An Electric Power Steering Control Method, Device, Vehicle and Readable Storage Medium

Abstract

The present invention relates to an electric power steering control method, device, vehicle, and readable storage medium, including: obtaining an intelligent driving control mode, a driver's hand force value, and a vehicle speed; obtaining an intelligent driving torque coefficient, a first intelligent driving target torque, and an assist torque according to the intelligent driving control mode, the driver's hand force value, and the vehicle speed; calculating a target motor torque according to the intelligent driving torque coefficient, the first intelligent driving target torque, and the assist torque; and controlling the steering motor to output torque according to the target motor torque. According to the driving control mode, the driver's hand force value, and the vehicle speed, the present invention can adjust the first target torque and the intelligent driving torque coefficient related to the intelligent assisted driving system, as well as the assist torque related to the driver's control end, thereby realizing the transfer of control rights under human-machine co-driving through the method of torque adjustment, without the need for redundant mechanical structures, and reducing the control cost of human-machine co-driving.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle control, and particularly to an electric power steering control method, device, vehicle and readable storage medium. Background Art

[0002] Currently, the automotive industry is undergoing an important period of transformation, and vehicle electrification and intelligence have become an inevitable trend. Limited by the development of intelligent driving technology and laws and regulations, fully autonomous driving without a driver cannot be truly commercialized in the short term. Therefore, the vast majority of vehicles still mainly rely on auxiliary driving functions below SAE Level 3 (Society of Automotive Engineers). According to the classification of autonomous driving levels by the International Automotive Engineering Society, the autonomous driving assistance functions at Level 3 and below are auxiliary functions with the driver as the main vehicle driver, and the intelligent driving system is a secondary part of vehicle driving.

[0003] In the complex environmental conditions of intelligent assisted driving, how the driver and the intelligent assisted driving system cooperate reasonably is an important topic.

[0004] In the prior art, human-machine co-driving is realized through redundant mechanical structures, and the structure of the vehicle steering system is designed. An electromagnetic clutch and an electromagnetic brake are added to the steering column to cut off the driver's steering input and prevent vehicle autonomous steering interruption or vehicle safety problems caused by the driver's unsuitability for driving or misoperation. However, the control system is complex, and the redundant mechanical structure increases the cost. Summary of the Invention

[0005] One of the purposes of the present invention is to provide an electric power steering control method to solve the problem of high cost of realizing human-machine co-driving through redundant mechanical structures in the prior art; the second purpose is to provide an electric power steering control device; the third purpose is to provide a vehicle; the fourth purpose is to provide a readable storage medium.

[0006] To achieve the above purposes, the technical solution adopted by the present invention is as follows:

[0007] An electric power steering control method includes:

[0008] Obtaining an intelligent driving control mode, a driver hand force value, and a vehicle speed;

[0009] According to the intelligent driving control mode, the driver hand force value, and the vehicle speed, obtaining an intelligent driving torque coefficient, a first intelligent driving target torque, and an assist torque;

[0010] Calculating a target motor torque according to the intelligent driving torque coefficient, the first intelligent driving target torque, and the assist torque;

[0011] Control the output torque of the steering motor according to the target motor torque.

[0012] An embodiment of the present application provides an electric power steering control method, which obtains the intelligent driving control mode, the driver's hand force value and the vehicle speed; according to the intelligent driving control mode, the driver's hand force value and the vehicle speed, obtains the intelligent driving torque coefficient, the first intelligent driving target torque and the assist torque; according to the intelligent driving torque coefficient, the first intelligent driving target torque and the assist torque, calculates the target motor torque; and controls the output torque of the steering motor according to the target motor torque. In this way, according to the driving control mode, the driver's hand force value and the vehicle speed, the first target torque related to the intelligent assisted driving system and the intelligent driving torque coefficient can be adjusted, and the assist torque related to the driver's control end can be adjusted, so as to realize the transfer of control right under the human-machine co-driving through the torque adjustment method, without the need for redundant mechanical structures, reducing the control cost of the human-machine co-driving.

[0013] Further, the step of calculating the target motor torque according to the intelligent driving torque coefficient, the first intelligent driving target torque and the assist torque includes:

[0014] Calculate the product of the intelligent driving torque coefficient and the first intelligent driving target torque to obtain the second intelligent driving target torque;

[0015] Calculate the sum of the second intelligent driving target torque and the assist torque to obtain the target motor torque.

[0016] According to the above technical means, the second intelligent driving target torque is the product of the intelligent driving torque coefficient and the first intelligent driving target torque. The second intelligent driving target torque can be adjusted by both the intelligent driving torque coefficient and the first intelligent driving target, realizing redundant adjustment and improving safety.

[0017] Further, the intelligent driving control mode includes a non-emergency control mode and an emergency control mode;

[0018] The step of obtaining the intelligent driving torque coefficient according to the intelligent driving control mode, the driver's hand force value and the vehicle speed includes:

[0019] In the non-emergency control mode, obtain the intelligent driving torque coefficient according to the driver's hand force value and the vehicle speed;

[0020] In the emergency control mode, obtain the intelligent driving torque coefficient as 1.

[0021] According to the above technical means, in the non-emergency control mode, when the driver's hand force value increases, the intelligent driving torque coefficient decreases, and the second intelligent driving target torque decreases, thereby realizing the transfer of control right to the driver; in the emergency control mode, the intelligent driving torque coefficient does not change due to the change of the driver's hand force value, avoiding the interference of the driver's control end to a certain extent.

[0022] Further, the step of obtaining the first intelligent driving target torque according to the intelligent driving control mode, the driver's hand force value, and the vehicle speed includes:

[0023] Obtain the proportional parameter gain coefficient and the integral parameter gain coefficient according to the intelligent driving control mode, the driver's hand force value, and the vehicle speed;

[0024] Obtain the target steering wheel angle, the actual steering wheel angle, and the actual steering wheel rotation speed;

[0025] Obtain the first intelligent driving target torque according to the proportional parameter gain coefficient, the integral parameter gain coefficient, the target steering wheel angle, the actual steering wheel angle, and the actual steering wheel rotation speed.

[0026] According to the above technical means, the acquisition of the first intelligent driving target torque can be realized.

