Force compensation method and device, vehicle and storage medium

Abstract

The application discloses an acting force compensation method and device, a vehicle and a storage medium, and belongs to the technical field of automobiles. The method comprises the following steps: acquiring state parameters of the vehicle in the driving process, wherein the state parameters comprise wheel speed and lateral acceleration of the vehicle; in the case that the wheel speed and the lateral acceleration indicate that the vehicle is in a high-speed straight driving state, the target acting force for compensating the worm gear of the vehicle is determined in response to the rotation of the steering wheel of the vehicle, the worm gear is used for amplifying and transmitting the assist torque of the motor connected with the worm gear; and the worm gear is compensated based on the target acting force, so that the target acting force and the friction force of the worm gear are offset. In the scheme provided by the embodiment of the application, if the steering wheel rotates in the process that the vehicle is in high-speed straight driving, the friction force of the worm gear is offset by applying the target acting force to the worm gear, the situation that the steering wheel is stuck when the user rotates the steering wheel is eliminated, and the user experience is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automobiles, in particular to an acting force compensation method and device, a vehicle and a storage medium. BACKGROUND

[0002] With the rapid development of vehicle technology, vehicles have become widely used by users as a means of transportation. When driving a vehicle, a user adjusts the direction of travel of the vehicle by turning the steering wheel of the vehicle. At present, when the user turns the steering wheel, the controller in the vehicle calculates the assist torque of the motor connected to the worm gear by identifying the torque of the steering wheel and the current speed of the vehicle, and the worm gear amplifies the assist torque of the motor to assist the driver to easily complete the vehicle direction control. However, when the worm gear is switched from a static state to a rotating state, the static friction will be converted into dynamic friction, and the steering wheel will be stuck, resulting in a poor user experience. SUMMARY

[0003] The embodiments of the present application provide an acting force compensation method, device, vehicle and storage medium, which eliminates the situation that the steering wheel is stuck when the user turns the steering wheel, and improves the user experience. The technical solution is as follows:

[0004] In one aspect, an acting force compensation method is provided, the method comprising:

[0005] obtaining a state parameter of the vehicle in the driving process, the state parameter comprising a wheel speed and a lateral acceleration of the vehicle;

[0006] in a case where the wheel speed and the lateral acceleration indicate that the vehicle is in a high-speed straight driving state, in response to the steering wheel of the vehicle being turned, determining a target acting force for compensating the worm gear of the vehicle, the worm gear being used to amplify and transmit an assist torque of a motor connected to the worm gear;

[0007] compensating the worm gear based on the target acting force, so that the target acting force and the friction of the worm gear are offset.

[0008] In one possible implementation manner, the method further comprises:

[0009] in a case where the wheel speed of the vehicle is valid and the wheel speed is not less than the speed threshold, determining that the vehicle is in a high-speed driving state.

[0010] In one possible implementation manner, the method further comprises:

[0011] in a case where the first identification information of the wheel speed of the vehicle is valid, determining that the wheel speed of the vehicle is valid;

[0012] or,

[0013] In a case where the byte length of the wheel speed of the vehicle is the first length, it is determined that the wheel speed of the vehicle is valid.

[0014] Or,

[0015] In a case where the wheel speed of the vehicle is the continuous number of frame lengths, it is determined that the wheel speed of the vehicle is valid.

[0016] In a possible implementation, the method further includes:

[0017] In a case where the lateral acceleration is valid and the lateral acceleration is not greater than the acceleration threshold, it is determined that the vehicle is in a straight driving state.

[0018] In a possible implementation, the method further includes:

[0019] In a case where the second identification information of the lateral acceleration is valid, it is determined that the lateral acceleration is valid.

[0020] Or,

[0021] In a case where the byte length of the lateral acceleration is the second length, it is determined that the lateral acceleration is valid.

[0022] Or,

[0023] In a case where the lateral acceleration is the continuous number of frame lengths, it is determined that the lateral acceleration is valid.

[0024] In a possible implementation, the method further includes:

[0025] In a case where the speed of the steering wheel is valid and the speed of the steering wheel of the vehicle is not less than the first speed threshold, it is determined that the steering wheel is turned.

[0026] In a possible implementation, the method further includes:

[0027] In a case where the third identification information of the speed of the steering wheel is valid, it is determined that the speed of the steering wheel is valid.

[0028] Or,

[0029] In a case where the byte length of the speed of the steering wheel is the third length, it is determined that the speed of the steering wheel is valid.

[0030] Or,

[0031] In a case where the speed of the steering wheel is the continuous number of frame lengths, it is determined that the speed of the steering wheel is valid.

[0032] In a possible implementation, the state parameters further include an engine rotating speed; and the determining, in response to a steering wheel rotation of the vehicle, of the target force for compensating the worm gear of the vehicle by force, in a case where the wheel rotating speed and the lateral acceleration indicate that the vehicle is in a high-speed straight driving state, includes:

[0033] In a case where the wheel rotating speed and the lateral acceleration indicate that the vehicle is in a high-speed straight driving state and the engine rotating speed is not less than a second rotating speed threshold, the target force for compensating the worm gear of the vehicle by force is determined in response to the steering wheel rotation of the vehicle.

