Methods, devices, equipment, and readable storage media for synchronizing steering wheel and steering wheels

Abstract

This application discloses a method, apparatus, device, and readable storage medium for synchronizing a steering wheel and steering wheels. The method includes: during vehicle operation, real-time detection of the current vehicle's steering control mode; when the vehicle's steering control mode is a synchronized steering mode, acquiring current vehicle operating information, including vehicle speed and a first steering angle of the steering wheel; determining a target steering wheel angle based on the vehicle speed and the first steering angle; dynamically adjusting the steering wheel angle to the target angle and generating a rotational torque corresponding to the steering wheel angle to control the steering wheel rotation. According to the embodiments of this application, the synchronization process between the steering wheel and steering wheel angles can be simplified, enabling the driver to effectively perceive the vehicle's steering status, improving the maneuverability of steer-by-wire and the safety of driving the vehicle.

Description

Technical Field

[0001] This application belongs to the field of steer-by-wire technology, and particularly relates to a method, device, equipment and readable storage medium for synchronizing a steering wheel and steering wheels. Background Technology

[0002] With the increasing prevalence of vehicles, they are used in more and more daily scenarios. Ensuring driving safety remains a crucial issue during vehicle use. Specifically, the stability of a vehicle's steering control plays a vital role in ensuring safe driving, reducing traffic accidents, protecting the driver's personal safety, and improving the driving experience.

[0003] Currently, steering by wire (SBW) systems are increasingly being used in vehicles, eliminating the mechanical connection between the steering wheel and steering wheels. Instead, SBW decouples the steering wheel and steering wheels through steer-by-wire, reducing driver intervention and improving convenience. However, if the driver intervenes during SBW steering, it can cause asynchrony between the steering wheel and steering wheel angles, making it difficult for the driver to effectively perceive the vehicle's steering, which is detrimental to safe driving. Summary of the Invention

[0004] This application provides a method, apparatus, device, and readable storage medium for synchronizing a steering wheel and steering wheels, which simplifies the synchronization process between the steering wheel and steering wheel angles, enabling the driver to effectively perceive the vehicle's steering status, improving the maneuverability of steer-by-wire, and enhancing the safety of driving the vehicle.

[0005] In a first aspect, embodiments of this application provide a method for synchronizing a steering wheel and steering wheels, comprising:

[0006] During vehicle operation, the current vehicle steering control mode is detected in real time.

[0007] When the vehicle's steering control mode is synchronous steering mode, the current vehicle operation information is obtained, including vehicle speed and the first steering angle of the steering wheel in the vehicle.

[0008] Determine the target turning angle of the steering wheels in the vehicle based on the vehicle speed and the first steering angle;

[0009] The steering angle of the steering wheel is dynamically adjusted to the target steering angle, and a rotational torque corresponding to the steering angle of the steering wheel is generated to control the rotation of the steering wheel.

[0010] In some possible implementations of the first aspect, determining the target steering angle of the steering wheels in the vehicle based on the vehicle speed and the first steering angle includes:

[0011] Obtain preset transmission relationship information, which includes the relationship between vehicle speed, steering wheel angle and transmission ratio;

[0012] Determine the target gear ratio based on the vehicle speed and the first steering angle;

[0013] Calculate the ratio of the first steering angle to the target gear ratio to obtain the target steering angle of the steering wheel.

[0014] In some possible implementations of the first aspect, the steering angle of the steering wheel is dynamically adjusted to the target steering angle, including:

[0015] Obtain the corner synchronization duration corresponding to the running information;

[0016] Within the steering angle synchronization time, the steering angle of the steering wheel is dynamically adjusted to the target steering angle.

[0017] Among the possible implementations of the first aspect, the angle synchronization duration corresponding to the operational information is obtained, including:

[0018] Obtain the initial steering angle of the steering wheel;

[0019] Calculate the difference between the first steering angle of the steering wheel and the initial steering angle of the steering wheel to obtain the first difference value;

[0020] The turning synchronization time is determined based on the ratio of the first preset constant to the vehicle speed and the ratio of the second preset constant to the vehicle speed, wherein the vehicle speed and the first difference are both negatively correlated with the synchronization time.

