A parameter adjustment method and device for a steering wheel, a medium and an apparatus

Abstract

The present specification provides a parameter adjustment method, device, medium and equipment of a steering wheel, the method comprising: obtaining a torque parameter set by a user for at least one type of assist torque; for each type of assist torque, determining a plurality of torque parameters on a three-dimensional coordinate system according to the torque parameter, and generating a torque change curve containing the plurality of torque parameters; determining a target torque parameter in the torque change curve based on a current input signal acting on the steering wheel and a current driving speed of the target vehicle; and applying an assist torque to the steering wheel according to the target torque parameter. Through the above method, it is helpful to provide a customized steering wheel operation experience for the user.

Description

TECHNICAL FIELD

[0001] The present specification relates to the technical field of data processing, and in particular, to a parameter adjustment method and device for a steering wheel, a medium and an apparatus. BACKGROUND

[0002] When a user uses a parameter adjustment vehicle to steer a steering wheel, the user will apply a positive torque to the steering wheel, and can feel a reverse torque of the steering wheel. When the user feels a larger reverse torque, the user needs to apply a larger torque to twist the steering wheel; when the user feels a smaller reverse torque, the user only needs to apply a smaller torque to twist the steering wheel, which will bring different hand feelings to the user and produce different driving experiences.

[0003] However, whether it is a real vehicle (such as a ship, an airplane, a car, a toy car) in the real world or a virtual vehicle in the virtual world, the hand feeling of the steering wheel is usually not adjustable, and cannot bring the user a customized steering wheel operation experience. SUMMARY

[0004] To overcome the problems in the related art, the present specification provides a parameter adjustment method and device for a steering wheel, a medium and an apparatus.

[0005] According to a first aspect of the embodiments of the present application, a parameter adjustment method for a steering wheel is provided, and the method comprises:

[0006] Obtaining a torque parameter set by a user for at least one type of assist torque; wherein the assist torque is used to apply a torque opposite to the direction of an input signal acting on the steering wheel;

[0007] For each type of assist torque, a plurality of torque parameters are determined on a three-dimensional coordinate system according to the torque parameter, and a torque change curve containing the plurality of torque parameters is generated; wherein three coordinate axes of the three-dimensional coordinate system are set based on an input signal acting on the steering wheel, the assist torque, and a running speed of a target vehicle;

[0008] Based on a current input signal acting on the steering wheel and a current running speed of the target vehicle, a target torque parameter is determined in the torque change curve;

[0009] According to the target torque parameter, an assist torque is applied to the steering wheel.

[0010] According to a second aspect of the embodiments of the present application, a parameter adjustment device for a steering wheel is provided, and the device comprises:

[0011] The acquisition module is configured to acquire torque parameters set by a user for at least one type of assist torque, wherein the assist torque is used to apply a torque to the steering wheel in a direction opposite to a direction of an input signal acting on the steering wheel.

[0012] The generation module is configured to determine a plurality of torque parameters on a three-dimensional coordinate system according to the torque parameters for each type of assist torque, and generate a torque variation curve containing the plurality of torque parameters, wherein three coordinate axes of the three-dimensional coordinate system are set based on an input signal acting on the steering wheel, the assist torque, and a driving speed of a target vehicle.

[0013] The determination module is configured to determine a target torque parameter in the torque variation curve based on a current input signal acting on the steering wheel and a current driving speed of the target vehicle.

[0014] The execution module is configured to apply an assist torque to the steering wheel according to the target torque parameter.

[0015] According to a third aspect of the embodiments of the present application, a computer readable storage medium is provided, which stores a computer program. The program is executed by a processor to implement the steps of the parameter adjustment method of the steering wheel according to any of the embodiments of the first aspect.

[0016] According to a fourth aspect of the embodiments of the present application, a computer device is provided, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. The processor is configured to execute the steps of the parameter adjustment method of the steering wheel according to any of the embodiments of the first aspect.

[0017] The technical solutions provided by the embodiments of the present application can have the following beneficial effects:

[0018] In the embodiments of the present application, because the direction of the assist torque is opposite to the direction of the input signal acting on the steering wheel, when the user applies a positive torque to the steering wheel, the user will feel an assist torque in the opposite direction from the direction of the applied force. By acquiring the torque parameters set by the user, the torque variation curve of the modified plurality of torque parameters can be automatically generated according to the set at least one torque parameter, without the user setting different torque parameters for different situations, thereby saving the user's operation.

[0019] According to the above method, the torque parameters of at least one type of assist torque can be modified according to the torque variation curve, and the feel of the steering wheel can be modified to any value desired by the user, which helps to improve the user's steering experience.

[0020] It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application, as claimed. BRIEF DESCRIPTION OF DRAWINGS

[0021] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and serve to explain the principles of the application, in which, like reference numerals designate corresponding parts throughout the several views.

[0022] Figure 1 A flow chart of a parameter adjustment method of a steering wheel is shown.

[0023] Figure 2 A structural schematic diagram of a parameter adjustment device of a steering wheel is shown.

[0024] Figure 3 A hardware structure diagram of a computer device in which a parameter adjustment device of a steering wheel according to an exemplary embodiment is shown. DETAILED DESCRIPTION

[0025] The exemplary embodiments will be described in detail herein with reference to the attached drawings. The following description is made with reference to the accompanying drawings in which like reference numerals represent like elements, and redundant description is omitted for clarity. The following exemplary embodiments are not representative of all embodiments consistent with the present application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the present application as detailed in the appended claims.

[0026] The terminology used in the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application. As used in the present application, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0027] It should be understood that although the terms first, second, third, etc. can be used herein to describe various information, these terms are not intended to denote a particular order or hierarchy. These terms are used only to distinguish one from another. For example, a first information can be termed a second information, and similarly, a second information can be termed a first information, without departing from the scope of the present application. As used herein, the term "if' can be construed to mean "when" or "in response to determining" or "in response to a determination" depending on the context.

