusted steering wheel hand force.

[0063] Specifically, in one embodiment of the present invention, adjusting the steering wheel hand force values ​​in order of gain factors from low to high to obtain the adjusted steering wheel hand force includes:

[0064] S41, sorting the gain factors in ascending order;

[0065] S42, selecting the gain factor with the lowest value as the target gain factor;

[0066] S43, multiplying the target gain factor by the initial hand force value of the steering wheel to obtain a hand force value of the steering wheel;

[0067] S44, regulating the motor according to the hand force value of the steering wheel to change the hand force of the steering wheel;

[0068] S45 , selecting another gain factor in sequence as the target gain factor, and repeating steps S43 to S44 until all gain factors are selected, thereby obtaining the adjusted steering wheel hand force.

[0069] When steering wheel hand force needs to be adjusted, if the adaptive hand force calibration switch is determined to be on, the gain factors obtained through the iterative calculation are sorted from low to high. The gain factor with the lowest value is then selected and multiplied by the initial hand force value set by the driver to obtain the current target steering wheel hand force value. The vehicle's onboard motor is then controlled based on the current target steering wheel hand force value to adjust the steering wheel hand force to the target hand force value. Another gain factor is then selected in sequence, and the above process is repeated, continuously adjusting the steering wheel hand force according to the current vehicle speed range, until the steering wheel hand force is finally and smoothly adjusted to the target hand force. The target hand force value is the steering wheel hand force value corresponding to the last gain factor. In one embodiment of the present invention, the method for obtaining the initial hand force value includes: after responding to the on signal of the adaptive hand force calibration switch, further comprising: obtaining the initial steering wheel hand force value based on the adjustment signal of the adaptive hand force calibration switch. Specifically, since the default initial hand force value in the adaptive hand force calibration switch is 1, in order to make the adjustment of the hand force value more personalized, the driver can manually adjust the default initial hand force value according to their needs after turning on the adaptive hand force calibration switch. Manual adjustment methods include increasing or decreasing the default initial hand force value.

[0070] In one embodiment of the present invention, after adjusting the hand force of the steering wheel in order of the gain factors from low to high, the method further includes:

[0071] S401, determining whether the hand force value of the steering wheel is within a preset hand force threshold range;

[0072] S402: If the hand force value of the steering wheel is not within the hand force threshold interval, replacing the hand force value of the steering wheel with the hand force threshold interval boundary value to which the hand force value of the steering wheel is closest;

[0073] S403: If the hand force value of the steering wheel is within the hand force threshold range, adjust the hand force of the steering wheel according to the hand force value of the steering wheel.

[0074] In order to ensure driving safety, it is necessary to limit the hand force value to determine whether the hand force value is within a preset hand force threshold range. The hand force value within the hand force threshold range described in this application means that the hand force value is greater than or equal to the preset hand force threshold lower limit, and less than or equal to the preset hand force threshold upper limit. The boundary value of the hand force threshold range refers to the hand force threshold lower limit or the hand force threshold upper limit. Whether the hand force value needs to be limited can be determined by comparing the hand force value with the hand force threshold range. Specifically, when the hand force value is greater than the hand force threshold upper limit, it means that using this hand force value to adjust the steering wheel will cause the steering wheel to turn too far, so the hand force value needs to be replaced with the hand force threshold upper limit. When the hand force value is less than the hand force threshold lower limit, it means that the hand force is too weak when operating the steering wheel using this hand force value, which poses a greater safety risk to the driver in operating the vehicle, so the hand force threshold lower limit needs to be used as the adjusted steering wheel hand force. When the hand force value is less than or equal to the upper hand force threshold and greater than or equal to the lower hand force threshold, it indicates that the steering wheel can be adjusted smoothly using this hand force value. The motor can be controlled based on this hand force value to ultimately achieve the steering wheel's hand force value. By limiting the hand force value, the steering wheel hand force is effectively maintained in a safe state, improving driving safety for the driver.

[0075] Furthermore, after obtaining the adjusted steering wheel hand force, the method further includes memorizing the steering wheel hand force. After the driver completes the adaptive adjustment of the steering wheel hand force, the driver can manually turn off the adaptive hand force calibration switch, and the hand force value is memorized. This allows the driver to subsequently drive the vehicle directly according to the adjusted hand force value. Considering that driving is not constant and the vehicle speed may vary across different speed ranges, if the driver actively turns off the adaptive hand force calibration switch during the full-speed range adjustment of the vehicle's steering wheel hand force, the system returns to the preset hand force mode. This ensures smooth changes in steering wheel hand force with vehicle speed. The full speed range refers to the speed ranges within which the vehicle speed falls during the entire driving process. Furthermore, after the driver completes one full-speed range adaptive adjustment, if the driver has not turned off the adaptive calibration switch, the next full-speed range adaptive hand force adjustment will continue, thereby obtaining and saving different steering wheel hand force values. Furthermore, the driver can manually set the adaptive hand force calibration process to delete the adaptive calibration data and return to the preset vehicle hand force mode. When the driver starts driving the vehicle, the steering wheel hand force obtained by the above method will be recommended to the driver first. When the driver confirms to use the steering wheel hand force, the central control system will control the wire-controlled steering hand force simulation motor to simulate the steering wheel hand torque.