[0027] Further, the step of obtaining the proportional parameter gain coefficient and the integral parameter gain coefficient according to the intelligent driving control mode, the driver's hand force value, and the vehicle speed includes:

[0028] In the non-emergency control mode, obtain the proportional parameter gain coefficient and the integral parameter gain coefficient according to the driver's hand force value and the vehicle speed; the proportional parameter gain coefficient and the integral parameter gain coefficient are respectively negatively correlated with the driver's hand force value;

[0029] In the emergency control mode, obtain the proportional parameter gain coefficient as 1 and obtain the integral parameter gain coefficient as 1.

[0030] According to the above technical means, it is ensured that in the non-emergency control mode, when the driver's hand force value increases, the proportional parameter gain coefficient and the integral parameter gain coefficient decrease, the first intelligent driving target torque decreases, and the second intelligent driving target torque decreases, thereby realizing the transfer of control right to the driver; when the driver's hand force value decreases, the proportional parameter gain coefficient and the integral parameter gain coefficient increase, the first intelligent driving target torque increases, and the second intelligent driving target torque increases, thereby realizing the transfer of control right to the intelligent assisted driving system; in the emergency control mode, the proportional parameter gain coefficient is 1, the integral parameter gain coefficient is 1, and the proportional parameter gain coefficient and the integral parameter gain coefficient do not change due to the change of the driver's hand force value, avoiding the interference of the driver's control end to a certain extent.

[0031] Further, the step of obtaining the boosting torque according to the intelligent driving control mode includes:

[0032] Obtain a boosting curve;

[0033] Obtain the boosting torque according to the intelligent driving control mode, the driver's hand force value, the vehicle speed, and the boosting curve.

[0034] According to the above technical means, the acquisition of the boosting torque can be achieved.

[0035] Further, the step of obtaining the boosting torque according to the intelligent driving control mode, the driver's hand force value, the vehicle speed, and the boosting curve includes:

[0036] In the non-emergency control mode, obtain the boosting torque according to the driver's hand force value, the vehicle speed, and the boosting curve;

[0037] In the emergency control mode, obtain the boosting torque as 0.

[0038] According to the above technical means, it is ensured that in the emergency control mode, the boosting torque is 0, and the steering motor will not be interfered by the driver's control end.

[0039] An electric power steering control device includes:

[0040] A parameter acquisition module, configured to acquire an intelligent driving control mode, a driver's hand force value, and a vehicle speed;

[0041] A parameter calculation module, configured to obtain an intelligent driving torque coefficient, a first intelligent driving target torque, and a boosting torque according to the intelligent driving control mode, the driver's hand force value, and the vehicle speed;

[0042] A target motor torque calculation module, configured to calculate a target motor torque according to the intelligent driving torque coefficient, the first intelligent driving target torque, and the boosting torque;

[0043] A steering motor control module, configured to control the steering motor to output torque according to the target motor torque.

[0044] A vehicle includes an electric power steering control device, where the electric power steering control device includes a processor, a memory, and a computer program stored on the memory and executable on the processor, and when the processor executes the program, the above-mentioned electric power steering control method is implemented.

[0045] A computer-readable storage medium stores a program, and when a processor executes the program, the steps of the above-mentioned method are implemented.

[0046] Advantages of the present invention:

[0047] The present invention obtains the intelligent driving control mode, driver hand force value, and vehicle speed; obtains the intelligent driving torque coefficient, first intelligent driving target torque, and assist torque according to the intelligent driving control mode, driver hand force value, and vehicle speed; calculates the target motor torque according to the intelligent driving torque coefficient, first intelligent driving target torque, and assist torque; and controls the steering motor to output torque according to the target motor torque. In this way, according to the driving control mode, driver hand force value, and vehicle speed, the first target torque and intelligent driving torque coefficient related to the intelligent auxiliary driving system can be adjusted, and the assist torque related to the driver's control end can be adjusted, thereby realizing the transfer of control rights under human-machine co-driving through the method of torque adjustment, without the need for redundant mechanical structures, and reducing the control cost of human-machine co-driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0049] Figure 1 It is a schematic flowchart of an electric power steering method provided by the present invention;

[0050] Figure 2 It is a schematic flowchart of obtaining the intelligent driving torque coefficient provided by the present invention;

[0051] Figure 3 It is a schematic flowchart of obtaining the proportional parameter gain coefficient and integral parameter gain coefficient provided by the present invention;

[0052] Figure 4 It is a schematic flowchart of obtaining the assist torque provided by the present invention;

[0053] Figure 5 It is a schematic structural diagram of an electric power steering device provided by the present invention;

[0054] Figure 6 It is another schematic structural diagram of an electric power steering device provided by the present invention;

[0055] Figure 7 It is a schematic structural diagram of a vehicle provided by the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0056] The embodiments of the present invention will be described below with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through different specific embodiments. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for explaining the present invention, rather than limiting the protection scope of the present invention.

[0057] An embodiment of the present invention provides an electric power steering control method, including:

[0058] Step S101, obtaining a driving assistance control mode, a driver's hand force value, and a vehicle speed;

[0059] The electric power steering control method provided by the embodiments of the present application is applied to a control device of a steering motor. For example, the control device of the steering motor can be a steering controller, a chassis controller, or a central controller.

[0060] It should be noted that the electric power steering control method provided by the embodiments of the present application can be applied to the intelligent assisted driving condition. Under the intelligent assisted driving condition, the driver and the intelligent assisted driving system can control the steering motor simultaneously.

[0061] Under the human-machine co-driving, the output torque of the steering motor is controlled by the intelligent assisted driving system and the driver simultaneously. The control device of the steering motor controls the output torque of the steering motor according to the intelligent driving target torque of the intelligent assisted driving system and the assisting torque of the driver.

[0062] The control device of the steering motor implements different controls on the steering motor according to the driving assistance control mode.

[0063] Among them, the driving assistance control mode includes a non-emergency control mode and an emergency control mode;

[0064] The non-emergency control mode can be a mode in which the driver can accurately and efficiently judge the driving environment, and the emergency control mode can be a mode in which the driver cannot make timely and accurate judgments.