[0034] In a possible implementation, the state parameters further include a motor rotating speed of the worm gear; and the determining, in response to a steering wheel rotation of the vehicle, of the target force for compensating the worm gear of the vehicle by force, in a case where the wheel rotating speed and the lateral acceleration indicate that the vehicle is in a high-speed straight driving state, includes:

[0035] In a case where the wheel rotating speed and the lateral acceleration indicate that the vehicle is in a high-speed straight driving state and the motor rotating speed of the worm gear is not less than a third rotating speed threshold, the target force for compensating the worm gear of the vehicle by force is determined in response to the steering wheel rotation of the vehicle.

[0036] In a possible implementation, the determining, in response to a steering wheel rotation of the vehicle, of the target force for compensating the worm gear of the vehicle by force, in a case where the wheel rotating speed and the lateral acceleration indicate that the vehicle is in a high-speed straight driving state, includes:

[0037] In response to the wheel rotating speed of the vehicle, a first corresponding relationship is queried to determine the target force corresponding to the wheel rotating speed.

[0038] In a possible implementation, the compensating the worm gear by force based on the target force includes:

[0039] A motor current of the worm gear is determined based on the target force;

[0040] A force generated by the motor current is used to control the rotation of the worm gear.

[0041] In a possible implementation, the method further includes:

[0042] In a case where the motor rotating speed of the worm gear is greater than a fourth rotating speed threshold, the compensating the worm gear by force based on the target force is stopped.

[0043] In another aspect, there is provided an acting force compensation device, the device comprising:

[0044] an obtaining module configured to obtain a state parameter of the vehicle during driving, the state parameter comprising a wheel speed of the vehicle and a lateral acceleration of the vehicle;

[0045] a determining module configured to, in response to a steering wheel rotation of the vehicle, determine a target acting force for compensating a worm gear of the vehicle in a case where the wheel speed and the lateral acceleration indicate that the vehicle is in a high-speed straight driving state, the worm gear being configured to amplify and transmit a boost torque of a motor connected to the worm gear;

[0046] a compensating module configured to compensate the worm gear based on the target acting force so as to offset the target acting force and a friction force of the worm gear.

[0047] In a possible implementation, the determining module is further configured to determine that the vehicle is in a high-speed driving state in a case where the wheel speed of the vehicle is valid and the wheel speed is not less than the speed threshold.

[0048] In a possible implementation, the determining module is further configured to:

[0049] determine that the wheel speed of the vehicle is valid in a case where first identification information of the wheel speed of the vehicle is valid;

[0050] or,

[0051] determine that the wheel speed of the vehicle is valid in a case where a byte length of the wheel speed of the vehicle is a first length;

[0052] or,

[0053] determine that the wheel speed of the vehicle is valid in a case where the wheel speed of the vehicle is a continuous number of frame lengths.

[0054] In a possible implementation, the determining module is further configured to determine that the vehicle is in a straight driving state in a case where the lateral acceleration is valid and the lateral acceleration is not greater than an acceleration threshold.

[0055] In a possible implementation, the determining module is configured to determine that the lateral acceleration is valid in a case where second identification information of the lateral acceleration is valid;

[0056] or,

[0057] determine that the lateral acceleration is valid in a case where a byte length of the lateral acceleration is a second length;

[0058] Or,

[0059] In a possible implementation, the determining module is configured to determine that the lateral acceleration is valid in a case where the lateral acceleration is a continuous number of frame lengths.

[0060] In a possible implementation, the determining module is further configured to determine that the steering wheel rotates in a case where the rotation speed of the steering wheel is valid and the rotation speed of the steering wheel of the vehicle is not less than a first rotation speed threshold.

[0061] In a possible implementation, the determining module is further configured to:

[0062] determine that the rotation speed of the steering wheel is valid in a case where the third identification information of the rotation speed of the steering wheel is valid;

[0063] Or,

[0064] determine that the rotation speed of the steering wheel is valid in a case where the byte length of the rotation speed of the steering wheel is a third length.

[0065] Or,

[0066] determine that the rotation speed of the steering wheel is valid in a case where the rotation speed of the steering wheel is a continuous number of frame lengths.

[0067] In a possible implementation, the state parameter further includes an engine rotation speed; and the determining module is configured to determine, in response to the steering wheel of the vehicle rotating, a target force for compensating for the force of the worm gear of the vehicle in a case where the wheel rotation speed and the lateral acceleration indicate that the vehicle is in a high-speed straight driving state and the engine rotation speed is not less than a second rotation speed threshold.

[0068] In a possible implementation, the state parameter further includes a motor rotation speed of the worm gear; and the determining module is configured to determine, in response to the steering wheel of the vehicle rotating, a target force for compensating for the force of the worm gear of the vehicle in a case where the wheel rotation speed and the lateral acceleration indicate that the vehicle is in a high-speed straight driving state and the motor rotation speed of the worm gear is not less than a third rotation speed threshold.

[0069] In a possible implementation, the determining module is configured to query a first correspondence relationship based on the wheel rotation speed of the vehicle to determine the target force corresponding to the wheel rotation speed.

[0070] In a possible implementation, the compensating module is configured to:

[0071] determine a motor current of the worm gear based on the target force;

[0072] control the worm gear to rotate by using the force generated by the motor current.