[0021] In some possible implementations of the first aspect, during the angular synchronization period, the steering angle of the steering wheel is dynamically adjusted to the target steering angle, including:

[0022] Obtain the initial steering angle of the steering wheels;

[0023] Calculate the difference between the target turning angle and the initial turning angle of the steering wheel to obtain the second difference value;

[0024] Establish a dynamic adjustment function for the steering wheel between the initial steering angle, the second difference, and the steering angle synchronization time, wherein the dynamic adjustment function of the steering wheel is a function of the adjustment time and the steering angle of the steering wheel;

[0025] Based on the dynamic adjustment function of the steering wheel, the steering angle of the steering wheel is dynamically adjusted to the target steering angle within the steering angle synchronization time.

[0026] In some possible implementations of the first aspect, the dynamic adjustment function of the steering wheel is:

[0027]

[0028] Where, δ w δ is the steering angle of the steering wheel. w0 Δw is the initial steering angle of the steering wheel, Δw is the second difference, T is the steering angle synchronization time, and t is the adjustment time.

[0029] In some possible implementations of the first aspect, the steering angle of the steering wheel is dynamically adjusted to a target steering angle, and a rotational torque corresponding to the steering angle of the steering wheel is generated to control the rotation of the steering wheel, including:

[0030] During the process of dynamically adjusting the steering angle of the steering wheel to the target steering angle, the steering angle of the steering wheel is acquired in real time;

[0031] Based on preset angle conversion information, the rotational torque corresponding to the steering angle of the steering wheel is determined in real time. The preset angle conversion information includes the correlation between the steering wheel steering angle and the steering wheel rotational torque.

[0032] The steering wheel is controlled to rotate based on the rotational torque.

[0033] Secondly, embodiments of this application provide a synchronization device for a steering wheel and a steering wheel, the device comprising:

[0034] The detection module is used to detect the current vehicle steering control mode in real time during vehicle operation.

[0035] The acquisition module is used to acquire the current vehicle operating information when the vehicle's steering control mode is synchronous steering mode. The operating information includes the vehicle speed and the first steering angle of the steering wheel in the vehicle.

[0036] The processing module is used to determine the target steering angle of the steering wheels in the vehicle based on the vehicle speed and the first steering angle;

[0037] The control module is used to dynamically adjust the steering angle of the steering wheel to the target steering angle and generate a rotational torque corresponding to the steering angle of the steering wheel to control the steering wheel rotation.

[0038] Thirdly, this application provides an electronic device comprising: a processor and a memory storing computer program instructions; wherein the processor, when executing the computer program instructions, implements the synchronization method of the steering wheel and steering wheel as described in the first aspect or any implementable method of the first aspect.

[0039] Fourthly, this application provides a computer-readable storage medium storing computer program instructions, which, when executed by a processor, implement the synchronization method of the steering wheel and steering wheel as described in the first aspect or any implementable method of the first aspect.

[0040] Fifthly, embodiments of this application provide a computer program product in which instructions, when executed by a processor of an electronic device, cause the electronic device to perform a steering wheel and steering wheel synchronization method as described in the first aspect or any implementable embodiment of the first aspect.

[0041] This application provides a synchronization device, apparatus, and readable storage medium for a steering wheel and steering wheel. During vehicle operation, the vehicle's steering control mode can be monitored in real time. When the vehicle's steering control mode is detected as a synchronized steering mode, the vehicle's current speed and the first steering angle of the steering wheel are acquired. Based on the vehicle speed and the first steering angle, the target steering angle of the steering wheel can be quickly determined, and the steering angle of the steering wheel can be dynamically adjusted to the target angle. This achieves a simple and highly stable synchronization process between the steering wheel and steering wheel, ensuring safety during steer-by-wire driving. Simultaneously, during the adjustment of the steering wheel's steering angle, a rotational torque corresponding to the steering wheel's angle is generated to control the steering wheel's rotation, allowing the driver to effectively perceive the vehicle's steering status and improving the maneuverability and safety of steer-by-wire. Attached Figure Description

[0042] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0043] Figure 1 This is a schematic diagram of the structure of a steer-by-wire system provided in an embodiment of this application;

[0044] Figure 2 This is a schematic flowchart illustrating a method for synchronizing a steering wheel and steering wheels according to an embodiment of this application.

[0045] Figure 3 This is a schematic diagram of a process for detecting the steering control mode of a vehicle, provided in an embodiment of this application.

[0046] Figure 4 This is a schematic diagram of the structure of a synchronization device for a steering wheel and steering wheel provided in an embodiment of this application;

[0047] Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0048] The features and exemplary embodiments of various aspects of this application will be described in detail below. To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain this application and not to limit it. For those skilled in the art, this application can be implemented without some of these specific details. The following description of the embodiments is merely to provide a better understanding of this application by illustrating examples.

