Vehicle return method, device, vehicle and storage medium

Abstract

The present application relates to the field of vehicle technology, and in particular to a vehicle self-centering method, device, vehicle and storage medium, wherein the method comprises: identifying the current self-centering type of the vehicle according to the current driving intention of the vehicle; matching the target self-centering torque of the vehicle according to the current self-centering type; controlling the electric power steering system of the vehicle to center the vehicle according to the target self-centering torque until the electric power steering system returns to a preset position. Thus, the problem that the self-centering effect of the vehicle when reversing is worse than that when the vehicle is moving forward is solved because the self-centering torque provided by the electric power steering system in the related technology has only one set of data during calibration, which greatly improves the self-centering performance of the vehicle when reversing and improves the driving experience of the user.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a vehicle restoring method, device, vehicle and storage medium. Background Art

[0002] At present, the return torque provided by the electric power steering system has only one set of data during calibration, and the speed is very low during reversing. This is mainly due to the return torque provided by the electric power steering system and the kingpin inclination, which results in the return effect when the vehicle is reversing being worse than when the vehicle is moving forward, which needs to be solved urgently.

[0003] Application Contents

[0004] The present application provides a vehicle return method, device, vehicle and storage medium to solve the problem that the return torque provided by the electric power steering system in the related technology has only one set of data during calibration, resulting in the return effect when the vehicle is reversing being worse than when the vehicle is moving forward. The return performance of the vehicle when reversing is greatly improved, and the user's driving experience is enhanced.

[0005] The first embodiment of the present application provides a vehicle restoring method, comprising the following steps:

[0006] Identifying a current return type of the vehicle according to a current driving intention of the vehicle;

[0007] matching a target self-aligning torque of the vehicle according to the current self-aligning type; and

[0008] The electric power steering system of the vehicle is controlled to align the vehicle according to the target aligning torque until the electric power steering system returns to a preset position.

[0009] Optionally, matching the target self-aligning torque of the vehicle according to the current self-aligning type includes:

[0010] If the current return type is forward return, controlling the vehicle to perform return control based on a first target return torque;

[0011] If the current return type is reverse return, the vehicle is controlled to perform return control based on a second target return torque, wherein the second target return torque is greater than the first target return torque.

[0012] Optionally, after matching the target self-aligning torque of the vehicle according to the current self-aligning type, the method further includes:

[0013] detecting an actual speed of the vehicle;

[0014] A first return correction value is generated according to the actual speed, and the target return torque is modified using the first return correction value.

[0015] Optionally, after matching the target self-aligning torque of the vehicle according to the current self-aligning type, the method further includes:

[0016] detecting a load of the vehicle;

[0017] A second return correction value is generated according to the load, and the target return torque is modified using the second return correction value.

[0018] According to the vehicle return method of the embodiment of the present application, the current return type of the vehicle can be identified according to the current driving intention of the vehicle, and the target return torque of the vehicle can be matched according to the current return type, and the electric power steering system of the vehicle can be controlled according to the target return torque to return the vehicle until the electric power steering system returns to the preset position. Thus, the problem that the return torque provided by the electric power steering system in the related art has only one set of data during calibration, resulting in the return effect of the vehicle when reversing being worse than that when the vehicle is moving forward is solved, which greatly improves the return performance of the vehicle when reversing and improves the driving experience of the user.

[0019] A second aspect of the present application provides a vehicle restoring device, comprising:

[0020] An identification module, used to identify a current return type of the vehicle according to a current driving intention of the vehicle;

[0021] a matching module, configured to match a target self-aligning torque of the vehicle according to the current self-aligning type; and

[0022] The control module is used to control the electric power steering system of the vehicle to return the vehicle to the correct position according to the target return torque until the electric power steering system returns to a preset position.

[0023] Optionally, the matching module is specifically used to:

[0024] If the current return type is forward return, controlling the vehicle to perform return control based on a first target return torque;

[0025] If the current return type is reverse return, the vehicle is controlled to perform return control based on a second target return torque, wherein the second target return torque is greater than the first target return torque.