[0028] During the driving of the vehicle, the driving operation of turning, U-turn and other changes of driving direction are needed, so the steering wheel for controlling the steering system of the vehicle to change direction is usually provided in the vehicle. For example: the steering wheel in the car, ship, yacht.

[0029] The following takes the steering wheel in the car as an example for description:

[0030] The traditional steering system in the car is mechanical steering. The working principle of mechanical steering is: the steering wheel transmits the steering intention to the wheels through the steering gear and the pull rod, so as to realize the steering motion. That is, the rotation of the steering wheel drives the wheels to steer through the connection of the mechanical structure. Therefore, when the wheels are steered by adjusting the parameters of the steering wheel, the feedback force between the ground and the wheels caused by the steering of the wheels can be felt.

[0031] For example, when there is a ground protrusion on the right side of the wheel, the steering of the wheel to the right will collide with the ground protrusion, and then the ground protrusion will prevent the wheel from continuing to steer. The feedback force of the ground protrusion transmitted to the wheel will be further transmitted to the steering wheel through the mechanical structure connected to the wheel. In this way, the user can feel the opposite torque on the steering wheel, which prevents the steering wheel from continuing to rotate according to the user's own intention.

[0032] Moreover, in the traditional mechanical steering structure, when controlling some large vehicles with heavy self-weight to steer, the user often needs to exert a large torque to complete the steering. In order to enable the driver to complete the steering with less force, the existing technology usually provides a user with a boost torque in the same direction as the input torque exerted by the user to overcome the opposite torque exerted by the mechanical structure on the steering wheel, so as to realize easier steering of the vehicle.

[0033] However, due to the mechanical structure of the steering system, it is difficult to realize the active control required by automatic driving under the angular transmission characteristics (steering characteristics) of the steering system. In order to solve the problem of being unable to realize automatic driving caused by the mechanical structure, a linear steering system that can replace the mechanical steering system gradually appears.

[0034] In the linear steering system, the mechanical connecting components between the steering wheel and the steering wheels are cancelled, and the limitations of mechanical hardware are completely eliminated, so that the electrical signals (such as torque sensors detecting input torque and angle sensors detecting steering wheel rotation angle) on the steering wheel (generated due to the operation of the driver) can be detected, and then the steering system can be controlled by analyzing the electrical signals, without being limited by the mechanical structure.

[0035] In this case, since the steering wheel and the steering wheel are not connected by mechanical connection components in the car, the user cannot feel the reverse torque from the steering wheel when operating the steering wheel and applying a positive input torque to the steering wheel, which will cause the user to operate the steering wheel too easily, resulting in the user turning too much and even causing traffic accidents.

[0036] To solve the problem of too easy operation of the steering wheel in the linear steering system, the prior art usually sets a fixed torque parameter for the steering wheel, and applies a torque to the steering wheel in the opposite direction of the input signal applied by the user to the steering wheel according to the torque parameter, so that the user feels a certain reaction force. While improving the feel of the steering wheel, it helps to ensure that the user will not be out of control due to too easy operation of the steering wheel during driving.

[0037] However, the prior art still has the problem of unadjustable steering wheel feel, so it cannot bring the user a customized steering wheel operation experience.

[0038] Based on the above problems, the embodiments of the present application provide a parameter adjustment method, device, medium and equipment for a steering wheel. Next, the embodiments of the present application will be described in detail.

[0039] Figure 1 A flowchart of a parameter adjustment method for a steering wheel provided by an embodiment of the present application is shown, as shown in Figure 1 The method comprises the following steps:

[0040] Step 101, obtaining a torque parameter set by a user for at least one type of assist torque; wherein the assist torque is used to apply a torque to the steering wheel in the opposite direction of the input signal applied to the steering wheel.

[0041] When the user operates the steering wheel, an input signal can be generated to act on the steering wheel. The input signal includes but is not limited to: the input torque applied by the user to the steering wheel, and the rotation angle generated by the input torque applied by the user on the steering wheel.

[0042] The type of assist torque includes but is not limited to at least one of the following:

[0043] The friction torque used to represent the size of the feedback force of the ground to the vehicle when the vehicle is turning.

[0044] The damping torque used to stop the steering wheel.

[0045] And the return torque used to control the steering wheel to return to the initial position.

[0046] The torque parameter set by the user can refer to the following examples:

[0047] In example 1, for the friction torque, when the input torque corresponding to the input signal acting on the steering wheel is 2 Nm, and the current driving speed of the target vehicle is 0 kph (kilometers per hour), the torque parameter corresponding to the friction torque is 0.1152 Nm (this value is exemplary, and the user can set it at will).

[0048] In step 102, for each type of assist torque, a plurality of torque parameters are determined in a three-dimensional coordinate system according to the torque parameter, and a torque variation curve containing the plurality of torque parameters is generated; wherein the three coordinate axes of the three-dimensional coordinate system are set based on the input signal acting on the steering wheel, the assist torque, and the driving speed of the target vehicle.

[0049] Each type of assist torque corresponds to a standard torque variation curve (pre-set), and for the assist torque whose torque parameter is not modified by the user, the torque parameter in the standard torque variation curve is still used to apply assist torque to the steering wheel.

[0050] The number of torque parameters modified by the user for each type of assist torque is at least one. For at least one type of assist torque whose torque parameter is modified by the user, a plurality of torque parameters are determined based on the at least one torque parameter modified by the user, thereby generating a new torque variation curve, which is different from the standard torque variation curve before the torque parameter is modified by the user. Since the user can set the parameter value of the torque parameter at will, the user can customize the setting of the torque parameter.