[0073] In a possible implementation, the device further includes:

[0074] The stopping module is configured to stop compensating the worm gear based on the target force in a case where the motor speed of the worm gear is greater than a fourth speed threshold.

[0075] In another aspect, a vehicle is provided, which includes a processor and a memory having at least one program code stored therein, the at least one program code being loaded and executed by the processor to implement the force compensation method as described above.

[0076] In another aspect, a computer readable storage medium is provided, which has at least one program code stored therein, the at least one program code being loaded and executed by a processor to implement the force compensation method as described above.

[0077] In another aspect, a computer program product is provided, which has at least one program code stored therein, the at least one program code being loaded and executed by a processor to implement the force compensation method as described above.

[0078] In the scheme provided by the embodiments of the present application, if the steering wheel is rotated when the vehicle is in the process of high-speed straight driving, the target force is applied to the worm gear to offset the friction of the worm gear, so as to eliminate the situation of lagging when the user rotates the steering wheel, and improve the user experience.

[0079] It should be understood that the above general description and the following detailed description are only exemplary and cannot limit the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0080] Figure 1 is a schematic diagram of a steering structure of a vehicle provided by the embodiments of the present application;

[0081] Figure 2 is a flowchart of a force compensation method provided by the embodiments of the present application;

[0082] Figure 3 is a flowchart of a force compensation method provided by the embodiments of the present application;

[0083] Figure 4 is a schematic diagram of a force compensation device provided by the embodiments of the present application;

[0084] Figure 5 is a schematic diagram of another force compensation device provided by the embodiments of the present application;

[0085] Figure 6 A structural block diagram of a vehicle is shown according to an example embodiment of the present application. DETAILED DESCRIPTION

[0086] In order to make the technical solutions and advantages of the present application clearer, the embodiments of the present application are described in further detail below.

[0087] The terms "first", "second", "third", and "fourth" and the like in the description and claims of the present application and the accompanying drawings are used to distinguish different objects, and are not used to describe a particular order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device including a series of steps or units is not limited to the listed steps or units, but can optionally include other steps or units not listed, or can optionally include other steps or units inherent to the process, method, product, or device.

[0088] It should be noted that the information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data for analysis, stored data, displayed data, etc.), and signals involved in the present application are all authorized by the user or fully authorized by all parties, and the collection, use, and processing of related data need to comply with relevant laws, regulations, and standards in relevant countries and regions. For example, the state parameters and the like involved in the present application are obtained under sufficient authorization.

[0089] In some embodiments, the force compensation method provided by the embodiments of the present application is executed by a vehicle. The vehicle can be a car, a truck, a bus, or other automobiles, etc., which are not limited by the embodiments of the present application.

[0090] Optionally, the vehicle drives the worm gear to rotate through the rotation of the steering wheel, and the worm gear drives the wheel to rotate to realize the steering of the vehicle. Referring to Figure 1 , the steering wheel of the vehicle is rotated, the force of the steering wheel is transmitted to the torque sensor through the input shaft, the control device determines the motor torque according to the torque sensor and the vehicle speed, the motor torque is transmitted to the worm gear, the worm gear receives the motor torque, and the worm gear is amplified through the worm gear, and is transmitted to the output shaft. The worm gear plays a role of receiving torque and transmitting torque. When not turning the direction, the motor does not rotate, and the worm gear does not move; when suddenly turning the steering wheel, the worm gear is converted from static friction to dynamic friction, and due to the difference between dynamic friction and static friction and the fact that the motor rotor does not follow in time, the driver will obviously feel the difference in hand feeling on the steering wheel.

[0091] Figure 2 is a flowchart of a force compensation method provided by the embodiments of the present application, referring to Figure 2 , the method is executed by a vehicle, and the method comprises:

[0092] 201. The vehicle acquires its state parameters during the driving process, including the vehicle's wheel speed and lateral acceleration.

[0093] The wheel rotation speed is used to represent the vehicle's speed. The lateral acceleration is used to represent whether the vehicle is moving laterally. In this embodiment, the vehicle detects its own driving state during travel to determine its driving state parameters.

[0094] 202. When the wheel speed and lateral acceleration indicate that the vehicle is in a high-speed straight-line driving state, the vehicle responds to the rotation of the steering wheel to determine the target force for force compensation of the worm gear. The worm gear is used to amplify and transmit the assist torque of the motor connected to the worm gear.

[0095] If the wheel speed indicates that the vehicle is traveling at high speed, the lateral acceleration indicates that the vehicle is traveling in a straight line, and the vehicle's steering wheel is turned, then it is determined that the force transmitted from the vehicle to the worm gear is insufficient, and it is necessary to determine the target force to compensate for the worm gear.

[0096] 203. The vehicle compensates for the worm gear based on the target force so that the target force cancels out the frictional force of the worm gear.

[0097] In this embodiment of the application, the vehicle compensates the worm gear based on a determined target force to ensure that when the vehicle's steering wheel is turned, the force transmitted to the worm gear can be increased so that the compensated target force can cancel out the frictional force of the worm gear.