[0065] For example, during the high-speed driving of the vehicle, the driver cannot recognize the obstacle in the middle of the road due to inattention or limited vision, resulting in an inability to make an emergency control steering action for the obstacle, and may even make a wrong operation. In this case, the driving assistance control mode is the emergency control mode.

[0066] In the embodiments of the present application, the driving assistance control mode is obtained from the vehicle's bus. For example, the driving assistance control mode in the vehicle's bus is determined by the intelligent assisted driving system.

[0067] The embodiments of the present application do not limit the method for the intelligent assisted driving system to determine the intelligent driving control mode. For example, the intelligent assisted driving system can determine the driving ability of the driver based on the driving environment, the operations or states of the driver, and then determine the intelligent driving control mode.

[0068] When the intelligent driving control module is in the non-emergency control mode, the driver has the highest driving authority, and the steering input request of the driver should be accurately and quickly executed by the electric power steering system.

[0069] When the intelligent driving control module is in the emergency control mode, the intelligent assisted driving system can accurately identify obstacles and make necessary emergency controls. The electric power steering system can, to a certain extent, ignore the steering input request of the driver, and the steering motor executes the steering input request from the intelligent assisted driving system.

[0070] The embodiments of the present application realize that the steering motor executes different steering input requests under different intelligent driving control modes by regulating the intelligent driving target torque input by the intelligent assisted driving system and the assist torque input by the driver.

[0071] In the embodiments of the present application, the driver's hand force value can be detected by the sensors of the electric power steering system.

[0072] When the intelligent driving control module is in the non-emergency control mode, an increase in the driver's hand force value indicates an enhanced takeover intention of the driver, and the torque input by the intelligent assisted driving system can be reduced to enable the output torque of the steering motor to be mainly controlled by the driver; a decrease in the driver's hand force value indicates a reduced takeover intention of the driver, and the torque input by the intelligent assisted driving system can be increased to enable the output torque of the steering motor to be mainly controlled by the intelligent assisted driving system.

[0073] When the intelligent driving control module is in the emergency control mode, it is necessary to, to a certain extent, ignore the input at the steering end of the driver, and the driver's hand force value can be considered invalid information to enable the output torque of the steering motor to be controlled by the intelligent assisted driving system.

[0074] In the embodiments of the present application, the vehicle speed can be received from the vehicle's bus.

[0075] When the vehicle speed is relatively high, the output torque of the steering motor is more restricted, and both the intelligent driving target torque of the intelligent assisted driving system and the assist torque of the driver are correspondingly reduced; when the vehicle speed is relatively low, the output torque of the steering motor is less restricted, and both the intelligent driving target torque of the intelligent assisted driving system and the assist torque of the driver can be correspondingly increased.

[0076] Step S102: Obtain an intelligent driving torque coefficient, a first intelligent driving target torque, and an assist torque according to the intelligent driving control mode, the driver's hand force value, and the vehicle speed.

[0077] In the embodiment of the present application, step S102, obtaining the intelligent driving torque coefficient, the first intelligent driving target torque, and the assist torque according to the intelligent driving control mode, the driver's hand force value, and the vehicle speed, includes:

[0078] Sub-step 1: Obtaining the intelligent driving torque coefficient according to the intelligent driving control mode, the driver's hand force value, and the vehicle speed;

[0079] Sub-step 2: Obtaining the first intelligent driving target torque according to the intelligent driving control mode, the driver's hand force value, and the vehicle speed;

[0080] Sub-step 3: Obtaining the assist torque according to the intelligent driving control mode, the driver's hand force value, and the vehicle speed.

[0081] In the embodiment of the present application, the intelligent driving torque coefficient is the proportional coefficient factor of the first intelligent driving target torque, and the product of the first intelligent driving target torque and the intelligent driving torque coefficient is the second intelligent driving target torque, and the second intelligent driving target torque is the target torque input to the intelligent assisted driving system of the steering motor.

[0082] In the embodiment of the present application, the intelligent driving torque coefficient is obtained according to the intelligent driving control mode, the driver's hand force value, and the vehicle speed.

[0083] For example, in the case where the intelligent driving control mode is a non-emergency control mode, when the driver's hand force value increases, it indicates that the driver's takeover intention increases, and the intelligent driving torque coefficient can be reduced, thereby reducing the second intelligent driving target torque, so that the output torque of the steering motor is mainly controlled by the driver; when the driver's hand force value decreases, it indicates that the driver's takeover intention decreases, and the intelligent driving torque coefficient can be increased, thereby increasing the second intelligent driving target torque, so that the output torque of the steering motor is mainly controlled by the intelligent assisted driving system.

[0084] In addition, when the vehicle speed is relatively high, the output torque of the steering motor is limited to a large extent, and the intelligent driving torque coefficient can be reduced, thereby reducing the second intelligent driving target torque, ensuring that the steering motor can meet the steering requirements of high-speed, stable, and safe driving; when the vehicle speed is relatively low, the output torque of the steering motor is limited to a small extent, and the intelligent driving torque coefficient can be increased, thereby increasing the second intelligent driving target torque, ensuring that the steering motor can meet the steering requirements of low-speed, accurate, and rapid response.

[0085] In the case where the intelligent driving control module is in an emergency control mode, the intelligent driving torque coefficient is set to the maximum value, which can ensure that the second intelligent driving target torque is the largest, and the output torque of the steering motor is mainly controlled by the intelligent assisted driving system.

[0086] In the embodiment of the present application, the first intelligent driving target torque is the target torque of the intelligent assisted driving system.

[0087] The first intelligent driving target torque is calculated through PI (Proportion Integral) closed-loop control based on the target steering wheel angle, the actual steering wheel angle, and the actual steering wheel rotation speed.

[0088] Among them, the calculation result of the PI closed-loop control can be adjusted by adjusting the proportion parameter (Proportion, P) and the integral parameter (Integral, I).

[0089] In the embodiments of the present application, the magnitude of the proportion parameter is adjusted by the proportion parameter gain coefficient, and the magnitude of the integral parameter is adjusted by the integral parameter gain coefficient, thereby adjusting the calculation result of the PI closed-loop control.