[0051] The torque variation curve is a three-dimensional curve in a three-dimensional coordinate system composed of three coordinate axes.

[0052] The first coordinate axis of the three-dimensional coordinate axis is set based on the input signal acting on the steering wheel, and can represent the size of the input signal value of the input signal; the second coordinate axis of the three-dimensional coordinate axis is set based on the driving speed of the target vehicle, and is used to represent the value of the current driving speed of the target vehicle; the third coordinate axis of the three-dimensional coordinate axis is set based on the assist torque, and is used to represent the size of the torque parameter of the assist torque. The vehicle bound to the operation of the steering wheel can be a virtual vehicle (such as a racing car or a ship in a game), or a real vehicle, such as a game car (bound to the steering wheel in the game car), a car, etc.

[0053] At least part of the torque variation curve in a first coordinate system formed by the first coordinate axis and the second coordinate axis is used to represent the relationship between the input signal and the driving speed of the target vehicle; at least part of the torque variation curve in a second coordinate system formed by the first coordinate axis and the third coordinate axis is used to represent the relationship between the input signal and the torque parameter of the assist torque; and at least part of the torque variation curve in a third coordinate system formed by the second coordinate axis and the third coordinate axis is used to represent the relationship between the driving speed of the target vehicle and the torque parameter of the assist torque.

[0054] In example 2, when the user sets the parameters according to example 1, since the user only sets: the input torque is 2 Nm, and the current driving speed is 0 kph (kilometers per hour), the corresponding torque parameter is 0.1152 Nm.

[0055] Therefore, according to the relationship between the input torque, the driving speed and the torque parameter set by the user, a plurality of torque parameters can be determined, and the following torque parameters can be generated accordingly:

[0056] 0.2109 Nm, 0.3233 Nm, 0.1455 Nm, etc.

[0057] And set the input torque, driving speed corresponding to the plurality of torque parameters.

[0058] Torque parameter: 0.2109 Nm, corresponding input torque: 4 Nm, driving speed: 0 kph.

[0059] Torque parameter: 0.3233 Nm, corresponding input torque: 6 Nm, driving speed: 0 kph.

[0060] Torque parameter: 0.1455 Nm, corresponding input torque: 2 Nm, driving speed: 5 kph, and a torque variation curve containing the plurality of torque parameters is generated accordingly. After generating the torque variation curve, this torque parameter modification is successful.

[0061] Step 103, determining the target torque parameter in the torque variation curve based on the current input signal acting on the steering wheel and the current driving speed of the target vehicle.

[0062] When the user operates the steering wheel, based on the sensors, detection devices, etc. in the steering wheel, the input signal value (such as the size of the input torque, the steering wheel angle) of the input signal acting on the steering wheel applied by the user to the steering wheel can be determined, and the driving speed of the target vehicle acted on by the steering wheel can be known. Therefore, in the case where the input signal and the driving speed are known, the target torque parameter can be uniquely determined in the torque variation curve.

[0063] It should be noted that the torque parameters of each type of assist torque are independently modified, and the corresponding torque change curve is also independent. The torque parameters set by the user for one type of assist torque will not affect the torque parameters and related torque change curves of other types of assist torque.

[0064] Step 104, apply assist torque to the steering wheel according to the target torque parameter.

[0065] After determining the target torque parameter according to step 103, since the current target torque parameter is determined from the torque change curve generated from the torque parameter modified by the user, the target torque parameter is the torque parameter matched with the torque parameter customized by the user, so that when the assist torque is applied to the steering wheel according to the target torque parameter, the ideal operation feeling of the user on the steering wheel can be met.

[0066] In the embodiment of the application, since the direction of the assist torque is opposite to the direction of the input signal applied by the user to the steering wheel, the user will feel the assist torque in the opposite direction of the force applied to the steering wheel when applying a positive torque to the steering wheel. By obtaining the torque parameter set by the user, at least one torque parameter can be automatically generated to modify the torque change curve of the plurality of torque parameters, without the need for the user to set different torque parameters for different situations, saving the user's operation.

[0067] Through the above method, the torque parameter of at least one type of assist torque can be modified according to the torque change curve, and then the feeling of the steering wheel can be modified to any value expected by the user, which helps to improve the user's steering experience.

[0068] In a feasible implementation, the method further comprises:

[0069] For the coordinate system formed by any two coordinate axes of the three coordinate axes, the corresponding function of the torque change curve on the coordinate system is a derivable function.

[0070] When the corresponding function in any two-dimensional coordinate system (first coordinate system, second coordinate system, third coordinate system) is a derivable function, the torque change curve is relatively smooth and round at every point in its domain, and does not contain any sharp points and breakpoints. In this way, during the operation of the steering wheel by the user, even if the input signal (or the running speed) applied to the steering wheel changes, the feeling of the steering wheel will not suddenly change, which helps to improve the user's steering experience.

[0071] In a feasible implementation, the method is applied to a vehicle, and the vehicle is provided with the steering wheel and a display device for displaying a virtual vehicle.

[0072] The steering wheel is a real vehicle (for example, a car, a train, a bus, a ship, etc., and the vehicle is exemplarily illustrated as a car in the embodiments of the present application), and the display device can be a display screen in the car.

[0073] The interface displayed on the display screen includes a virtual vehicle, which can be a virtual driving interface (for example, a racing game, a vehicle simulation driving experience, etc.), or an interface for debugging vehicle parameters (for example, steering wheel feel, etc.) through a virtual running demonstration picture of the virtual vehicle, a test interface for debugging the steering wheel or other parameter information of the vehicle through the virtual vehicle.