[0098] In the solution provided in this application embodiment, if the steering wheel rotates while the vehicle is traveling at high speed in a straight line, a target force is applied to the worm gear to counteract the friction of the worm gear, thereby eliminating the jamming when the user turns the steering wheel and improving the user experience.

[0099] Figure 3 This is a flowchart of a force compensation method provided in an embodiment of this application. See also... Figure 3 The method is performed by the vehicle and includes:

[0100] 301. The vehicle acquires state parameters during its driving process, including wheel speeds and lateral acceleration.

[0101] 302. When the vehicle's wheel speed is effective and the wheel speed is not less than the speed threshold, it is determined that the vehicle is in a high-speed driving state.

[0102] The speed threshold is set by the vehicle, or set by an operator, or set in other manners, and embodiments of the present application are not limited thereto. For example, the speed threshold is 80 km / h, 100 km / h, or other values, and embodiments of the present application are not limited thereto.

[0103] In embodiments of the present application, if the wheel speed of the vehicle is valid, it indicates that the wheel speed of the vehicle can be used to determine the driving state of the wheel. If the wheel speed is determined to be not less than the speed threshold, it indicates that the wheel speed is fast, and the vehicle is in a high-speed driving state.

[0104] It should be noted that if the wheel speed of the vehicle is invalid, the driving state of the vehicle cannot be determined based on the wheel speed, and the wheel speed of the vehicle needs to be re-acquired. The driving state of the vehicle is determined based on the wheel speed when the wheel speed is valid.

[0105] In a possible implementation, the manner of determining that the wheel speed of the vehicle is valid includes any one of the following:

[0106] (1) If the first identification information of the wheel speed of the vehicle is valid, it is determined that the wheel speed of the vehicle is valid.

[0107] Optionally, the first identification information is represented by one bit. For example, if the first identification information is 1, it indicates that the wheel speed of the vehicle is valid, and if the first identification information is 0, it indicates that the wheel speed of the vehicle is invalid. Alternatively, if the first identification information is 0, it indicates that the wheel speed of the vehicle is valid, and if the first identification information is 1, it indicates that the wheel speed of the vehicle is invalid.

[0108] (2) If the byte length of the wheel speed of the vehicle is a first length, it is determined that the wheel speed of the vehicle is valid.

[0109] The first length refers to the length of the wheel speed under normal circumstances. If the byte length of the wheel speed does not match the first length, it indicates that the wheel speed is abnormal. Optionally, the first length is 4 bits, 8 bits, or other values, and embodiments of the present application are not limited thereto. For example, if the first length is 4 bits, if the acquired wheel speed of the vehicle is 4 bits, it indicates that the wheel speed of the vehicle is valid, and if the acquired wheel speed of the vehicle is 3 bits, it indicates that the wheel speed of the vehicle is invalid.

[0110] (3) If the wheel speed of the vehicle is a continuous number of frame lengths, it is determined that the wheel speed of the vehicle is valid.

[0111] In some embodiments, the vehicle acquires the wheel speed once every certain time length, and each acquired wheel speed is one frame of wheel speed. When a plurality of frames of wheel speed are a continuous number of frame lengths, it is determined that the wheel speed of the vehicle is valid. In some embodiments, the vehicle acquires the wheel speed once every certain time length, and each acquired wheel speed is one frame of wheel speed. When a plurality of frames of wheel speed are a continuous number of frame lengths, it is determined that the wheel speed of the vehicle is valid.

[0112] Optionally, the continuous number of frames is 4 frames, 6 frames, or other values, which are not limited in the embodiments of the present application. For example, if the continuous number of frames is 4 frames, and the continuous number of frames of the wheel speed of the vehicle is 4 frames, it indicates that the wheel speed is valid; if the continuous number of frames of the wheel speed of the vehicle is 3 frames, it indicates that the wheel speed is invalid.

[0113] It should be noted that the embodiments of the present application are described by taking the wheel speed valid and the wheel speed not less than the speed threshold as an example. In another embodiment, if the wheel speed is not less than the speed threshold, it can be determined that the vehicle is in the high-speed driving state.

[0114] 303、In the case that the lateral acceleration is valid and the lateral acceleration is not greater than the acceleration threshold, it is determined that the vehicle is in the straight driving state.

[0115] The acceleration threshold is set by the vehicle, or set by the operator, or set in other ways, which are not limited in the embodiments of the present application. For example, the acceleration threshold is 10 km / s2, 18 km / s2, or other values, which are not limited in the embodiments of the present application.

[0116] In the embodiments of the present application, if the lateral acceleration of the vehicle is valid, it indicates that the vehicle can determine the driving state of the vehicle based on the lateral acceleration. In the case that the lateral acceleration is not less than the acceleration threshold, it indicates that the lateral acceleration is small, and the vehicle is in the straight driving state.

[0117] It should be noted that if the lateral acceleration of the vehicle is invalid, the driving state of the vehicle cannot be determined based on the lateral acceleration, and the lateral acceleration of the vehicle needs to be re-acquired. In the case that the lateral acceleration is valid, the driving state of the vehicle is determined based on the lateral acceleration.

[0118] In one possible implementation manner, the manner of determining that the lateral acceleration is valid includes any one of the following:

[0119] (1) In the case that the second identification information of the lateral acceleration is valid, it is determined that the lateral acceleration is valid.