[0026] Optionally, after matching the target self-aligning torque of the vehicle according to the current self-aligning type, the matching module is further configured to:

[0027] detecting an actual speed of the vehicle;

[0028] A first return correction value is generated according to the actual speed, and the target return torque is modified using the first return correction value. Optionally, after matching the target return torque of the vehicle according to the current return type, the matching module is further used to:

[0029] detecting a load of the vehicle;

[0030] A second return correction value is generated according to the load, and the target return torque is modified using the second return correction value.

[0031] According to the vehicle return device of the embodiment of the present application, the current return type of the vehicle can be identified according to the current driving intention of the vehicle, and the target return torque of the vehicle can be matched according to the current return type, and the electric power steering system of the vehicle can be controlled to return the vehicle according to the target return torque until the electric power steering system returns to the preset position. Thus, the problem that the return torque provided by the electric power steering system in the related art has only one set of data during calibration, resulting in the return effect of the vehicle when reversing being worse than that when the vehicle is moving forward is solved, which greatly improves the return performance of the vehicle when reversing and improves the driving experience of the user.

[0032] A third aspect of the present application provides a vehicle, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the above-mentioned vehicle return method.

[0033] The fourth aspect of the present application provides a computer-readable storage medium having a computer program stored thereon, which is executed by a processor to implement the vehicle centering method as described in the above embodiment.

[0034] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0036] Figure 1 A flowchart of a vehicle restoring method provided according to an embodiment of the present application;

[0037] Figure 2 is a schematic structural diagram of an electric power steering system according to an embodiment of the present application;

[0038] Figure 3 A schematic block diagram of a vehicle return device according to an embodiment of the present application

[0039] Figure 4A schematic diagram of the structure of a vehicle provided for an application embodiment. DETAILED DESCRIPTION

[0040] Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0041] The following describes the vehicle return method, device, vehicle and storage medium of the embodiment of the present application with reference to the accompanying drawings. In view of the problem mentioned in the background technology center that the return torque provided by the electric power steering system in the related art has only one set of data during calibration, resulting in the return effect of the vehicle when reversing being worse than the return effect when the vehicle is moving forward, the present application provides a vehicle return method, in which the current return type of the vehicle can be identified according to the current driving intention of the vehicle, and the target return torque of the vehicle can be matched according to the current return type, and the electric power steering system of the vehicle can be controlled according to the target return torque to return the vehicle until the electric power steering system returns to the preset position. Thus, the problem that the return torque provided by the electric power steering system in the related art has only one set of data during calibration, resulting in the return effect of the vehicle when reversing being worse than the return effect when the vehicle is moving forward, is solved, the return performance of the vehicle when reversing is greatly improved, and the driving experience of the user is improved.

[0042] Specifically, Figure 1 A schematic flow chart of a vehicle restoring method provided in an embodiment of the present application.

[0043] like Figure 1 As shown, the vehicle return method includes the following steps:

[0044] In step S101 , the current return type of the vehicle is identified according to the current driving intention of the vehicle.

[0045] The driving intention may include a forward driving intention and a reverse driving intention.

[0046] It should be understood that when the vehicle uses the electric power steering system to return to center, the return torque is provided by three aspects: (1) the return torque provided by the electric power steering system; (2) the return torque provided by the castor, the return effect is related to the vehicle speed, the faster the vehicle speed, the greater the return torque; (3) the return torque provided by the kingpin inclination, which is almost independent of the vehicle speed and mainly plays a major role in low-speed return.

[0047] However, since the speed is very low when reversing, the return torque and kingpin inclination provided by the electric power steering system are mainly responsible. If the return torque provided by the electric power steering system is the same when the vehicle is moving forward and backward, the return effect when reversing will be worse than when the vehicle is moving forward, reducing the driver's driving experience. Therefore, the embodiment of the present application can first identify the current return type of the vehicle according to the current driving intention of the vehicle.

[0048] Specifically, the embodiments of the present application can determine the current driving intention according to the current gear position of the vehicle. For example, if the current gear position of the vehicle is the forward gear, such as the current gear position of a manual transmission vehicle can be any gear among 1st gear, 2nd gear, 3rd gear, 4th gear and 5th gear, and the current gear position of an automatic transmission vehicle can be D gear, then it can be determined that the current driving intention of the vehicle is the forward driving intention. If the current gear position of the vehicle is the reverse gear, such as the current gear position of the vehicle is R gear, then it can be determined that the current driving intention of the vehicle is the reverse driving intention.