[0049] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes said element.

[0050] With the increasing prevalence of vehicles, they are used in more and more daily scenarios. Ensuring driving safety remains a crucial issue during vehicle use. Specifically, the stability of a vehicle's steering control plays a vital role in ensuring safe driving, reducing traffic accidents, protecting the driver's personal safety, and improving the driving experience.

[0051] Currently, steering by wire (SBW) systems are increasingly being used in vehicles, eliminating the mechanical connection between the steering wheel and steering wheels. Instead, SBW decouples the steering wheel and steering wheels through steer-by-wire, reducing driver intervention and improving convenience. However, if the driver intervenes during SBW steering, it can cause asynchrony between the steering wheel and steering wheel angles, making it difficult for the driver to effectively perceive the vehicle's steering and compromising safe driving.

[0052] In response to this, embodiments of this application provide a method, apparatus, device, and readable storage medium for synchronizing a steering wheel and steering wheels, which can simplify the synchronization process between the steering wheel and steering wheel angles, enable the driver to effectively perceive the vehicle's steering status, and improve the maneuverability of steer-by-wire and the safety of driving the vehicle.

[0053] As a specific example, the steering wheel and steering wheel synchronization method provided in this application embodiment can be executed by a steer-by-wire system. For example, Figure 1 This is a schematic diagram of the structure of a steer-by-wire system provided in an embodiment of this application. Combined with... Figure 1 As shown, the online steering system may include a steering wheel assembly 10, a steering control unit 20, and a steering actuation assembly 30.

[0054] The steering wheel assembly 10 may include, for example, a steering wheel, a torque sensor, a steering angle sensor, a reducer, and a road sensor motor.

[0055] In an alternative example, the driver can control the vehicle's steering by operating the steering wheel. The steering angle sensor in the steering wheel assembly 10 can collect the steering angle of the steering wheel, convert the steering angle into a digital signal, and transmit the digital signal to the steering control unit 20. The steering control unit then controls the steering wheel to rotate based on the received collected signal.

[0056] In another alternative example, the steering wheel assembly can also receive information from the steering control unit 20. Specifically, for example, the road feel simulation component in the steering control unit 20 can acquire the steering angle of the steering wheels, generate a rotational torque corresponding to the steering angle of the steering wheels, and send information including this rotational torque to the road feel motor in the steering wheel assembly 10. The road feel motor controls the steering wheel rotation based on the rotational torque, thereby providing the driver with corresponding road feel information.

[0057] The steering control unit 20 may include, for example, a synchronous steering control component, a variable angle transmission ratio control component, and a road feel simulation control component.

[0058] For example, when the vehicle's steering control mode is synchronous steering mode, the synchronous steering control component can generate and send control information to the steering execution assembly 30, causing the steering motor in the steering execution assembly 30 to dynamically adjust the steering angle of the steering wheels to the target steering angle. The variable angle transmission ratio control component can determine the target steering angle of the steering wheels in the vehicle based on the vehicle speed and the steering wheel angle. For example, the variable angle transmission ratio control component can determine the target steering angle corresponding to the vehicle speed and the first steering angle based on preset transmission relationship information.

[0059] The steering actuation assembly 30 may include, for example, a steering motor, a rack and pinion assembly, a steering sensor, and a steering wheel.

[0060] For example, the steering sensor in the steering actuation assembly 30 can measure the steering angle of the steering wheel and send the steering angle to the steering control unit 20 in the form of a digital signal. The steering motor in the steering actuation assembly 30 can receive information from the synchronous steering control component in the steering control unit 20, thereby dynamically adjusting the steering angle of the steering wheel to the target steering angle. This enables stable synchronization between the steering wheel and the steering wheel, realizing the driver's steering intention while ensuring the safety of driving the vehicle based on steer-by-wire.

[0061] The method for synchronizing the steering wheel and steering wheel provided in the embodiments of this application will be described below with reference to the accompanying drawings. Figure 2 A schematic flowchart illustrating a method for synchronizing a steering wheel and steering wheels according to an embodiment of this application is shown. Figure 2 As shown, the method may include the following steps:

[0062] Step 210: During vehicle operation, the current vehicle steering control mode is detected in real time.