[0120] Optionally, the second identification information is represented by one bit. For example, if the second identification information is 1, it indicates that the lateral acceleration of the vehicle is valid; if the second identification information is 0, it indicates that the lateral acceleration of the vehicle is invalid. Alternatively, if the second identification information is 0, it indicates that the lateral acceleration of the vehicle is valid; if the second identification information is 1, it indicates that the lateral acceleration of the vehicle is invalid.

[0121] (2) In the case that the byte length of the lateral acceleration is the second length, it is determined that the lateral acceleration is valid.

[0122] The second length refers to a length of the lateral acceleration under normal conditions. If the byte length of the lateral acceleration does not match the second length, it indicates that the lateral acceleration is abnormal. Optionally, the second length is 4 bits, 8 bits, or another value, and the embodiments of the present application are not limited. For example, if the second length is 4 bits, if the lateral acceleration of the vehicle obtained is 4 bits, it indicates that the lateral acceleration of the vehicle is valid, and if the lateral acceleration of the vehicle obtained is 3 bits, it indicates that the lateral acceleration of the vehicle is invalid.

[0123] (3) In the case that the lateral acceleration is a continuous number of frame lengths, it is determined that the lateral acceleration is valid.

[0124] In some embodiments, the vehicle obtains the lateral acceleration every certain time length, and each obtained lateral acceleration is one frame of lateral acceleration. In the case that a plurality of frames of lateral acceleration is a continuous number of frame lengths, it is determined that the lateral acceleration of the vehicle is valid.

[0125] Optionally, the continuous number of frame lengths is 4 frames, 6 frames, or another value, and the embodiments of the present application are not limited. For example, if the continuous number of frame lengths is 4 frames, and the continuous frame length of the lateral acceleration of the vehicle is 4 frames, it indicates that the lateral acceleration is valid, and if the continuous frame length of the lateral acceleration of the vehicle is 3 frames, it indicates that the lateral acceleration is invalid.

[0126] It should be noted that the embodiments of the present application are described by taking the case that the lateral acceleration is valid and the lateral acceleration is not greater than the acceleration threshold value. In another embodiment, if the lateral acceleration is not greater than the acceleration threshold value, it is determined that the vehicle is in a straight driving state.

[0127] 304, in the case that the rotation speed of the steering wheel is valid and the rotation speed of the steering wheel of the vehicle is not less than a first rotation speed threshold value, it is determined that the steering wheel is rotating.

[0128] The first rotation speed threshold value is set by the vehicle, or set by an operator, or set in another way, and the embodiments of the present application are not limited. For example, the first rotation speed threshold value is 100 degrees per second, 120 degrees per second, 130 degrees per second, or another value, and the embodiments of the present application are not limited.

[0129] In the embodiments of the present application, if the rotation speed of the steering wheel is valid, it indicates that the vehicle can determine the rotation state of the steering wheel based on the rotation speed of the steering wheel. In the case that the rotation speed of the steering wheel is not less than the first rotation speed threshold value, it indicates that the steering wheel is in a rotating state.

[0130] It should be noted that if the rotation speed of the steering wheel is invalid, the rotation state of the steering wheel cannot be determined based on the rotation speed of the steering wheel, and the rotation speed of the steering wheel needs to be obtained again. The rotation state of the steering wheel is determined based on the rotation speed of the steering wheel in the case that the rotation speed of the steering wheel is valid.

[0131] In a possible implementation, the manner of determining that the steering wheel is effective includes any one of the following:

[0132] (1) In a case where the third identification information of the steering wheel speed is effective, it is determined that the steering wheel speed is effective.

[0133] Optionally, the third identification information is represented by one bit. For example, if the third identification information is 1, it indicates that the steering wheel speed of the vehicle is effective, and if the third identification information is 0, it indicates that the steering wheel speed of the vehicle is ineffective. Alternatively, if the third identification information is 0, it indicates that the steering wheel speed of the vehicle is effective, and if the third identification information is 1, it indicates that the steering wheel speed of the vehicle is ineffective.

[0134] (2) In a case where the byte length of the steering wheel speed is a third length, it is determined that the steering wheel speed is effective.

[0135] The third length refers to the length of the steering wheel speed under normal circumstances. If the byte length of the steering wheel speed does not match the third length, it indicates that the steering wheel speed is abnormal. Optionally, the third length is 4 bits, 8 bits, or another numerical value, which is not limited in the embodiments of the application. For example, if the third length is 4 bits, if the steering wheel speed of the vehicle obtained is 4 bits, it indicates that the steering wheel speed of the vehicle is effective, and if the steering wheel speed of the vehicle obtained is 3 bits, it indicates that the steering wheel speed of the vehicle is ineffective.

[0136] (3) In a case where the steering wheel speed is a continuous number of frame lengths, it is determined that the steering wheel speed is effective.

[0137] In some embodiments, the vehicle obtains the steering wheel speed at a certain time interval, and each obtained steering wheel speed is one frame of steering wheel speed. When a plurality of frames of steering wheel speed are a continuous number of frame lengths, it is determined that the steering wheel speed of the vehicle is effective.