[0090] For example, the larger the proportion parameter gain coefficient, the larger the proportion parameter, and the larger the first intelligent driving target torque calculated; the smaller the proportion parameter gain coefficient, the smaller the proportion parameter, and the smaller the first intelligent driving target torque calculated;

[0091] The larger the integral parameter gain coefficient, the larger the integral parameter, and the larger the first intelligent driving target torque calculated; the smaller the integral parameter gain coefficient, the smaller the integral parameter, and the smaller the first intelligent driving target torque calculated.

[0092] In the embodiments of the present application, the proportion parameter gain coefficient and the integral parameter gain coefficient are obtained according to the intelligent driving control mode, the driver's hand force value, and the vehicle speed.

[0093] For example, in the case where the intelligent driving control mode is a non-emergency control mode, when the driver's hand force value increases, it indicates that the driver's takeover intention increases, and the proportion parameter gain coefficient and the integral parameter gain coefficient can be reduced, thereby reducing the first intelligent driving target torque and realizing that the output torque of the steering motor is mainly controlled by the driver; when the driver's hand force value decreases, it indicates that the driver's takeover intention decreases, and the proportion parameter gain coefficient and the integral parameter gain coefficient can be increased, thereby increasing the first intelligent driving target torque and realizing that the output torque of the steering motor is mainly controlled by the intelligent assisted driving system.

[0094] In the case where the intelligent driving control module is in an emergency control mode, the proportion parameter gain coefficient and the integral parameter gain coefficient are set to the maximum value, which can ensure that the first intelligent driving target torque is the largest, and the output torque of the steering motor is mainly controlled by the intelligent assisted driving system.

[0095] The target steering wheel angle is obtained from the vehicle's bus. For example, the target steering wheel angle in the vehicle's bus is determined by the intelligent assisted driving system. The target steering wheel angle is the input of the intelligent assisted driving system, and the first intelligent driving target torque is directly related to the intelligent assisted driving control unit.

[0096] The embodiments of the present application do not limit the method for the intelligent assisted driving system to determine the target steering wheel angle.

[0097] In the embodiments of the present application, the actual steering wheel angle and the actual steering wheel rotation speed can be detected by sensors of the electric power steering system.

[0098] In addition, when the vehicle speed is relatively high, the output torque of the steering motor is restricted to a relatively large extent. The proportional parameter gain coefficient and the integral parameter gain coefficient can be reduced, thereby reducing the first intelligent driving target torque and ensuring that the steering motor can meet the requirements of high-speed, stable and safe steering. When the vehicle speed is relatively low, the output torque of the steering motor is restricted to a relatively small extent. The proportional parameter gain coefficient and the integral parameter gain coefficient can be increased, thereby increasing the first intelligent driving target torque and ensuring that the steering motor can meet the requirements of low-speed, precise and rapid response steering.

[0099] In the embodiments of the present application, the assist torque is the target torque input to the control end of the driver of the steering motor.

[0100] Among them, the assist torque is obtained according to the intelligent driving control mode, the driver's hand force value, the vehicle speed and the assist curve.

[0101] The assist curve is a relationship curve between the assist torque and the driver's hand force value, and the assist curves at different vehicle speeds are different.

[0102] In the embodiments of the present application, the assist curve is calibration parameter data inside the electric power steering system and can be directly obtained from inside the electric power steering system.

[0103] In the case where the intelligent driving control mode is a non-emergency control mode, the embodiments of the present application do not limit the specific method for obtaining the assist torque. For example, the greater the driver's hand force value, the greater the assist torque; the smaller the driver's hand force value, the smaller the assist torque.

[0104] In the case where the intelligent driving control module is in an emergency control mode, the assist torque can be obtained as 0, and the steering input of the driver's control end is ignored through the assist torque of 0.

[0105] Step S103: Calculate the target motor torque according to the intelligent driving torque coefficient, the first intelligent driving target torque and the assist torque.

[0106] In the embodiments of the present application, first, the second intelligent driving target torque is calculated according to the product of the intelligent driving torque coefficient and the first intelligent driving target torque; then, the sum of the second intelligent driving target torque and the assist torque is calculated to obtain the target motor torque.

[0107] Among them, the target motor torque is used to control the output torque of the steering motor.

[0108] The target motor torque is the sum of the second intelligent driving target torque and the assist torque. The second intelligent driving target torque is the target torque input to the intelligent auxiliary driving system of the steering motor, and the assist torque is the target torque input to the driver's control end of the steering motor.

[0109] Step S104: Control the steering motor to output torque according to the target motor torque.

[0110] In the embodiment of the present application, the target motor torque is used to control the steering motor to output torque.

[0111] For example, in the case where the intelligent driving control mode is a non-emergency control mode, when the hand force value increases, the intelligent driving torque coefficient decreases, the first intelligent driving target torque decreases, and the assist torque increases, so as to achieve a rapid decrease in the second intelligent driving target torque and an increase in the assist torque, a rapid decrease in the target torque of the intelligent auxiliary driving system of the steering motor and an increase in the target torque of the driver's control end, realizing a rapid transition of the control authority of the steering motor to the driver; when the hand force value decreases, the intelligent driving torque coefficient increases, the first intelligent driving target torque increases, and the assist torque decreases, so as to achieve a rapid increase in the second intelligent driving target torque and a decrease in the assist torque, a rapid increase in the target torque of the intelligent auxiliary driving system of the steering motor and a decrease in the target torque of the driver's control end, realizing the transition of the control authority of the steering motor to the intelligent auxiliary driving system.

[0112] In the case where the intelligent driving control mode is an emergency control mode, the intelligent driving torque coefficient is the maximum value, the first intelligent driving target torque is the maximum value, and the assist torque is 0, realizing that the control authority of the steering motor is completely in the intelligent auxiliary driving system, avoiding interference from the driver's control end.

[0113] It should be noted that the change rate of the intelligent driving torque coefficient is restricted by gradient adjustment, where gradient adjustment means increasing or decreasing step by step. If the intelligent driving torque coefficient is directly adjusted to completion within one control cycle, the output torque of the steering motor changes too quickly, and the driving experience is not good. By adopting the control strategy of gradient adjustment, the output torque of the steering motor is adjusted smoothly, and the feel at the driving end is smooth.