[0074] Before the step 101 of acquiring the torque parameter set by the user for at least one type of assist torque, the method further includes:

[0075] In step 110, the virtual vehicle is determined as the target vehicle, and the steering operation of the virtual vehicle is bound to the operation of the steering wheel to control the steering of the virtual vehicle based on the electrical signal detected from the steering wheel.

[0076] The virtual vehicle displayed on the display device is determined as the target vehicle, and the driving speed of the target vehicle is the driving speed of the virtual vehicle in the virtual scene. By binding the steering operation of the virtual vehicle to the operation of the steering wheel, the steering operation of the virtual vehicle, such as turning and U-turn, can be controlled through the operation of the steering wheel and the electrical signal (input torque, rotation angle) detected from the steering wheel, and the user can have a more realistic operation experience through the physical operation of the steering wheel.

[0077] In a feasible embodiment, the vehicle is further provided with a steering system for controlling the steering of the vehicle, and the vehicle controls the steering system based on the electrical signal detected from the steering wheel.

[0078] In the embodiments of the present application, the steering system carried in the vehicle is based on linear steering technology to realize steering. That is, the vehicle controls the steering system to steer based on the electrical signal (for example, input torque, steering wheel rotation angle) detected from the steering wheel, instead of mechanical structure.

[0079] Before the step 101 of acquiring the torque parameter set by the user for at least one type of assist torque, the method further includes:

[0080] In step 111, in response to a virtual driving start instruction for the virtual vehicle, the steering system is controlled to be detached from the operation of the steering wheel, so that the electrical signal detected from the steering wheel is invalid for the steering system.

[0081] The virtual driving start instruction is issued by a user and is used to start driving operation on a virtual vehicle. At this time, the control of the steering system is decoupled from the operation of the steering wheel, specifically including:

[0082] When it is determined that the vehicle is performing driving operation, the automatic driving function is started; and when it is determined that the automatic driving function is successfully started, the steering system is controlled to decouple from the operation of the steering wheel.

[0083] When the user starts the virtual driving start instruction, it indicates that the user currently wants to use the steering wheel to operate the virtual vehicle, rather than using the steering wheel to operate the real vehicle carrying the steering wheel. At this time, the operation of the steering wheel needs to be decoupled from the operation of the steering system, so that the steering system is decoupled from the operation of the steering wheel.

[0084] In this way, whether the vehicle is driving or not, the operation of the steering wheel on the virtual vehicle will not affect the direction change of the real vehicle.

[0085] Further, when the real vehicle carrying the steering wheel is performing driving operation (such as straight driving, deceleration, turning, etc.), since the user wants to adjust the torque parameter of the assist torque of the steering wheel, in order to avoid affecting the driving of the vehicle during the adjustment of the parameter, the automatic driving function of the vehicle needs to be started before the steering system is controlled to decouple from the operation of the steering wheel. When it is determined that the automatic driving function is successfully started, the steering system is controlled to decouple from the operation of the steering wheel. This helps to ensure the driving safety of the user in the vehicle during the subsequent modification of the torque parameter of the steering wheel and the adjustment of the steering feel of the steering wheel.

[0086] Step 112: After it is determined that the steering system successfully decouples from the operation of the steering wheel, the torque modification function is started.

[0087] After it is determined that the steering system successfully decouples from the operation of the steering wheel, the torque modification function is started, so that the user can set the corresponding torque parameter, and then steps 101-104 are performed.

[0088] Through the above method, it is ensured that the user can not affect the steering system of the vehicle during the modification of the parameter and the adjustment of the virtual vehicle using the steering wheel.

[0089] It should be noted that after the torque modification function is started, the user can also be introduced how to modify the torque parameter in the interface for the user to modify the torque parameter, so as to facilitate the user to quickly set the desired torque parameter.

[0090] In a feasible implementation, when the assist torque at least includes the friction torque, in step 103, the target torque parameter is determined in the torque variation curve based on the current input signal acting on the steering wheel and the current driving speed of the target vehicle, including:

[0091] determining an input torque generated by the input signal acting on the steering wheel; determining a friction torque value in the torque variation curve based on the input torque and the current driving speed of the target vehicle, and determining the friction torque value as the target torque parameter.

[0092] When the type of the assist torque is the friction torque, the input signal corresponding to the friction torque is the input torque. In this case, the input torque is generated on the steering wheel by the input signal input by the user, and the size of the input torque is detected by the torque sensor installed on the steering wheel.

[0093] The determined input torque and the current driving speed of the target vehicle can uniquely determine the friction torque value corresponding to the current friction torque as the assist torque, i.e., the torque parameter, and the determined friction torque value is determined as the target torque parameter.

[0094] For example, when the assist torque is the friction torque, the related parameters in the generated torque variation curve are shown in Table 1 (the speed in the table refers to the driving speed of the target vehicle):

[0095] Table 1

[0096]

[0097] When the damping torque at least includes the friction torque, in the step 103 of determining the target torque parameter in the torque variation curve based on the current input signal acting on the steering wheel and the current driving speed of the target vehicle, it includes:

[0098] determining a rotation speed generated by the input signal acting on the steering wheel; determining a damping torque value in the torque variation curve based on the rotation speed and the current driving speed of the target vehicle, and determining the damping torque value as the target torque parameter.

[0099] The damping torque is a torque that can make the steering wheel stop at a certain position. When the user applies a fixed input torque (for example, 3 Nm) to the steering wheel, the steering wheel will change the angle driven by the input torque. However, when the damping torque is set too large, the steering wheel may stop before reaching the expected stop position (for example, 5°) (for example, under the action of an input torque of 3 Nm, the steering wheel stops after rotating only 2° due to the damping torque); when the damping torque is set too small, the steering wheel may not stop after reaching the expected stop position (for example, 5°) (for example, under the action of an input torque of 3 Nm, the steering wheel does not stop after rotating 10°). It can be seen that no matter whether the damping torque is set too large or too small, it will affect the operation feeling of the steering wheel.