[0138] Optionally, the continuous number of frame lengths is 4 frames, 6 frames, or another numerical value, which is not limited in the embodiments of the application. For example, if the continuous number of frame lengths is 4 frames, and the continuous frame length of the steering wheel speed of the vehicle is 4 frames, it indicates that the steering wheel speed is effective, and if the continuous frame length of the steering wheel speed of the vehicle is 3 frames, it indicates that the steering wheel speed is ineffective.

[0139] It should be noted that the embodiments of the application are described by taking the steering wheel speed as effective and the steering wheel speed being not less than a first speed threshold as an example. In another embodiment, if the steering wheel speed is not less than the first speed threshold, it is determined that the vehicle is in a direction turning state.

[0140] It should be noted that the steps 302, 303 and 304 in the embodiments of the present application can be executed simultaneously, or the step 302 is executed first, then the step 304, and then the step 303, or the step 303 is executed first, then the step 302, and then the step 304, or the step 303 is executed first, then the step 304, and then the step 302, or the step 304 is executed first, then the step 302, and then the step 303, or the step 304 is executed first, then the step 303, and then the step 302, which is not limited in the embodiments of the present application.

[0141] 305. In a case where the wheel speed and the lateral acceleration indicate that the vehicle is in the high-speed straight driving state, the vehicle determines a target force for compensating the force of the worm gear of the vehicle in response to the steering wheel rotation of the vehicle, the worm gear being used for amplifying and transmitting a boost torque of a motor connected to the worm gear.

[0142] In some embodiments, the target force is a pre-set force.

[0143] In some embodiments, a first corresponding relationship is queried based on the wheel speed of the vehicle to determine a target force corresponding to the wheel speed. Optionally, the first corresponding relationship stores a corresponding relationship between the wheel speed and the force. Optionally, the first corresponding relationship stores a corresponding relationship between a wheel speed range and the force. The vehicle determines a wheel speed range to which the wheel speed belongs, and then queries the first corresponding relationship to determine a corresponding force as the target force.

[0144] It should be noted that the embodiments of the present application are described by taking the wheel speed and the lateral acceleration as the state parameters. In another embodiment, the state parameters further include an engine speed. Optionally, in a case where the wheel speed and the lateral acceleration indicate that the vehicle is in the high-speed straight driving state and the engine speed is not less than a second speed threshold, a target force for compensating the force of the worm gear of the vehicle is determined in response to the steering wheel rotation of the vehicle.

[0145] In another embodiment, the state parameters further include a motor speed of the worm gear. Optionally, in a case where the wheel speed and the lateral acceleration indicate that the vehicle is in the high-speed straight driving state and the motor speed of the worm gear is not less than a third speed threshold, a target force for compensating the force of the worm gear of the vehicle is determined in response to the steering wheel rotation of the vehicle.

[0146] It should be noted that the state parameter can also include the engine speed and the motor speed of the worm gear. In the case that the wheel speed and the lateral acceleration indicate that the vehicle is in a high-speed straight driving state, the engine speed is not less than the second speed threshold, and the motor speed of the worm gear is not less than the third speed threshold, the target force for compensating the force of the worm gear of the vehicle is determined in response to the steering of the steering wheel of the vehicle.

[0147] 306、The vehicle compensates the worm gear based on the target force, so that the target force and the friction of the worm gear are offset.

[0148] In some embodiments, the motor current of the worm gear is determined based on the target force, and the force generated by the motor current is used to control the rotation of the worm gear.

[0149] It should be noted that the embodiments of the present application are described by taking the compensation of the target force by the vehicle as an example. In an embodiment, the compensation is also stopped. Alternatively, in the case that the motor speed of the worm gear is greater than the fourth speed threshold, the compensation of the worm gear based on the target force is stopped. If the motor speed of the worm gear is greater than the fourth speed threshold, it indicates that the motor of the worm gear is in normal operation at this time, and there is no need to compensate the force of the worm gear, so the compensation of the worm gear is stopped.

[0150] In the scheme provided by the embodiments of the present application, in the case that the state parameters are all valid, and the vehicle is determined to be in a high-speed straight driving state and the steering wheel is turned based on the wheel speed, the lateral acceleration and the steering speed, the target force is applied to the worm gear to offset the friction of the worm gear, so that the situation of lagging when the user turns the steering wheel is eliminated, and the user experience is improved.

[0151] Figure 4 is a structural schematic diagram of an action force compensation device provided by an embodiment of the present application, referring to Figure 6 The device comprises:

[0152] The acquisition module 401 is configured to acquire a state parameter of the vehicle in a driving process, and the state parameter comprises a wheel speed and a lateral acceleration of the vehicle.

[0153] The determination module 402 is configured to determine a target force for compensating a force of a worm gear of the vehicle in response to a steering of a steering wheel of the vehicle in the case that the wheel speed and the lateral acceleration indicate that the vehicle is in a high-speed straight driving state, and the worm gear is used to amplify and transmit a boost torque of a motor connected with the worm gear.

[0154] The compensation module 403 is configured to compensate the worm gear based on the target force, so that the target force and the friction force of the worm gear are offset.

[0155] In a possible implementation, the determination module 402 is further configured to determine that the vehicle is in the high-speed driving state when the wheel speed of the vehicle is valid and the wheel speed of the vehicle is not less than the speed threshold.