[0114] An embodiment of the present application provides an electric power steering control method, which obtains the intelligent driving control mode, the driver's hand force value, and the vehicle speed; obtains the intelligent driving torque coefficient, the first intelligent driving target torque, and the assist torque according to the intelligent driving control mode, the driver's hand force value, and the vehicle speed; calculates the target motor torque according to the intelligent driving torque coefficient, the first intelligent driving target torque, and the assist torque; and controls the steering motor to output torque according to the target motor torque. In this way, according to the driving control mode, the driver's hand force value, and the vehicle speed, the first target torque of the control end of the intelligent assisted driving system, the intelligent driving torque coefficient, and the assist torque of the driver's control end can be adjusted, and then the transfer of control rights under the human-machine co-driving is realized through the torque adjustment method, without the need for redundant mechanical structures, reducing the control cost of the human-machine co-driving.

[0115] In some embodiments of the present application, step S103, calculating the target motor torque according to the intelligent driving torque coefficient, the first intelligent driving target torque, and the assist torque, includes:

[0116] Step S1031, calculating the product of the intelligent driving torque coefficient and the first intelligent driving target torque to obtain the second intelligent driving target torque;

[0117] Step S1032, calculating the sum of the second intelligent driving target torque and the assist torque to obtain the target motor torque.

[0118] When the intelligent driving control mode is a non-emergency control mode, as the hand force value increases, the intelligent driving torque coefficient decreases, the first intelligent driving target torque decreases, and the assist torque increases, realizing a rapid decrease in the second intelligent driving target torque and an increase in the assist torque, a rapid decrease in the target torque of the intelligent assisted driving system of the steering motor, and an increase in the target torque of the driver's control end, realizing a rapid transition of the control authority of the steering motor to the driver; as the hand force value decreases, the intelligent driving torque coefficient increases, the first intelligent driving target torque increases, and the assist torque decreases, realizing a rapid increase in the second intelligent driving target torque and a decrease in the assist torque, a rapid increase in the target torque of the intelligent assisted driving system of the steering motor, and a decrease in the target torque of the driver's control end, realizing the transition of the control authority of the steering motor to the intelligent assisted driving system.

[0119] In the embodiment of the present application, the second intelligent driving target torque is the product of the intelligent driving torque coefficient and the first intelligent driving target torque. When the hand force value increases, the intelligent driving torque coefficient and the first intelligent driving target torque can both decrease, realizing redundant adjustment of the second intelligent driving target torque and improving safety.

[0120] In some embodiments of the present application, the intelligent driving control mode includes a non-emergency control mode and an emergency control mode;

[0121] The step of obtaining the intelligent driving torque coefficient according to the intelligent driving control mode, the driver's hand force value, and the vehicle speed includes:

[0122] Step 201: In the non-emergency control mode, obtain the intelligent driving torque coefficient according to the driver's hand force value and vehicle speed; the intelligent driving torque coefficient is negatively correlated with the driver's hand force value.

[0123] Step 202: In the emergency control mode, obtain the intelligent driving torque coefficient as 1.

[0124] Exemplarily, the method for obtaining the intelligent driving torque coefficient in the embodiment of the present application refers to Figure 2 , and determine whether the intelligent driving control mode is the emergency control mode through step a1;

[0125] If so, the intelligent driving torque coefficient is 1;

[0126] If not, obtain the intelligent driving torque coefficient according to the pre-calibrated relationship among vehicle speed, driver's hand force value and intelligent driving torque coefficient.

[0127] In the embodiment of the present application, in the non-emergency control mode, the intelligent driving torque coefficient is negatively correlated with the driver's hand force value. In some embodiments, the intelligent driving torque coefficient can be linearly negatively correlated with the driver's hand force value; in other embodiments, referring to Figure 2 , the intelligent driving torque coefficient can be negatively correlated with the driver's hand force value in a broken line manner; in still other embodiments, the intelligent driving torque coefficient can be negatively correlated with the driver's hand force value in a curve manner. The embodiment of the present application does not make any limitation in this regard.

[0128] Preferably, the intelligent driving torque coefficient can be negatively correlated with the driver's hand force value in a broken line manner. When the driver's hand force value is small, the absolute value of the slope is small, and the reduction amplitude of the intelligent driving torque coefficient is small, ensuring a smooth transition; when the driver's hand force value exceeds a certain threshold, the absolute value of the slope is large, and the reduction amplitude of the intelligent driving torque coefficient is large, ensuring that the control right of the steering motor is transferred to the driver's control end quickly.

[0129] The embodiment of the present application does not make specific limitations on the relationship between vehicle speed and intelligent driving torque coefficient. Exemplarily, when the vehicle speed is large, the output torque of the steering motor is restricted more, and the intelligent driving torque coefficient can be reduced, thereby reducing the second intelligent driving target torque to ensure that the steering motor can achieve the steering requirements of high-speed, smooth and safe; when the vehicle speed is small, the output torque of the steering motor is restricted less, and the intelligent driving torque coefficient can be increased, thereby increasing the second intelligent driving target torque to ensure that the steering motor can achieve the steering requirements of low-speed, precise and fast response.

[0130] In the embodiment of the present application, when the intelligent driving control mode is the non-emergency control mode, the intelligent driving torque coefficient is negatively correlated with the driver's hand force value. When the driver's hand force value increases, the intelligent driving torque coefficient decreases, and thus the second intelligent driving target torque decreases, realizing that the output torque of the steering motor is mainly controlled by the driver; when the driver's hand force value decreases, the intelligent driving torque coefficient increases, and thus the second intelligent driving target torque increases, realizing that the output torque of the steering motor is mainly controlled by the intelligent assisted driving system.

[0131] When the intelligent driving control module is in the emergency control mode, the intelligent driving torque coefficient is 1, which can ensure the maximum second intelligent driving target torque, and the output torque of the steering motor is mainly controlled by the intelligent assisted driving system.

[0132] According to the above technical means, in the non-emergency control mode, when the driver's hand force value increases, the intelligent driving torque coefficient decreases, and the second intelligent driving target torque decreases, thereby realizing the transfer of control right to the driver's control end; in the emergency control mode, the intelligent driving torque coefficient does not change due to the change of the driver's hand force value, avoiding interference from the driver's control end to a certain extent.