[0100] The rotation speed of the steering wheel is generated by the input torque due to the input signal applied by the user to the steering wheel, and the steering wheel will generate a rotation angle under the action of the input torque. Based on the rotation angle and the rotation time, the rotation speed of the steering wheel (which can be an average rotation speed in a period of time) can be determined. At this time, by the rotation speed of the steering wheel and the running speed, the damping torque value (i.e. the torque parameter) corresponding to the damping torque such as the assist torque in the torque variation curve can be uniquely determined, and the determined damping torque value is determined as the target torque parameter.

[0101] For example, when the assist torque is the damping torque, the related parameters in the generated torque variation curve are shown in Table 2:

[0102] Table 2

[0103]

[0104] When the damping torque at least includes the return torque, in the step 103 of determining the target torque parameter in the torque variation curve based on the current input signal acting on the steering wheel and the current running speed of the target vehicle, it includes:

[0105] Determine the rotation angle generated by the input signal acting on the steering wheel; based on the rotation angle, the current running speed of the target vehicle, determine the return torque value in the torque variation curve, and determine the return torque value as the target torque parameter.

[0106] The return torque is the torque when it is detected that the user does not operate the steering wheel. When the return torque is too large, the steering wheel may stop after passing the initial position during the return process. When the return torque is too small, the steering wheel may stop before reaching the initial position during the return process. Whether the return torque is too large or too small, the steering wheel cannot accurately return to the initial position. Therefore, it will affect the operation feeling of the steering wheel.

[0107] For example, when the assist torque is the return torque, the related parameters in the generated torque variation curve are shown in Table 3:

[0108] Table 3

[0109]

[0110] In a feasible implementation, the setting condition of the torque parameter includes at least one of the following:

[0111] The input torque generated by the current input signal acting on the steering wheel is less than or equal to a first threshold value; the torque parameter set for at least one type of assist torque is less than or equal to a second threshold value.

[0112] The first threshold value and the second threshold value are set according to requirements.

[0113] For the first threshold value, assuming that the first threshold value is 0.5 Nm, when the input torque on the steering wheel is less than or equal to 0.5 Nm, it is considered that the user is not currently operating the steering wheel, and the torque parameter of the assist torque can be modified; when the input torque on the steering wheel is greater than 0.5 Nm, it is considered that the user is currently operating the steering wheel, and if the modification of the parameter takes effect immediately, it will affect the user's operation, so at this time the setting condition is not met and the torque parameter cannot be set.

[0114] For the second threshold value, the second threshold value is a limit parameter value (which can be a large value or a small value) preset for each type of assist torque, and when the torque parameter set by the user exceeds the limit parameter value, it is considered that the torque parameter set by the user is dangerous and is likely to affect the user's driving operation, and the setting condition is not met.

[0115] Through the above method, the torque parameter set can meet the setting condition, which helps to improve the safety of driving operation.

[0116] In a feasible implementation, in the step 102 of determining a plurality of torque parameters on a three-dimensional coordinate system according to the torque parameter and generating a torque change curve containing the plurality of torque parameters, the following steps are included:

[0117] In step 1021, for each torque parameter set by the user, a target input signal value corresponding to the torque parameter and a target driving speed are determined.

[0118] The target input signal value is the numerical value of the input signal set by the user for this torque parameter; and the target driving speed is the driving speed of the target vehicle set by the user for this torque parameter.

[0119] As shown in Example 1, the target input signal value is 2 Nm, and the target driving speed is 0 kph.

[0120] In step 1022, a first change function for representing the relationship between the first number of driving speeds and the first number of input signal values is generated in a first coordinate system formed by the first coordinate axis corresponding to the input signal and the second coordinate axis corresponding to the driving speed; and the first change function is a derivable function.

[0121] In the first coordinate system, a first change function can be generated by introducing a formula or an algorithm model to represent the relationship between the first quantity of driving speeds and the first quantity of input signal values. The first quantity of values in the first quantity of driving speeds and the value of each driving speed are determined according to an algorithm function, a model (or artificial preset), or the like.

[0122] In step 1023, in a second coordinate system formed by the first coordinate axis and a third coordinate axis corresponding to the assist torque, a torque parameter corresponding to each input signal value in the first quantity of input signal values is determined based on the torque parameter corresponding to the target input signal value set for at least one type of assist torque, and a second change function for representing the relationship between the first quantity of input signal values and the first quantity of torque parameters is generated; the second change function is a derivable function.

[0123] In step 1024, in a third coordinate system formed by the second coordinate axis and the third coordinate axis, a torque parameter corresponding to each driving speed in the first quantity of driving speeds is determined based on the torque parameter corresponding to the target driving speed set for at least one type of assist torque, and a third change function for representing the relationship between the first quantity of driving speeds and the first quantity of torque parameters is generated; the third change function is a derivable function.

[0124] The second change function and the third change function are generated in a similar manner to the first change function, and will not be described here.

[0125] In step 1025, based on the first change function, the second change function, and the third change function, a target curve is determined in a three-dimensional coordinate system formed by the first coordinate axis, the second coordinate axis, and the third coordinate axis; when the target curve is continuous in the three-dimensional space and passes through the origin of the three-dimensional coordinate system, the target curve is determined as the torque change curve.

[0126] Since each change function corresponds to a two-dimensional coordinate system, in order to obtain the torque change curve in the three-dimensional coordinate system, the curves of the three change functions in the three coordinate systems are taken as the target curve.