[0156] In a possible implementation, the determination module 402 is further configured to:

[0157] when the first identification information of the wheel speed of the vehicle is valid, determine that the wheel speed of the vehicle is valid;

[0158] or,

[0159] when the byte length of the wheel speed of the vehicle is the first length, determine that the wheel speed of the vehicle is valid;

[0160] or,

[0161] when the wheel speed of the vehicle is the continuous number of frame lengths, determine that the wheel speed of the vehicle is valid.

[0162] In a possible implementation, the determination module 402 is further configured to determine that the vehicle is in the straight driving state when the lateral acceleration is valid and the lateral acceleration is not greater than an acceleration threshold.

[0163] In a possible implementation, the determination module 402 is configured to determine that the lateral acceleration is valid when the second identification information of the lateral acceleration is valid.

[0164] or,

[0165] when the byte length of the lateral acceleration is the second length, determine that the lateral acceleration is valid;

[0166] or,

[0167] when the lateral acceleration is the continuous number of frame lengths, determine that the lateral acceleration is valid.

[0168] In a possible implementation, the determination module 402 is further configured to determine that the steering wheel rotates when the speed of the steering wheel is valid and the speed of the steering wheel of the vehicle is not less than a first speed threshold.

[0169] In a possible implementation, the determination module 402 is further configured to:

[0170] In a case where the third identification information of the steering wheel speed is valid, it is determined that the steering wheel speed is valid.

[0171] Or,

[0172] In a case where the byte length of the steering wheel speed is the third length, it is determined that the steering wheel speed is valid.

[0173] Or,

[0174] In a case where the steering wheel speed is the continuous number of frame lengths, it is determined that the steering wheel speed is valid.

[0175] In a possible implementation, the state parameter further includes an engine speed; and the determining module 402 is configured to determine, in a case where the wheel speed and the lateral acceleration indicate that the vehicle is in a high-speed straight driving state and the engine speed is not less than a second speed threshold, a target force for compensating the action force of the worm gear of the vehicle in response to the steering wheel rotation of the vehicle.

[0176] In a possible implementation, the state parameter further includes a motor speed of the worm gear; and the determining module 402 is configured to determine, in a case where the wheel speed and the lateral acceleration indicate that the vehicle is in a high-speed straight driving state and the motor speed of the worm gear is not less than a third speed threshold, a target force for compensating the action force of the worm gear of the vehicle in response to the steering wheel rotation of the vehicle.

[0177] In a possible implementation, the determining module 402 is configured to query a first corresponding relationship based on the wheel speed of the vehicle to determine the target force corresponding to the wheel speed.

[0178] In a possible implementation, the compensating module 403 is configured to:

[0179] determine a motor current of the worm gear based on the target force;

[0180] control the rotation of the worm gear by using the action force generated by the motor current.

[0181] In a possible implementation, referring to Figure 5 , the apparatus further includes:

[0182] a stopping module 404 configured to stop compensating the worm gear based on the target force in a case where the motor speed of the worm gear is greater than a fourth speed threshold.

[0183] It should be noted that the force compensation device provided in the above embodiments is only illustrated by the division of the above functional modules when compensating for forces. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the vehicle can be divided into different functional modules to complete all or part of the functions described above. In addition, the force compensation device and the force compensation method embodiments provided in the above embodiments belong to the same concept, and the specific implementation process can be found in the method embodiments, which will not be repeated here.

[0184] refer to Figure 6 , Figure 6 A structural block diagram of a vehicle 600 provided in an exemplary embodiment of this application is shown. Typically, the vehicle 600 includes a processor 601.

[0185] Processor 601 may include one or more computer-readable storage media, which may be non-transitory. In some embodiments, the non-transitory computer-readable storage media in processor 601 are used to store at least one piece of program code, which is executed by processor 601 to implement the operations performed by the electric vehicle in the vehicle unlocking method provided in the method embodiments of this application.

[0186] Those skilled in the art will understand that Figure 6 The structure shown does not constitute a limitation on vehicle 600 and may include more or fewer components than shown, or combine certain components, or use different component arrangements.

[0187] In an exemplary embodiment, a computer-readable storage medium is also provided, which stores at least one piece of program code that is loaded and executed by a processor to implement the force compensation method described above.

[0188] In an exemplary embodiment, a computer program product is also provided, which stores at least one piece of program code, which is loaded and executed by a processor to implement the force compensation method in the above embodiments.

[0189] Those skilled in the art will understand that all or part of the steps of the above embodiments can be implemented by hardware or by a program instructing related hardware. The program can be stored in a computer-readable storage medium, such as a read-only memory, a disk, or an optical disk.

[0190] The above merely describes the technical solutions of the present application for the purpose of enabling those skilled in the art to understand the technical solutions of the present application, and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method of compensating for an acting force, characterized by, The method is executed by a vehicle, and the method comprises: acquiring a state parameter of the vehicle during driving, the state parameter comprising a wheel speed of the vehicle and a lateral acceleration of the vehicle; in a case where the wheel speed and the lateral acceleration indicate that the vehicle is in a high-speed straight driving state, determining a target force for compensating a force of a worm gear of the vehicle in response to a steering wheel rotation of the vehicle, the worm gear being used for amplifying and transmitting a boost torque of a motor connected to the worm gear; compensating the worm gear based on the target force so that the target force and a friction force of the worm gear are counteracted; the target force is obtained by querying a first corresponding relationship based on the wheel speed.