[0133] In some embodiments of the present application, the steps of obtaining the first intelligent driving target torque according to the intelligent driving control mode, the driver's hand force value and the vehicle speed include:

[0134] Step 301, obtaining a proportional parameter gain coefficient and an integral parameter gain coefficient according to the intelligent driving control mode, the driver's hand force value and the vehicle speed;

[0135] Step 302, obtaining the target steering wheel angle, the actual steering wheel angle and the actual steering wheel rotation speed;

[0136] Step 303, obtaining the first intelligent driving target torque according to the proportional parameter gain coefficient, the integral parameter gain coefficient, the target steering wheel angle, the actual steering wheel angle and the actual steering wheel rotation speed.

[0137] The first intelligent driving target torque is the target torque of the intelligent assisted driving system.

[0138] The first intelligent driving target torque is calculated through PI (Proportion Integral) closed-loop control according to the target steering wheel angle, the actual steering wheel angle and the actual steering wheel rotation speed.

[0139] According to the above technical means, the acquisition of the first intelligent driving target torque can be realized.

[0140] In some embodiments of the present application, step S301, obtaining a proportional parameter gain coefficient and an integral parameter gain coefficient according to the intelligent driving control mode, the driver's hand force value and the vehicle speed includes:

[0141] Step S3011, in the non-emergency control mode, obtaining a proportional parameter gain coefficient and an integral parameter gain coefficient according to the driver's hand force value and the vehicle speed; the proportional parameter gain coefficient and the integral parameter gain coefficient are respectively negatively correlated with the driver's hand force value.

[0142] Step S3012, in the emergency control mode, obtaining the proportional parameter gain coefficient as 1 and obtaining the integral parameter gain coefficient as 1.

[0143] Exemplarily, the method for obtaining the proportional parameter gain coefficient and the integral parameter gain coefficient in the embodiments of the present application refers to Figure 3 , and it is determined through step a2 that the intelligent driving control mode is the emergency control mode;

[0144] If so, the proportional parameter gain coefficient and the integral parameter gain coefficient are 1;

[0145] If not, the proportional parameter gain coefficient is obtained according to the relationship between the pre-calibrated vehicle speed, the driver's hand force value, and the proportional parameter gain coefficient; the integral parameter gain coefficient is obtained according to the relationship between the pre-calibrated vehicle speed, the driver's hand force value, and the integral parameter gain coefficient.

[0146] In the case where the intelligent driving control module is in the emergency control mode, setting the proportional parameter gain coefficient and the integral parameter gain coefficient to 1 can ensure that the first intelligent driving target torque is the largest, and the output torque of the steering motor is mainly controlled by the intelligent assisted driving system.

[0147] In the embodiments of the present application, in the non-emergency control mode, the proportional parameter gain coefficient and the integral parameter gain coefficient are respectively negatively correlated with the driver's hand force value. When the driver's hand force value increases, the proportional parameter gain coefficient and the integral parameter gain coefficient decrease, and thus the first intelligent driving target torque decreases and the second intelligent driving target torque decreases, realizing that the output torque of the steering motor is mainly controlled by the driver; when the driver's hand force value decreases, the proportional parameter gain coefficient and the integral parameter gain coefficient increase, and thus the first intelligent driving target torque increases and the second intelligent driving target torque increases, realizing that the output torque of the steering motor is mainly controlled by the intelligent assisted driving system.

[0148] In the embodiments of the present application, the proportional parameter gain coefficient and the integral parameter gain coefficient are respectively negatively correlated with the driver's hand force value. In some embodiments, the proportional parameter gain coefficient or the integral parameter gain coefficient may be linearly negatively correlated with the driver's hand force value; in other embodiments, referring to Figure 2 , the proportional parameter gain coefficient or the integral parameter gain coefficient may be piecewise negatively correlated with the driver's hand force value; in still other embodiments, the proportional parameter gain coefficient or the integral parameter gain coefficient may be curvilinearly negatively correlated with the driver's hand force value, and the embodiments of the present application do not limit this.

[0149] It should be noted that the relationship between the proportional parameter gain coefficient and the driver's hand force value and the relationship between the integral parameter gain coefficient and the driver's hand force value may be the same or different, which is specifically set according to the actual situation.

[0150] Preferably, the proportional parameter gain coefficient or the integral parameter gain coefficient can be negatively correlated with the driver's hand force value curve. When the driver's hand force value is small, the absolute value of the slope is small, and the reduction amplitude of the proportional parameter gain coefficient or the integral parameter gain coefficient is small, ensuring a smooth transition; when the driver's hand force value exceeds a certain threshold, the absolute value of the slope is large, and the reduction amplitude of the proportional parameter gain coefficient or the integral parameter gain coefficient is large, ensuring that the control right of the steering motor is transferred to the driver's control end quickly.

[0151] The embodiments of the present application do not specifically limit the relationship between the vehicle speed and the intelligent driving torque coefficient. For example, when the vehicle speed is relatively high, the output torque of the steering motor is more restricted, and the proportional parameter gain coefficient or the integral parameter gain coefficient can be reduced, thereby reducing the first intelligent driving target torque and the second intelligent driving target torque to ensure that the steering motor can meet the steering requirements; when the vehicle speed is relatively low, the output torque of the steering motor is less restricted, and the proportional parameter gain coefficient or the integral parameter gain coefficient can be increased, thereby increasing the first intelligent driving target torque and the second intelligent driving target torque to ensure that the steering motor can meet the steering requirements.

[0152] In some embodiments of the present application, the step of obtaining the assist torque according to the intelligent driving control mode includes:

[0153] Step 401, obtaining the assist curve;

[0154] Step 402, obtaining the assist torque according to the intelligent driving control mode, the driver's hand force value, the vehicle speed, and the assist curve.

[0155] In the embodiments of the present application, the assist torque is the target torque input to the driver's control end of the steering motor.

[0156] Among them, the assist torque is obtained according to the intelligent driving control mode, the driver's hand force value, the vehicle speed, and the assist curve.

[0157] The assist curve is the relationship curve between the assist torque and the driver's hand force value, and the assist curves at different vehicle speeds are different.