[0049] In addition, the embodiment of the present application may preset a mapping relationship between driving intention and return type. If the current driving intention is a forward driving intention, the current return type of the vehicle is forward return; if the current driving intention is a reverse driving intention, the current return type of the vehicle is reverse return.

[0050] In step S102, the target self-centering torque of the vehicle is matched according to the current self-centering type.

[0051] Optionally, in some embodiments, the target return torque of the vehicle is matched according to the current return type, including: if the current return type is forward return, the vehicle is controlled to perform return control based on a first target return torque; if the current return type is reverse return, the vehicle is controlled to perform return control based on a second target return torque, wherein the second target return torque is greater than the first target return torque.

[0052] It should be understood that since the same return torque is used for both forward return and reverse return, the return effect when the vehicle is reversing will be worse than when the vehicle is moving forward. Therefore, the embodiment of the present application can set different target return torques for the return types. For example, a mapping relationship between the corresponding return torque and the steering wheel angle is preset according to different return types, and the mapping relationship can be obtained by pre-calibration.

[0053] As a possible implementation method, when the vehicle's current return type is forward return, the embodiment of the present application can adopt a first mapping relationship between the return torque corresponding to the current return type being forward return and the steering wheel angle, thereby obtaining the first target return force corresponding to different steering wheel angles, and controlling the vehicle to perform forward return based on the first target return force.

[0054] As another possible implementation method, when the vehicle's current return type is reverse return, the embodiment of the present application can adopt a second mapping relationship between the return torque corresponding to the current return type being reverse return and the steering wheel angle, thereby obtaining the second target return force corresponding to different steering wheel angles, and controlling the vehicle to return to the rear based on the second target return force.

[0055] It should be noted that, when calibrating the self-aligning torque machine, the embodiment of the present application can adopt the calibration method in the related art, such as, realizing calibration through the ignition switch (READY), steering wheel angle signal, vehicle speed signal, gear information, etc. The embodiment of the present application adds gear information as a condition for distinguishing between forward self-aligning and reverse self-aligning when calibrating the self-aligning torque value. To avoid redundancy, it is not described in detail here; and, to ensure that the self-aligning effect of the vehicle when reversing is consistent with that when the vehicle is moving forward, the difference between the second target self-aligning torque and the first target self-aligning torque is 4-6N.m during calibration. For example, the second target self-aligning torque-the first target self-aligning torque=5 Nm. The difference between the second target self-aligning torque and the first target self-aligning torque is only exemplary and is not intended to limit the present invention. Those skilled in the art can perform calibration according to actual conditions, and no specific limitation is made here.

[0056] In step S103, the electric power steering system of the vehicle is controlled to align the vehicle according to the target aligning torque until the electric power steering system returns to a preset position.

[0057] Among them, Figure 2 As shown, Figure 2 is a structural diagram of an electric power steering system. The preset position may be the position when the steering wheel is at an initial angle, that is, when the steering wheel angle is 0.

[0058] Specifically, when the embodiment of the present application controls the electric power steering system of the vehicle to return the vehicle to the center according to the target return torque, it can determine whether the electric power steering system has returned to the preset position by collecting the steering wheel angle signal in real time. When the steering wheel angle is 0, it can be determined that the vehicle has returned to the center.

[0059] It should be noted that when the electric power steering system of the vehicle is controlled to return the vehicle to the center according to the target return torque, the embodiment of the present application may also set a steering angle threshold, and when the steering wheel angle is within the threshold range, it is determined that the vehicle has returned to the center.

[0060] Optionally, in some embodiments, after matching the target return torque of the vehicle according to the current return type, it also includes: detecting the actual speed of the vehicle; generating a first return correction value according to the actual speed, and modifying the target return torque using the first return correction value.

[0061] Among them, the embodiment of the present application can preset a corresponding relationship between the speed and the first return correction value. The corresponding relationship can be pre-set by the user, obtained through a limited number of experiments, or obtained through a limited number of computer simulations, and is not specifically limited here.