[0063] Step 220: When the vehicle's steering control mode is synchronous steering mode, obtain the current vehicle's operating information;

[0064] The operational information includes vehicle speed and the first steering angle of the steering wheel in the vehicle;

[0065] Step 230: Determine the target turning angle of the steering wheels in the vehicle based on the vehicle speed and the first steering angle;

[0066] Step 240: Dynamically adjust the steering angle of the steering wheel to the target steering angle and generate a rotational torque corresponding to the steering angle of the steering wheel to control the steering wheel rotation.

[0067] For example, during vehicle operation, the vehicle's steering control modes include active steering control mode, passive steering control mode, and synchronous steering control mode.

[0068] In active steering control mode, the steering wheels steer automatically without relying on the steering wheel's input. Specifically, the steer-by-wire system directly generates control signals, causing the steering motor to control the steering wheel rotation accordingly. Active steering control mode can be used in scenarios where the driver is not operating the steering wheel, the driver's actions are improper, or the vehicle is in an unstable state.

[0069] In passive steering control mode, the driver controls the steering wheel. Based on the control information received by the steering wheel, the steering angle of the steering wheel corresponding to the steering wheel steering angle is determined, and then the steering motor controls the steering wheel to perform steering.

[0070] Synchronous steering control mode can be automatically activated during vehicle self-detection when a discrepancy is detected between the steering wheel and steering wheels. It can also serve as a transitional phase between synchronous and passive steering control modes. For example, in synchronous control mode, when the driver engages the steering wheel, if a discrepancy in the steering angle between the steering wheel and steering wheels is detected, the synchronous steering control phase is initiated. Once the steering angles between the steering wheel and steering wheels are synchronized, the system transitions to passive steering control mode.

[0071] As an optional example, Figure 3 This is a flowchart illustrating a method for detecting the steering control mode of a vehicle, as provided in an embodiment of this application; combined with Figure 3 As shown, detecting the vehicle's steering control mode may include the following steps:

[0072] Step 301: Detect whether the system is in active steering control mode.

[0073] If yes, proceed to step 302; otherwise, proceed to step 304.

[0074] Step 302: Based on the active steering control mode, control the vehicle steering.

[0075] Step 303: Detect whether the driver intervenes in controlling the steering wheel.

[0076] If yes, proceed to step 305; otherwise, proceed to step 302.

[0077] Step 304: Detect whether the vehicle is in passive steering control mode.

[0078] If yes, proceed to step 306; otherwise, proceed to step 305.

[0079] Step 305: Based on the synchronous steering control mode, control the vehicle steering.

[0080] After the steering angle between the steering wheel and the steering wheel is synchronized, proceed to step 306.

[0081] Step 306: Based on the passive transformation control mode, control the vehicle steering.

[0082] In this embodiment, during vehicle operation, the vehicle's steering control mode can be monitored in real time to understand the vehicle's steering control mode. Different control information can be generated under different steering control modes to control the steering motor and road feeler clicks in coordination, thereby achieving vehicle steering.

[0083] In some embodiments, when the vehicle's steering control mode is detected to be synchronous steering mode, current vehicle operating information is acquired. This operating information includes vehicle speed and a first steering angle of the steering wheel, allowing for the rapid determination of the target steering wheel angle based on the vehicle speed and the first steering angle.

[0084] As a specific example, when determining the target turning angle of the steering wheel in a vehicle based on the vehicle speed and the first steering angle, one can first obtain the preset transmission relationship information; then determine the target transmission ratio based on the vehicle speed and the first steering angle; and finally calculate the ratio of the first steering angle to the target transmission ratio to obtain the target turning angle of the steering wheel.

[0085] For example, the preset transmission relationship information includes the correlation between vehicle speed, steering wheel angle, and gear ratio. After determining the vehicle speed and steering wheel angle, the target gear ratio corresponding to the vehicle speed and steering wheel angle is found from the preset transmission relationship information.

[0086] The gear ratio can be used to determine whether the steering angles of the steering wheel and the steering wheels are synchronized. Taking an embodiment of this application as an example, when the steering angles of the steering wheel and the steering wheels are synchronized, the ratio of the target gear ratio to the first steering angle is equal to the target gear ratio. In other words, for situations where the steering wheel and steering wheels need to be synchronized, after obtaining the target gear ratio, the target steering angle of the steering wheels is obtained by calculating the ratio of the first steering angle to the target gear ratio.