[0127] When it is determined that the target curve is continuous in the three-dimensional space and can pass through the origin of the three-dimensional coordinate system, the target curve is considered to be a valid torque change curve. Otherwise, step 102 is re-executed to generate a new plurality of torque parameters based on the torque parameters set by the user, and then a torque change curve that is continuous in the three-dimensional space and passes through the origin of the three-dimensional coordinate system is obtained.

[0128] Figure 2A structural schematic diagram of a parameter adjustment device of a steering wheel is shown in the embodiments of the present application, as shown in Figure 2 The device comprises:

[0129] The acquisition module 201 is configured to acquire torque parameters set by a user for at least one type of assist torque, wherein the assist torque is used to apply a torque opposite to the direction of an input signal acting on the steering wheel.

[0130] The generation module 202 is configured to, for each type of assist torque, determine a plurality of torque parameters on a three-dimensional coordinate system according to the torque parameters, and generate a torque variation curve containing the plurality of torque parameters, wherein three coordinate axes of the three-dimensional coordinate system are set based on an input signal acting on the steering wheel, the assist torque, and a driving speed of a target vehicle.

[0131] The determination module 203 is configured to determine a target torque parameter in the torque variation curve based on a current input signal acting on the steering wheel and a current driving speed of the target vehicle.

[0132] The execution module 204 is configured to apply an assist torque to the steering wheel according to the target torque parameter.

[0133] In a feasible implementation, the device further comprises: for a coordinate system constituted by any two coordinate axes of the three coordinate axes, a corresponding function of the torque variation curve on the coordinate system is a derivable function.

[0134] In a feasible implementation, the device is applied to a vehicle, and the vehicle is provided with the steering wheel and a display device for displaying a virtual vehicle.

[0135] The device further comprises:

[0136] The vehicle determination module is configured to determine the virtual vehicle as the target vehicle before the acquisition module 201 acquires the torque parameters set by the user for at least one type of assist torque.

[0137] The binding module is configured to bind a steering operation of the virtual vehicle to an operation of the steering wheel, so as to control the virtual vehicle to steer based on an electrical signal detected on the steering wheel.

[0138] In a feasible implementation, the vehicle is further provided with a steering system for controlling vehicle steering, and the vehicle controls the steering system based on the electrical signal detected on the steering wheel.

[0139] The device further comprises:

[0140] A disengaging module, configured to control the steering system to disengage from the operation of the steering wheel in response to a virtual driving start instruction for the virtual vehicle, before the torque parameter set by the user for at least one type of assist torque is acquired, so that the electrical signal detected for the steering wheel is invalid for the steering system.

[0141] An initiating module, configured to initiate a torque modification function when it is determined that the steering system successfully disengages from the operation of the steering wheel.

[0142] In a feasible implementation, the disengaging module, when used to control the steering system to disengage from the operation of the steering wheel, comprises:

[0143] An automatic driving function is initiated when it is determined that the vehicle is performing a driving operation.

[0144] The steering system is controlled to disengage from the operation of the steering wheel when it is determined that the automatic driving function is successfully initiated.

[0145] In a feasible implementation, the at least one type of assist torque at least comprises:

[0146] A friction torque, wherein the friction torque is used to represent the feedback force of the ground on the vehicle when the vehicle is turning.

[0147] The determining module, when used to determine the target torque parameter in the torque variation curve based on the input signal currently acting on the steering wheel and the current speed of the target vehicle, is configured to:

[0148] Determine an input torque generated by the input signal acting on the steering wheel.

[0149] Determine a friction torque value in the torque variation curve based on the input torque and the current speed of the target vehicle, and determine the friction torque value as the target torque parameter.

[0150] In a feasible implementation, the at least one type of assist torque at least comprises:

[0151] A damping torque, wherein the damping torque is used to stop the steering wheel.

[0152] The determining module, when used to determine the target torque parameter in the torque variation curve based on the input signal currently acting on the steering wheel and the current speed of the target vehicle, is configured to:

[0153] Determine a rotation speed generated by the input signal acting on the steering wheel.

[0154] Based on the rotational speed and the current travel speed of the target vehicle, the damping torque value is determined from the torque change curve, and the damping torque value is determined as the target torque parameter.

[0155] In one feasible implementation, the at least one type of assisting torque includes at least:

[0156] Return torque; wherein the return torque is used to control the steering wheel to return to its initial position.

[0157] When determining the target torque parameter from the torque variation curve based on the input signal currently applied to the steering wheel and the current speed of the target vehicle, the determining module is used to:

[0158] Determine the rotation angle generated by the input signal acting on the steering wheel.

[0159] Based on the rotation angle and the current speed of the target vehicle, the return torque value is determined from the torque change curve, and the return torque value is determined as the target torque parameter.

[0160] In one feasible implementation, the setting conditions for the torque parameter include at least one of the following:

[0161] The input torque generated by the input signal acting on the steering wheel is less than or equal to a first threshold. The torque parameter set for at least one type of assist torque is less than or equal to a second threshold.

[0162] In one feasible implementation, the generation module, when determining multiple torque parameters in a three-dimensional coordinate system based on the torque parameters, and generating a torque variation curve containing the multiple torque parameters, is configured to:

[0163] For each torque parameter set by the user, a target input signal value and a target driving speed are determined corresponding to the torque parameter.

[0164] In a first coordinate system formed by the first coordinate axis corresponding to the input signal and the second coordinate axis corresponding to the driving speed, a first change function is generated to characterize the relationship between a first number of driving speeds and a first number of input signal values; wherein, the first change function is a differentiable function.

[0165] In a second coordinate system formed by the first coordinate axis and a third coordinate axis corresponding to the assist torque, a torque parameter corresponding to each of the first number of input signal values is determined based on the torque parameter corresponding to the target input signal value set for at least one type of assist torque, and a second change function for representing the relationship between the first number of input signal values and the first number of torque parameters is generated; wherein the second change function is a derivable function.