2. The method of claim 1, wherein, The method further comprises: in a case where the wheel speed of the vehicle is valid and the wheel speed of the vehicle is not less than a speed threshold, determining that the vehicle is in a high-speed driving state.

3. The method of claim 2, wherein, The method further comprises: in a case where first identification information of the wheel speed of the vehicle is valid, determining that the wheel speed of the vehicle is valid; or, in a case where a byte length of the wheel speed of the vehicle is a first length, determining that the wheel speed of the vehicle is valid; or, in a case where the wheel speed of the vehicle is a continuous number of frame lengths, determining that the wheel speed of the vehicle is valid.

4. The method of claim 1, wherein, The method further comprises: in a case where the lateral acceleration is valid and the lateral acceleration is not greater than an acceleration threshold, determining that the vehicle is in a straight driving state.

5. The method of claim 4, wherein, The method further comprises: in a case where second identification information of the lateral acceleration is valid, determining that the lateral acceleration is valid; or, in a case where a byte length of the lateral acceleration is a second length, determining that the lateral acceleration is valid; or, in a case where the lateral acceleration is a continuous number of frame lengths, determining that the lateral acceleration is valid.

6. The method of claim 1, wherein, The method further comprises: in a case where the steering wheel speed is valid and the steering wheel speed of the vehicle is not less than a first speed threshold, determining that the steering wheel is rotated.

7. The method of claim 6, wherein, The method further comprises: in a case where third identification information of the steering wheel speed is valid, determining that the steering wheel speed is valid; or, in a case where a byte length of the steering wheel speed is a third length, determining that the steering wheel speed is valid; or, in a case where the steering wheel speed is a continuous number of frame lengths, determining that the steering wheel speed is valid.

8. The method of claim 1, wherein, The state parameter further comprises an engine speed; and the determining the target force for compensating the force of the worm gear of the vehicle in response to the steering wheel rotation of the vehicle in a case where the wheel speed and the lateral acceleration indicate that the vehicle is in the high-speed straight driving state comprises: in a case where the wheel speed and the lateral acceleration indicate that the vehicle is in the high-speed straight driving state and the engine speed is not less than a second speed threshold, determining the target force for compensating the force of the worm gear of the vehicle in response to the steering wheel rotation of the vehicle.

9. The method of claim 1, wherein, The state parameter further comprises a motor rotation speed of the worm gear; in a case where the wheel rotation speed and the lateral acceleration indicate that the vehicle is in a high-speed straight driving state, the target force for compensating the worm gear of the vehicle is determined in response to a steering wheel rotation of the vehicle, and the target force for compensating the worm gear of the vehicle is determined in response to a steering wheel rotation of the vehicle. In a case where the wheel rotation speed and the lateral acceleration indicate that the vehicle is in a high-speed straight driving state and the motor rotation speed of the worm gear is not less than a third rotation speed threshold, the target force for compensating the worm gear of the vehicle is determined in response to a steering wheel rotation of the vehicle.

10. The method of claim 1, wherein, The target force for compensating the worm gear of the vehicle is determined in response to a steering wheel rotation of the vehicle in a case where the wheel rotation speed and the lateral acceleration indicate that the vehicle is in a high-speed straight driving state, and the target force for compensating the worm gear of the vehicle is determined in response to a steering wheel rotation of the vehicle. A first correspondence relationship is queried based on the wheel rotation speed of the vehicle to determine the target force corresponding to the wheel rotation speed.

11. The method of claim 1, wherein, The compensation of the worm gear based on the target force comprises: The motor current of the worm gear is determined based on the target force; The worm gear is controlled to rotate by using the force generated by the motor current.

12. The method of claim 1, wherein, The method further comprises: In a case where the motor rotation speed of the worm gear is greater than a fourth rotation speed threshold, the compensation of the worm gear based on the target force is stopped.

13. An acting force compensating device, characterized by The device comprises: An acquisition module is configured to acquire a state parameter of a vehicle during driving, and the state parameter comprises a wheel rotation speed and a lateral acceleration of the vehicle; A determination module is configured to determine a target force for compensating a worm gear of the vehicle in response to a steering wheel rotation of the vehicle in a case where the wheel rotation speed and the lateral acceleration indicate that the vehicle is in a high-speed straight driving state, and the worm gear is used to amplify and transmit a boost torque of a motor connected to the worm gear; A compensation module is configured to compensate the worm gear based on the target force, so that the target force and a friction force of the worm gear are offset. The target force is obtained by querying a first correspondence relationship based on the wheel rotation speed.

14. A vehicle characterized by comprising: The vehicle comprises a processor and a memory, and the memory stores at least one program code, which is loaded and executed by the processor to implement the force compensation method according to any one of claims 1 to 12.

15. A computer-readable storage medium, characterized in that, The computer readable storage medium stores at least one program code, which is loaded and executed by the processor to implement the force compensation method according to any one of claims 1 to 12.

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