[0158] In the embodiments of the present application, the assist curve is the calibration parameter data inside the electric power steering system and can be directly obtained from inside the electric power steering system.

[0159] According to the above technical means, the acquisition of the assist torque can be achieved.

[0160] In some embodiments of the present application, step S402, the step of obtaining the assist torque according to the intelligent driving control mode, the driver's hand force value, the vehicle speed, and the assist curve, includes:

[0161] Step S4021, in the non-emergency control mode, obtaining the assist torque according to the driver's hand force value, the vehicle speed, and the assist curve.

[0162] Step S4022, in the emergency control mode, obtain that the assist torque is 0.

[0163] Exemplarily, the method for obtaining the assist torque in the embodiment of the present application refers to Figure 4 , and determine that the intelligent driving control mode is the emergency control mode through step a3;

[0164] If so, output 100% assist torque; if not, obtain that the assist torque is 0.

[0165] According to the above technical means, it is ensured that in the emergency control mode, the assist torque is 0, and the steering motor will not be interfered by the driver's control end.

[0166] The embodiment of the present application provides an electric power steering control device, referring to Figure 5 , including:

[0167] A parameter acquisition module 501, configured to acquire the intelligent driving control mode, the driver's hand force value, and the vehicle speed;

[0168] A parameter calculation module 502, configured to acquire an intelligent driving torque coefficient, a first intelligent driving target torque, and an assist torque according to the intelligent driving control mode, the driver's hand force value, and the vehicle speed;

[0169] A target motor torque calculation module 503, configured to calculate a target motor torque according to the intelligent driving torque coefficient, the first intelligent driving target torque, and the assist torque;

[0170] A steering motor control module 504, configured to control the steering motor to output torque according to the target motor torque.

[0171] The embodiment of the present application provides an electric power steering control device, by acquiring the intelligent driving control mode, the driver's hand force value, and the vehicle speed; acquiring the intelligent driving torque coefficient, the first intelligent driving target torque, and the assist torque according to the intelligent driving control mode, the driver's hand force value, and the vehicle speed; calculating the target motor torque according to the intelligent driving torque coefficient, the first intelligent driving target torque, and the assist torque; and controlling the steering motor to output torque according to the target motor torque. In this way, according to the driving control mode, the driver's hand force value, and the vehicle speed, the first target torque of the control end of the intelligent assisted driving system, the intelligent driving torque coefficient, and the assist torque of the driver's control end can be adjusted, and then the transfer of control power under the human-machine co-driving can be realized through the torque adjustment method, without the need for redundant mechanical structures, reducing the control cost of the human-machine co-driving.

[0172] The embodiment of the present application provides another electric power steering control device, referring to Figure 6 , including:

[0173] A parameter acquisition module 501 is configured to acquire an intelligent driving control mode, a driver's hand force value, a vehicle speed, a target steering wheel angle, an actual steering wheel angle, an actual steering wheel rotation speed, and an assist curve;

[0174] An intelligent driving torque coefficient calculation sub-module 5021 is configured to calculate an intelligent driving torque coefficient according to the intelligent driving control mode, the driver's hand force value, and the vehicle speed;

[0175] A first intelligent driving target torque calculation sub-module 5022 is configured to calculate a first intelligent driving target torque according to the intelligent driving control mode, the driver's hand force value, the vehicle speed, the target steering wheel angle, the actual steering wheel angle, and the actual steering wheel rotation speed;

[0176] An assist torque calculation sub-module 5023 is configured to calculate an assist torque according to the intelligent driving control mode, the driver's hand force value, the vehicle speed, and the assist curve;

[0177] A second intelligent driving target torque calculation sub-module 5031 is configured to calculate the product of the intelligent driving torque coefficient and the first intelligent driving target torque to obtain a second intelligent driving target torque;

[0178] A target motor torque calculation sub-module 5032 calculates the sum of the second intelligent driving target torque and the assist torque to obtain a target motor torque;

[0179] A steering motor control module 504 is configured to control the steering motor to output torque according to the target motor torque.

[0180] An embodiment of the present application provides a vehicle, including an electric power steering control device 601. The electric power steering control device 601 includes a processor 6011, a memory 6012, and a computer program stored on the memory 6012 and executable on the processor 6012. When the processor 6011 executes the program, it implements any one of the above-mentioned electric power steering control methods and can achieve the same technical effects. To avoid repetition, it will not be elaborated here.

[0181] An embodiment of the present application provides a computer-readable storage medium. A program is stored on the computer-readable storage medium. When a processor executes the program, it implements the steps of any one of the above-mentioned methods. Therefore, it has all the beneficial effects of any one of the above-provided electric power steering control methods and will not be described one by one here.

[0182] In the specification provided herein, a large number of specific details are described. However, it can be understood that the embodiments of the present invention can be practiced without these specific details. In some instances, well-known methods, structures, and technologies are not shown in detail so as not to obscure the understanding of this specification.

[0183] Similarly, it should be understood that, in order to streamline the present invention and assist in understanding one or more of the various inventive aspects, in the foregoing description of the exemplary embodiments of the present invention, the various features of the present invention are sometimes grouped together into a single embodiment, figure, or description thereof. However, the disclosed method should not be construed as reflecting an intention that the claimed invention requires more features than are expressly recited in each claim. Rather, as reflected in the following claims, the inventive aspects lie in less than all the features of the single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into the detailed description, with each claim standing on its own as a separate embodiment of the present invention.

[0184] Those skilled in the art will appreciate that the modules in the devices in the embodiments can be adaptively changed and disposed in one or more devices different from the embodiments. The modules or units or components in the embodiments can be combined into one module or unit or component, and in addition, they can be divided into multiple sub-modules or sub-units or sub-components. Except that at least some of such features and / or processes or units are mutually exclusive, any combination can be used to combine all the features disclosed in this specification (including the accompanying claims, abstract, and drawings) and all the processes or units of any method or device so disclosed. Unless otherwise expressly stated, each feature disclosed in this specification (including the accompanying claims, abstract, and drawings) can be replaced by an alternative feature that provides the same, equivalent, or similar purpose.