[0076] The steps of the above method are divided only for the purpose of clear description. During implementation, they can be combined into one step or some steps can be split and decomposed into multiple steps. As long as they contain the same logical relationship, they are within the scope of protection of the present invention. Adding insignificant modifications or introducing insignificant designs to the algorithm or process without changing the core design of the algorithm and process are also within the scope of protection of the invention.

[0077] See also Figure 3 , Figure 3 The schematic diagram shows the principle structure of a steering wheel hand force adjustment system according to one embodiment of the present invention. The steering wheel hand force adjustment system 100 includes a data acquisition module 110, a driving state determination module 120, a gain factor acquisition module 130, and a hand force adjustment module 140. The data acquisition module 110 is configured to, in response to an on signal from a hand force adaptive calibration switch, acquire vehicle speed and driving state data and, based on the vehicle speed, search for a corresponding speed range. The driving state determination module 120 is configured to determine the vehicle's driving state based on the driving state data, wherein the driving state includes a straight ahead state and a non-straight ahead state. The gain factor acquisition module 130 is configured to, if the driving state is a straight ahead state, search for multiple gain factors corresponding to the speed range in ascending order according to a preset gain rule. The hand force adjustment module 140 is configured to adjust the steering wheel hand force value sequentially according to the gain factors in ascending order, thereby obtaining the adjusted steering wheel hand force.

[0078] It should be noted that, in order to highlight the innovative part of the present invention, this embodiment does not introduce modules that are not closely related to solving the technical problem proposed by the present invention, but this does not mean that there are no other modules in this embodiment.

[0079] In addition, those skilled in the art can clearly understand that, for the convenience and simplicity of description, the specific working process of the system described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here. In the embodiments provided by the present invention, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0080] Modules described as separate components may or may not be physically separate, and components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed across multiple network modules. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0081] In addition, the functional modules in various embodiments of the present invention may be integrated into a single processing module, each module may exist physically separately, or two or more modules may be integrated into a single module. The aforementioned integrated modules may be implemented in the form of hardware or software functional units.

[0082] This embodiment also provides a steering wheel hand force adjustment device, which includes a processor and a memory, the processor and the memory being coupled, the memory storing program instructions, and the above-mentioned task management method being implemented when the program instructions stored in the memory are executed by the processor. The processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processing unit (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components; the memory can include random access memory (RAM) and can also include non-volatile memory (Non-Volatile Memory), such as at least one disk storage device. The memory can be an internal memory of the random access memory (RAM) type, and the processor and memory can be integrated into one or more independent circuits or hardware, such as an application-specific integrated circuit (ASIC). It should be noted that the computer program in the aforementioned memory can be implemented in the form of a software functional unit and, when sold or used as an independent product, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the portion that contributes to the prior art, or the portion of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, electronic device, or network device, etc.) to execute all or part of the steps of the methods of various embodiments of the present invention.

[0083] This embodiment also provides a computer-readable storage medium, wherein the storage medium stores computer instructions, and the computer instructions are used to cause a computer to execute the above-mentioned steering wheel hand force adjustment method. The storage medium can be an electronic medium, a magnetic medium, an optical medium, an electromagnetic medium, an infrared medium, or a semiconductor system or a propagation medium. The storage medium can also include semiconductor or solid-state memory, a magnetic tape, a removable computer disk, a random access memory (RAM), a read-only memory (ROM), a hard disk, and an optical disk. The optical disk can include a compact disk - read-only memory (CD-ROM), a compact disk - read / write (CD-RW), and a DVD.

[0084] In summary, in the present invention, in response to an activation signal from the adaptive hand force calibration switch, vehicle speed and driving state data are acquired. The speed range corresponding to the current speed is then determined from the vehicle speed. The vehicle's driving state is then determined based on the driving state data. When the vehicle is traveling straight ahead, multiple gain factors corresponding to the current speed range are acquired. Steering wheel hand force is then adjusted sequentially based on the gain factors, in ascending order, to achieve a gradual change in steering wheel hand force. This adaptively adjusts the steering wheel hand force in conjunction with safety limits. While ensuring driving safety and a smooth transition in steering feel, adaptive adjustment of steering feel is achieved under specific driving conditions. Furthermore, when the driver is driving the vehicle and the adaptive hand force calibration switch is activated, an iterative algorithm outputs hand force gain factors based on the speed range, providing the conditions for adaptive steering force adjustment are met. This allows for smooth adjustment of steering wheel hand force. This smooth adaptive steering force adjustment allows the adjusted steering wheel hand force to be adjusted to the driver's preferences, enhancing driving pleasure. Therefore, the present invention effectively overcomes some practical problems in the prior art and has high practical value and practical significance.