[0062] It should be understood that the actual speed of the vehicle will have a certain influence on the return torque regardless of whether it is returning to center in forward or reverse direction. Therefore, in order to ensure the accuracy of the target return torque, the embodiment of the present application can detect the actual speed of the vehicle in real time, and obtain the first return correction value by querying the pre-established correspondence relationship to modify the target return torque, thereby more accurately achieving the return of the vehicle.

[0063] Optionally, in some embodiments, after matching the target return torque of the vehicle according to the current return type, it also includes: detecting the load of the vehicle; generating a second return correction value according to the load, and modifying the target return torque using the second return correction value.

[0064] It should be understood that the load when there is one person sitting on the vehicle is completely different from the load when there are four people sitting on the vehicle. Therefore, in order to further improve the accuracy of the target return torque, the embodiment of the present application can also detect the load of the vehicle, wherein the embodiment of the present application can preset a mapping relationship between the load and the second return correction value. After detecting the load of the vehicle, the embodiment of the present application can obtain the second return correction value by querying the above mapping relationship, thereby modifying the target return torque according to the second return correction value.

[0065] According to the vehicle return method proposed in the embodiment of the present application, the current return type of the vehicle can be identified according to the current driving intention of the vehicle, and the target return torque of the vehicle can be matched according to the current return type, and the electric power steering system of the vehicle can be controlled according to the target return torque to return the vehicle until the electric power steering system returns to the preset position. Thus, the problem that the return torque provided by the electric power steering system in the related art has only one set of data during calibration, resulting in the return effect of the vehicle when reversing being worse than that when the vehicle is moving forward is solved, which greatly improves the return performance of the vehicle when reversing and improves the driving experience of the user.

[0066] Next, the vehicle centering device proposed according to the embodiment of the present application will be described with reference to the accompanying drawings.

[0067] Figure 3 It is a block diagram of a vehicle centering device according to an embodiment of the present application.

[0068] like Figure 3 As shown, the vehicle alignment device 10 includes: an identification module 100 , a matching module 200 and a control module 300 .

[0069] The identification module 100 is used to identify the current return type of the vehicle according to the current driving intention of the vehicle;

[0070] The matching module 200 is used to match the target self-aligning torque of the vehicle according to the current self-aligning type; and

[0071] The control module 300 is used to control the electric power steering system of the vehicle to align the vehicle according to the target aligning torque until the electric power steering system returns to a preset position.

[0072] Optionally, in some embodiments, the matching module 200 is specifically used for:

[0073] If the current return type is forward return, the vehicle is controlled to perform return control based on the first target return torque;

[0074] If the current return type is reverse return, the vehicle is controlled to perform return control based on the second target return torque, wherein the second target return torque is greater than the first target return torque.

[0075] Optionally, in some embodiments, after matching the target self-aligning torque of the vehicle according to the current self-aligning type, the matching module 200 is further configured to:

[0076] Detect the actual speed of the vehicle;

[0077] A first return correction value is generated according to the actual speed, and the target return torque is modified using the first return correction value.

[0078] Optionally, in some embodiments, after matching the target self-aligning torque of the vehicle according to the current self-aligning type, the matching module 500 is further configured to:

[0079] Detect vehicle load;

[0080] A second return correction value is generated according to the load, and the target return torque is modified using the second return correction value.

[0081] It should be noted that the above explanation of the embodiment of the vehicle centering method is also applicable to the vehicle centering device of this embodiment, and will not be repeated here.

[0082] According to the vehicle return device proposed in the embodiment of the present application, the current return type of the vehicle can be identified according to the current driving intention of the vehicle, and the target return torque of the vehicle can be matched according to the current return type, and the electric power steering system of the vehicle can be controlled according to the target return torque to return the vehicle until the electric power steering system returns to the preset position. Thus, the problem that the return torque provided by the electric power steering system in the related art has only one set of data during calibration, resulting in the return effect of the vehicle when reversing being worse than that when the vehicle is moving forward is solved, which greatly improves the return performance of the vehicle when reversing and improves the driving experience of the user.

[0083] Figure 4 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. The vehicle may include:

[0084] Memory 401 , processor 402 , and a computer program stored in the memory 401 and executable on the processor 402 .

[0085] When the processor 402 executes the program, the vehicle restoring method provided in the above embodiment is implemented.