[0185] The various component embodiments of the present invention can be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art should understand that a microprocessor or a digital signal processor (DSP) can be used in practice to implement some or all of the functions of some or all of the components in the sorting device according to the present invention. The present invention can also be implemented as a device or apparatus program for performing part or all of the methods described herein. Such a program for implementing the present invention can be stored on a computer-readable medium, or can be in the form of one or more signals. Such signals can be downloaded from an Internet website, or provided on a carrier signal, or in any other form.

[0186] It should be noted that the above embodiments illustrate the present invention rather than limit the present invention, and those skilled in the art can design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in the claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present invention can be implemented by means of hardware including several different elements and by means of a suitably programmed computer. In a unit claim listing several devices, several of these devices may be embodied by the same item of hardware. The use of the words first, second, and third, etc. does not denote any order. These words may be interpreted as names.

[0187] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the systems, devices, and units described above can refer to the corresponding processes in the foregoing method embodiments and will not be repeated here.

[0188] As described above, the above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should all be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the said claims.

Claims

1. An electric power steering control method, characterized in that, including: Obtain the intelligent driving control mode, driver hand force value, and vehicle speed; According to the intelligent driving control mode, the driver hand force value, and the vehicle speed, obtain an intelligent driving torque coefficient, a first intelligent driving target torque, and an assist torque; the assist torque is the target torque input to the control end of the steering motor by the driver; Calculate a target motor torque according to the intelligent driving torque coefficient, the first intelligent driving target torque, and the assist torque; Control the steering motor to output torque according to the target motor torque; The intelligent driving control mode includes a non-emergency control mode and an emergency control mode; The step of obtaining the intelligent driving torque coefficient according to the intelligent driving control mode, the driver hand force value, and the vehicle speed includes: In the non-emergency control mode, obtain the intelligent driving torque coefficient according to the driver hand force value and the vehicle speed; the intelligent driving torque coefficient is negatively correlated with the driver hand force value; In the emergency control mode, obtain the intelligent driving torque coefficient as 1; The step of obtaining the first intelligent driving target torque according to the intelligent driving control mode, the driver hand force value, and the vehicle speed includes: Obtain a proportional parameter gain coefficient and an integral parameter gain coefficient according to the intelligent driving control mode, the driver hand force value, and the vehicle speed; Obtain a target steering wheel angle, an actual steering wheel angle, and an actual steering wheel rotation speed; Obtain the first intelligent driving target torque according to the proportional parameter gain coefficient, the integral parameter gain coefficient, the target steering wheel angle, the actual steering wheel angle, and the actual steering wheel rotation speed; The step of obtaining the assist torque according to the intelligent driving control mode includes: Obtain an assist curve; Obtain the assist torque according to the intelligent driving control mode, the driver hand force value, the vehicle speed, and the assist curve; The step of calculating the target motor torque according to the intelligent driving torque coefficient, the first intelligent driving target torque, and the assist torque includes: Calculate the product of the intelligent driving torque coefficient and the first intelligent driving target torque to obtain a second intelligent driving target torque; Calculate the sum of the second intelligent driving target torque and the assist torque to obtain the target motor torque.

2. The method according to claim 1, wherein The step of obtaining the proportional parameter gain coefficient and the integral parameter gain coefficient according to the intelligent driving control mode, the driver hand force value, and the vehicle speed includes: In the non-emergency control mode, obtain the proportional parameter gain coefficient and the integral parameter gain coefficient according to the driver hand force value and the vehicle speed; the proportional parameter gain coefficient and the integral parameter gain coefficient are respectively negatively correlated with the driver hand force value; In the emergency control mode, obtain the proportional parameter gain coefficient as 1 and obtain the integral parameter gain coefficient as 1.

3. The method according to claim 1, characterized in that, The step of obtaining the assist torque according to the intelligent driving control mode, the driver hand force value, the vehicle speed, and the assist curve includes: In the non-emergency control mode, obtain the assist torque according to the driver hand force value, the vehicle speed, and the assist curve; In the emergency control mode, obtain the assist torque as 0.

4. An electric power steering control device, characterized in that, including: A parameter acquisition module for acquiring an intelligent driving control mode, a driver's hand force value, and a vehicle speed; A parameter calculation module for obtaining an intelligent driving torque coefficient, a first intelligent driving target torque, and an assist torque according to the intelligent driving control mode, the driver's hand force value, and the vehicle speed; the assist torque is the target torque input to the control end of the steering motor by the driver; A target motor torque calculation module for calculating a target motor torque according to the intelligent driving torque coefficient, the first intelligent driving target torque, and the assist torque; A steering motor control module for controlling the steering motor to output torque according to the target motor torque; The intelligent driving control mode includes a non-emergency control mode and an emergency control mode; The parameter calculation module is specifically configured to obtain the intelligent driving torque coefficient according to the driver's hand force value and the vehicle speed in the non-emergency control mode; the intelligent driving torque coefficient is negatively correlated with the driver's hand force value; In the emergency control mode, obtain the intelligent driving torque coefficient as 1; Obtain a proportional parameter gain coefficient and an integral parameter gain coefficient according to the intelligent driving control mode, the driver's hand force value, and the vehicle speed; Obtain a target steering wheel angle, an actual steering wheel angle, and an actual steering wheel rotation speed; Obtain the first intelligent driving target torque according to the proportional parameter gain coefficient, the integral parameter gain coefficient, the target steering wheel angle, the actual steering wheel angle, and the actual steering wheel rotation speed; obtain an assist curve; Obtain the assist torque according to the intelligent driving control mode, the driver's hand force value, the vehicle speed, and the assist curve; The target motor torque calculation module is specifically configured to calculate the product of the intelligent driving torque coefficient and the first intelligent driving target torque to obtain a second intelligent driving target torque; calculate the sum of the second intelligent driving target torque and the assist torque to obtain the target motor torque.

5. A vehicle, characterized in that: It includes an electric power steering control device, and the electric power steering control device includes a processor, a memory, and a computer program stored on the memory and executable on the processor. When the processor executes the program, it implements the electric power steering control method according to any one of claims 1 to 3.

6. A computer-readable storage medium, characterized in that, A program is stored on the computer-readable storage medium, and when the processor executes the program, it implements the steps of the method according to any one of claims 1 to 3.

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