[0087] After obtaining the target steering angle, the steering wheel angle is adjusted to match the target steering angle, thus synchronizing the steering angles between the steering wheel and the steering wheels. Optionally, the number of adjustments or the amount of angle change for each adjustment can be preset to achieve gradual and dynamic synchronization between the steering wheel and the steering wheels.

[0088] In this embodiment, the steering wheel and steering wheel are synchronized by dynamically adjusting the steering angle of the steering wheel to the target steering angle. The synchronization process is simple and highly stable, ensuring the safety of driving a vehicle based on steer-by-wire. In this embodiment, during the adjustment of the steering wheel's steering angle, a rotational torque corresponding to the steering wheel's steering angle is generated to control the steering wheel's rotation, allowing the driver to effectively perceive the vehicle's steering status and improving the maneuverability of steer-by-wire and the safety of driving the vehicle.

[0089] In some embodiments, to ensure the driver's flexibility in controlling the vehicle's steering via the steering wheel, a synchronization time between the steering wheel and the steering wheels can be set. Specifically, for example, when dynamically adjusting the steering angle of the steering wheels to the target steering angle, the steering angle synchronization duration corresponding to the operating information is first obtained; within the steering angle synchronization duration, the steering angle of the steering wheels is dynamically adjusted to the target steering angle.

[0090] According to the embodiments of this application, by limiting the synchronization time of the steering wheel and the steering wheel, the vehicle steering flexibility is reduced because the steering wheel angle and the steering wheel angle are out of sync for too long.

[0091] In some embodiments of this application, the angle synchronization duration corresponding to the operating information can also be obtained by referring to the following steps. Specifically, the initial steering angle of the steering wheel is obtained; the difference between the first steering angle of the steering wheel and the initial steering angle of the steering wheel is calculated to obtain a first difference value; the angle synchronization duration is determined according to the ratio of a first preset constant to the vehicle speed and the ratio of a second preset constant to the vehicle speed, wherein the vehicle speed and the first difference value are both negatively correlated with the angle synchronization duration.

[0092] Specifically, vehicle speed and turning angle synchronization time are negatively correlated, meaning that the higher the vehicle speed, the shorter the corresponding turning angle synchronization time; the first difference is also negatively correlated with turning angle synchronization time, meaning that the larger the first difference, the shorter the corresponding turning angle synchronization time.

[0093] At higher vehicle speeds, if the steering wheel angle and steering wheel angle are out of sync for an extended period, it will affect the vehicle's stability at high speeds and may even compromise driving safety. According to the embodiments of this application, the steering wheel angle synchronization duration can be determined in real time based on the current vehicle speed to ensure vehicle stability at high speeds and avoid compromising driving safety.

[0094] The difference between the first steering angle and the initial steering angle of the steering wheel is called the first difference value. The larger the difference between the first steering angle and the initial steering angle, the more it will affect the vehicle's steering flexibility and the user's driving experience.

[0095] Optionally, formula (1) is a method for calculating the transition synchronization duration provided in the embodiments of this application.

[0096]

[0097] Where T is the turning angle synchronization time, u is the vehicle speed, k1 and k2 are both preset constants, and Δw1 is the first difference.

[0098] According to the embodiments of this application, when determining the steering angle synchronization duration, the vehicle speed and a first difference are used as influencing factors, thereby enabling the determination of the steering angle synchronization duration in combination with the actual application scenario. This allows for a balance between the stability and flexibility of the synchronization process between the steering wheel angle and the steering wheel angle.

[0099] After determining the steering angle synchronization duration, the steering angle of the steering wheel is dynamically adjusted to the target steering angle within the steering angle synchronization duration.

[0100] In some embodiments, the steering angle of the steering wheel can be dynamically adjusted to the target steering angle within the steering angle synchronization time by referring to the following steps.

[0101] Specifically, the initial steering angle of the steering wheel is obtained; the difference between the target steering angle and the initial steering angle of the steering wheel is calculated to obtain the second difference value; a dynamic adjustment function of the steering wheel is established between the initial steering angle, the second difference value, and the steering angle synchronization time, wherein the dynamic adjustment function of the steering wheel is a function of the adjustment time and the steering angle of the steering wheel; according to the dynamic adjustment function of the steering wheel, the steering angle of the steering wheel is dynamically adjusted to the target steering angle within the steering angle synchronization time.