[0085] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the present invention. Anyone skilled in the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by one of ordinary skill in the art without departing from the spirit and technical principles disclosed herein are intended to be covered by the claims of the present invention.

Claims

1. A method for adjusting steering wheel hand force, characterized in that: The following processes are included: In response to an on signal of the hand force adaptive calibration switch, obtaining vehicle speed and driving state data of the vehicle, and searching for a vehicle speed interval corresponding to the vehicle speed based on the vehicle speed; Determining the driving state of the vehicle based on the driving state data; wherein the driving state includes a straight state and a non-straight state; If the driving state is a straight state, searching for a plurality of gain factors corresponding to the vehicle speed range from low to high according to a preset gain rule; Adjust the steering wheel hand force values ​​in order from low to high according to the gain factors to obtain the adjusted steering wheel hand force; The searching for multiple gain factors corresponding to the vehicle speed range according to a preset gain rule includes: In the gain rule, searching for a time interval corresponding to the vehicle speed interval; wherein the gain rule includes a plurality of different time intervals, each time interval corresponding to a vehicle speed interval; According to the time intervals corresponding to the vehicle speed intervals, the preset initial gain factors are iteratively processed to obtain a plurality of different gain factors.

2. The method for adjusting steering wheel hand force according to claim 1, characterized in that: The driving state data includes: a yaw rate signal, a lateral acceleration signal, a steering wheel force signal, and a steering wheel angle signal.

3. The method for adjusting steering wheel hand force according to claim 1, characterized in that: After searching for the gain factor corresponding to the vehicle speed range, the method further includes: Determining whether the gain factor is within a preset gain threshold range; If the gain factor is not within the gain threshold interval, replacing the gain factor with the gain threshold interval boundary value to which the gain factor is closest; If the gain factor is within the gain threshold range, the gain factor is kept unchanged.

4. The method for adjusting steering wheel hand force according to claim 1, characterized in that: After adjusting the hand force of the steering wheel in order of the gain factors from low to high, the method further includes: Determining whether the hand force value of the steering wheel is within a preset hand force threshold range; If the hand force value of the steering wheel is not within the hand force threshold interval, replacing the hand force value of the steering wheel with the hand force threshold interval boundary value to which the hand force value of the steering wheel is closest; If the hand force value of the steering wheel is within the hand force threshold range, the hand force of the steering wheel is adjusted according to the hand force value of the steering wheel.

5. The method for adjusting steering wheel hand force according to claim 1, characterized in that: After responding to the on signal of the hand force adaptive calibration switch, the method further includes: obtaining an initial hand force value of the steering wheel based on the adjustment signal of the hand force adaptive calibration switch.

6. The method for adjusting steering wheel hand force according to claim 5, characterized in that: The step of adjusting the hand force of the steering wheel in order of the gain factors from low to high to obtain the adjusted hand force of the steering wheel includes: S41, sorting the gain factors in ascending order; S42, selecting the gain factor with the lowest value as the target gain factor; S43, multiplying the target gain factor by the initial hand force value of the steering wheel to obtain a hand force value of the steering wheel; S44, regulating the motor according to the hand force value of the steering wheel to change the hand force of the steering wheel; S45 , selecting another gain factor in sequence as the target gain factor, and repeating steps S43 to S44 until all gain factors are selected, thereby obtaining the adjusted steering wheel hand force.

7. A steering wheel hand force adjustment system, characterized in that: The system comprises: a data acquisition module, configured to acquire vehicle speed and driving state data of the vehicle in response to an on signal of the hand force adaptive calibration switch, and search for a vehicle speed interval corresponding to the vehicle speed based on the vehicle speed; A driving state judgment module, configured to judge the driving state of the vehicle based on the driving state data; wherein the driving state includes a straight state and a non-straight state; a gain factor acquisition module, configured to search for a plurality of gain factors corresponding to the vehicle speed range from low to high according to a preset gain rule if the driving state is a straight state; A hand force adjustment module is used to adjust the hand force value of the steering wheel in order of gain factors from low to high to obtain the adjusted steering wheel hand force; The searching for multiple gain factors corresponding to the vehicle speed range according to a preset gain rule includes: In the gain rule, searching for a time interval corresponding to the vehicle speed interval; wherein the gain rule includes a plurality of different time intervals, each time interval corresponding to a vehicle speed interval; According to the time intervals corresponding to the vehicle speed intervals, the preset initial gain factors are iteratively processed to obtain a plurality of different gain factors.

8. A device for adjusting steering wheel hand force, characterized by: The method comprises a processor coupled to a memory, wherein the memory stores program instructions, and when the program instructions stored in the memory are executed by the processor, the method according to any one of claims 1 to 6 is implemented.

9. A computer-readable storage medium, characterized in that: The invention comprises a program, which, when running on a computer, executes the method according to any one of claims 1 to 6.

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