[0086] Furthermore, the vehicle also includes:

[0087] The communication interface 403 is used for communication between the memory 401 and the processor 402 .

[0088] The memory 401 is used to store computer programs that can be executed on the processor 402 .

[0089] The memory 401 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0090] If the memory 401, the processor 402 and the communication interface 403 are implemented independently, the communication interface 403, the memory 401 and the processor 402 can be connected to each other through a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 4 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0091] Optionally, in a specific implementation, if the memory 401, the processor 402 and the communication interface 403 are integrated on a chip, the memory 401, the processor 402 and the communication interface 403 can communicate with each other through an internal interface.

[0092] The processor 402 may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0093] This embodiment also provides a computer-readable storage medium on which a computer program is stored, characterized in that when the program is executed by a processor, the above-mentioned vehicle straightening method is implemented.

[0094] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0095] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0096] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0097] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above embodiment, N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0098] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

Claims

1. A vehicle straightening method, characterized in that: The following steps are involved: Identifying a current return type of the vehicle according to a current driving intention of the vehicle, wherein the current driving intention includes a forward driving intention and a reverse driving intention; matching a target self-aligning torque of the vehicle according to the current self-aligning type; and Controlling the electric power steering system of the vehicle to align the vehicle according to the target aligning torque until the electric power steering system returns to a preset position; Wherein, matching the target return torque of the vehicle according to the current return type includes: if the current return type is forward return, controlling the vehicle to perform return control based on a first target return torque; if the current return type is backward return, controlling the vehicle to perform return control based on a second target return torque, wherein the second target return torque is greater than the first target return torque; Before controlling the vehicle to perform the return control based on the first target return torque, the method further includes: acquiring a first steering wheel angle when the current return type is forward return, and querying a first mapping relationship according to the first steering wheel angle to obtain the first target return torque; Before controlling the vehicle to perform the return control based on the second target return torque, the method further includes: acquiring a second steering wheel angle when the current return type is reverse return, and querying a second mapping relationship according to the second steering wheel angle to obtain the second target return torque; After matching the target return torque of the vehicle according to the current return type, the method further includes: detecting the load of the vehicle; generating a second return correction value according to the load, and modifying the target return torque using the second return correction value.

2. The method according to claim 1, characterized in that: After matching the target self-aligning torque of the vehicle according to the current self-aligning type, the method further includes: detecting an actual speed of the vehicle; A first return correction value is generated according to the actual speed, and the target return torque is modified using the first return correction value.

3. A vehicle return device, characterized in that: include: an identification module, configured to identify a current return type of the vehicle according to a current driving intention of the vehicle, wherein the current driving intention includes a forward driving intention and a reverse driving intention; a matching module, configured to match a target self-aligning torque of the vehicle according to the current self-aligning type; and a control module, configured to control the electric power steering system of the vehicle to return the vehicle to the correct position according to the target return torque, until the electric power steering system returns to a preset position; The matching module is specifically used to: if the current return type is forward return, control the vehicle to perform return control based on a first target return torque; if the current return type is backward return, control the vehicle to perform return control based on a second target return torque, wherein the second target return torque is greater than the first target return torque; Before controlling the vehicle to perform return control based on the first target return torque, the matching module is further used to: obtain a first steering wheel angle when the current return type is forward return, and query a first mapping relationship according to the first steering wheel angle to obtain the first target return torque; Before controlling the vehicle to perform return control based on the second target return torque, the matching module is further used to: obtain a second steering wheel angle when the current return type is reverse return, and query a second mapping relationship according to the second steering wheel angle to obtain the second target return torque; After matching the target return torque of the vehicle according to the current return type, the matching module is further used to: detect the load of the vehicle; generate a second return correction value according to the load, and modify the target return torque using the second return correction value.

4. The device according to claim 3, characterized in that After matching the target self-aligning torque of the vehicle according to the current self-aligning type, the matching module is further configured to: detecting an actual speed of the vehicle; A first return correction value is generated according to the actual speed, and the target return torque is modified using the first return correction value.

5. A vehicle, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the vehicle restoring method as described in any one of claims 1 to 2.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the vehicle restoring method as described in any one of claims 1-2.

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