[0166] In a third coordinate system formed by the second coordinate axis and the third coordinate axis, a torque parameter corresponding to each of the first number of travel speeds is determined based on the torque parameter corresponding to the target travel speed set for at least one type of assist torque, and a third change function for representing the relationship between the first number of travel speeds and the first number of torque parameters is generated; wherein the third change function is a derivable function.

[0167] Based on the first change function, the second change function and the third change function, a target curve is determined in a three-dimensional coordinate system formed by the first coordinate axis, the second coordinate axis and the third coordinate axis.

[0168] When the target curve is continuous in three-dimensional space and passes through the origin of the three-dimensional coordinate system, the target curve is determined as the torque change curve.

[0169] The implementation process of the functions and roles of each module in the above device is specifically described in the implementation process of the corresponding steps in the above method, which will not be repeated here.

[0170] For the device embodiment, since it basically corresponds to the method embodiment, the relevant part can be referred to the part of the method embodiment. The device embodiments described above are only illustrative, and the modules described as separate components can or can not be physically separated, and the components displayed as modules can or can not be physical modules, that is, they can be located in one place or distributed on multiple network modules. According to the actual needs, some or all of the modules can be selected to achieve the purpose of the scheme of the present specification. Those skilled in the art can understand and implement without creative labor.

[0171] Figure 3 Fig. 1 is a hardware structure diagram of a computer device in which a parameter adjustment device of a steering wheel according to an example embodiment is located, as shown in Figure 3As shown, the device can include a processor 301, a memory 302, an input / output interface 303, a communication interface 304, and a bus 305. The processor 301, the memory 302, the input / output interface 303, and the communication interface 304 are connected to each other through the bus 305 for internal communication within the device.

[0172] The processor 301 can be implemented in the form of a general-purpose CPU (Central Processing Unit), a microprocessor, an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits, and is configured to execute related programs to implement the parameter adjustment method of the steering wheel provided in the embodiments of the present application.

[0173] The memory 302 can be implemented in the form of a ROM (Read Only Memory), a RAM (Random Access Memory), a static storage device, a dynamic storage device, etc. The memory 302 can store an operating system and other application programs. When the technical solutions provided in the embodiments of the present application are implemented by software or firmware, the related program codes are stored in the memory 302 and are called and executed by the processor 301.

[0174] The input / output interface 303 is configured to connect input / output modules to realize information input and output. The input / output modules can be configured as components in the device (not shown in the figure) or externally connected to the device to provide corresponding functions. The input devices can include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output devices can include a display, a speaker, a vibrator, an indicator light, etc.

[0175] The communication interface 304 is configured to connect a communication module (not shown in the figure) to realize the communication interaction between the device and other devices. The communication module can realize communication through a wired manner (such as USB, network cable, etc.) or through a wireless manner (such as mobile network, WIFI, Bluetooth, etc.).

[0176] The bus 305 includes a path for transmitting information between various components (such as the processor 301, the memory 302, the input / output interface 303, and the communication interface 304) of the device.

[0177] It should be noted that although the above device only shows the processor 301, the memory 302, the input / output interface 303, the communication interface 304 and the bus 305, in the specific implementation process, the device can also include other components necessary for normal operation. In addition, those skilled in the art can understand that the above device can also only contain the components necessary to implement the embodiments of the present application, and does not necessarily contain all the components shown in the figure.

[0178] The embodiments of the present application also provide a computer readable storage medium, which stores a computer program, and the program is executed by a processor to implement the steps of the parameter adjustment method of the steering wheel according to any of the embodiments of the present application.

[0179] Computer readable media includes permanent and non-permanent, removable and non-removable media, which can be implemented by any method or technology to store information. The information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), electrically erasable programmable read only memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage device, or any other non-transmission medium that can be used to store information accessible by a computing device. According to the definition in this paper, computer readable medium does not include transitory computer readable medium, such as modulated data signal and carrier wave.

[0180] It should also be noted that the terms "include", "contain" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, product or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or includes elements inherent to such process, method, product or device. Without more limitations, the element defined by the statement "including a" does not exclude the presence of other identical elements in the process, method, product or device including the element.

[0181] The above described embodiments of the present description have been described. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims can be performed in a different order and still achieve desirable results. Additionally, the processes depicted in the figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In certain implementations, multitasking and parallel processing can be advantageous.

Claims

1. A method for adjusting the parameters of a steering wheel, characterized in that, include: The system acquires torque parameters set by the user for at least one type of power assist torque; wherein the power assist torque is used to apply a torque to the steering wheel in the opposite direction to the input signal acting on the steering wheel, and the type of power assist torque includes friction torque, damping torque, and self-centering torque; For each type of assist torque, multiple torque parameters are determined in a three-dimensional coordinate system based on the torque parameters, and a torque variation curve containing the multiple torque parameters is generated; wherein, the torque variation curve is a three-dimensional curve in a three-dimensional coordinate system composed of three-dimensional coordinate axes, the three coordinate axes of the three-dimensional coordinate system are set based on the input signal acting on the steering wheel, the assist torque, and the driving speed of the target vehicle, and for a coordinate system composed of any two of the three coordinate axes, the function corresponding to the torque variation curve in the coordinate system is a differentiable function; Based on the input signal currently applied to the steering wheel and the current speed of the target vehicle, the target torque parameter is determined from the torque variation curve; Apply assist torque to the steering wheel according to the target torque parameters.

2. The method according to claim 1, characterized in that, The method is applied to a vehicle, which is equipped with the steering wheel and a display device for displaying the virtual vehicle; Before obtaining the torque parameters set by the user for at least one type of assist torque, the method further includes: The virtual vehicle is identified as the target vehicle; The steering operation of the virtual vehicle is bound to the operation of the steering wheel, so as to control the steering of the virtual vehicle based on the electrical signals detected by the steering wheel.

3. The method according to claim 2, characterized in that, The vehicle is also equipped with a steering system for controlling the vehicle's steering, and the vehicle controls the steering system based on electrical signals detected by the steering wheel; Before obtaining the torque parameters set by the user for at least one type of assist torque, the method further includes: In response to a virtual driving start command for the virtual vehicle, the steering system is disengaged from the steering wheel to disable the electrical signals detected by the steering wheel for the steering system. Once it is confirmed that the steering system has successfully disengaged from the steering wheel, the torque modification function is activated.

4. The method according to claim 3, characterized in that, The operation of controlling the steering system to disengage from the steering wheel includes: When it is determined that the vehicle is performing a driving operation, the automatic driving function is activated; Once the automatic driving function is successfully activated, the steering system is disengaged from the steering wheel.

5. The method according to claim 1, characterized in that, The at least one type of assisting torque includes at least: Frictional torque; wherein, the frictional torque is used to characterize the magnitude of the feedback force of the ground on the vehicle when the vehicle turns; The determination of the target torque parameter from the torque variation curve based on the input signal currently applied to the steering wheel and the current speed of the target vehicle includes: Determine the input torque generated by the input signal acting on the steering wheel; Based on the input torque and the current speed of the target vehicle, the friction torque value is determined from the torque change curve, and the friction torque value is determined as the target torque parameter.

6. The method according to claim 1, characterized in that, The at least one type of assisting torque includes at least: Damping torque; wherein the damping torque is used to stop the steering wheel; The determination of the target torque parameter from the torque variation curve based on the input signal currently applied to the steering wheel and the current speed of the target vehicle includes: Determine the rotational speed generated by the input signal acting on the steering wheel; Based on the rotational speed and the current travel speed of the target vehicle, the damping torque value is determined from the torque change curve, and the damping torque value is determined as the target torque parameter.

7. The method according to claim 1, characterized in that, The at least one type of assisting torque includes at least: Return torque; wherein, the return torque is used to control the steering wheel to return to its initial position; The determination of the target torque parameter from the torque variation curve based on the input signal currently applied to the steering wheel and the current speed of the target vehicle includes: Determine the rotation angle generated by the input signal acting on the steering wheel; Based on the rotation angle and the current speed of the target vehicle, the return torque value is determined from the torque change curve, and the return torque value is determined as the target torque parameter.

8. The method according to claim 1, characterized in that, The conditions for setting the torque parameter include at least one of the following: The input torque generated by the input signal acting on the steering wheel is less than or equal to the first threshold. The torque parameter set for at least one type of assist torque is less than or equal to the second threshold.

9. The method according to claim 1, characterized in that, The step of determining multiple torque parameters in a three-dimensional coordinate system based on the torque parameters, and generating a torque variation curve containing the multiple torque parameters, includes: For each torque parameter set by the user, a target input signal value and a target driving speed are determined corresponding to the torque parameter; In a first coordinate system formed by the first coordinate axis corresponding to the input signal and the second coordinate axis corresponding to the driving speed, a first change function is generated to characterize the relationship between a first number of driving speeds and a first number of input signal values; wherein, the first change function is a differentiable function; In the second coordinate system formed by the first coordinate axis and the third coordinate axis corresponding to the assist torque, based on the torque parameters set for at least one type of assist torque corresponding to the target input signal value, torque parameters corresponding one-to-one with each of the first number of input signal values ​​are determined, and a second change function is generated to characterize the relationship between the first number of input signal values ​​and the first number of torque parameters; wherein, the second change function is a differentiable function; In the third coordinate system formed by the second coordinate axis and the third coordinate axis, based on the torque parameters corresponding to the target driving speed set for at least one type of assist torque, torque parameters corresponding one-to-one with each of the first number of driving speeds are determined, and a third variation function is generated to characterize the relationship between the first number of driving speeds and the first number of torque parameters; wherein, the third variation function is a differentiable function; Based on the first change function, the second change function, and the third change function, the target curve is determined in the three-dimensional coordinate system formed by the first coordinate axis, the second coordinate axis, and the third coordinate axis; When the target curve is continuous in three-dimensional space and passes through the origin of the three-dimensional coordinate system, the target curve is determined as the torque change curve.

10. A parameter adjustment device for a steering wheel, characterized in that, The device includes: The acquisition module is used to acquire torque parameters set by the user for at least one type of assist torque; wherein the assist torque is used to apply a torque to the steering wheel in the opposite direction to the input signal acting on the steering wheel, and the type of assist torque includes friction torque, damping torque and self-centering torque; A generation module is used to determine multiple torque parameters in a three-dimensional coordinate system based on the torque parameters for each type of assist torque, and to generate a torque variation curve containing the multiple torque parameters; wherein, the torque variation curve is a three-dimensional curve in a three-dimensional coordinate system composed of three-dimensional coordinate axes, the three coordinate axes of the three-dimensional coordinate system are set based on the input signal acting on the steering wheel, the assist torque, and the driving speed of the target vehicle, and for any two of the three coordinate axes, the function corresponding to the torque variation curve in the coordinate system is a differentiable function; The determination module is used to determine the target torque parameter from the torque change curve based on the input signal currently applied to the steering wheel and the current driving speed of the target vehicle; An execution module is used to apply assist torque to the steering wheel according to the target torque parameters.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by a processor, it implements the steps of the method according to any one of claims 1-9.

12. A computer device, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of any one of claims 1-9.

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