[0102] Since the dynamic adjustment function of the steering wheel is a function of adjustment time and steering wheel angle, the steering angle at each moment within the synchronization duration from 0 to T can be accurately determined. Based on this, it is possible to flexibly handle the steering angle synchronization duration corresponding to various practical application scenarios, improving the stability and flexibility of the synchronization process between the steering wheel angle and the steering wheel angle.

[0103] Optionally, formula (2) is a dynamic adjustment function for a steering wheel provided in an embodiment of this application.

[0104]

[0105] Where, δ w δ is the steering angle of the steering wheel. w0 Δw is the initial steering angle of the steering wheel, Δw is the second difference, T is the steering angle synchronization time, and t is the adjustment time.

[0106] According to the embodiments of this application, after determining the steering angle synchronization duration and the dynamic adjustment function of the steering wheel, the steering angle of the steering wheel can be dynamically adjusted to the target steering angle based on the steering angle synchronization duration and the dynamic adjustment function of the steering wheel, and a rotational torque corresponding to the steering angle of the steering wheel can be generated to control the steering wheel rotation.

[0107] In some embodiments of this application, the steering angle of the steering wheel can be dynamically adjusted to the target steering angle by referring to the following steps, and a rotational torque corresponding to the steering angle of the steering wheel can be generated to control the steering wheel rotation.

[0108] Specifically, during the process of dynamically adjusting the steering angle of the steering wheel to the target steering angle, the steering angle of the steering wheel is acquired in real time; based on the preset angle conversion relationship information, the rotational torque corresponding to the steering angle of the steering wheel is determined in real time, wherein the preset angle conversion information includes the correlation between the steering wheel steering angle and the steering wheel rotational torque; based on the rotational torque, the steering wheel is controlled to rotate.

[0109] By controlling the steering wheel's rotation based on the rotational torque, road feel information can be output through the steering wheel. After receiving this road feel information through the steering wheel, the driver can understand the vehicle's motion and road conditions, and then operate and control the vehicle to ensure its safe operation.

[0110] According to the embodiments of this application, when it is detected that the steering wheel and steering wheel need to be synchronized, by gradually adjusting the steering angle of the steering wheel and controlling the rotational torque output by the steering wheel, not only can the rapid and stable synchronization between the steering wheel and steering wheel be achieved, but also the discomfort caused to the driver can be avoided, effectively improving the controllability of steer-by-wire and the safety of vehicle steering.

[0111] Based on the same inventive concept, this application also provides an image recognition device 400 corresponding to the above-described image recognition method. (Specifically combined with...) Figure 4 Please provide a detailed explanation.

[0112] Figure 4 This is a schematic diagram of the structure of a synchronization device for a steering wheel and steering wheel provided in an embodiment of this application, as shown below. Figure 4 As shown, the synchronization device 400 between the steering wheel and the steering wheel may include: a detection module 410, an acquisition module 420, a processing module 430, and a control module 440.

[0113] The detection module 410 is used to detect the current steering control mode of the vehicle in real time during vehicle operation.

[0114] The acquisition module 420 is used to acquire the current operating information of the vehicle when the vehicle's steering control mode is synchronous steering mode, wherein the operating information includes the vehicle speed and the first steering angle of the steering wheel in the vehicle.

[0115] Processing module 430 is used to determine the target turning angle of the steering wheel in the vehicle based on the vehicle speed and the first steering angle;

[0116] The control module 440 is used to dynamically adjust the steering angle of the steering wheel to the target steering angle, and generate a rotational torque corresponding to the steering angle of the steering wheel to control the rotation of the steering wheel.

[0117] In some embodiments, the acquisition module 420 is further configured to acquire preset transmission relationship information, wherein the preset transmission relationship information includes the correlation between vehicle speed, steering wheel angle and transmission ratio;

[0118] The processing module 430 is further configured to determine the target transmission ratio based on the vehicle speed and the first steering angle;

[0119] The processing module 430 is also used to calculate the ratio of the first steering angle to the target transmission ratio to obtain the target steering angle of the steering wheel.

[0120] In some embodiments, the acquisition module 420 is further configured to acquire the corner synchronization duration corresponding to the running information;

[0121] The control module 440 is also used to dynamically adjust the steering angle of the steering wheel to the target steering angle during the steering angle synchronization period.

[0122] In some embodiments, the acquisition module 420 is further configured to acquire the initial steering angle of the steering wheel;

[0123] The processing module 430 calculates the difference between the first steering angle of the steering wheel and the initial steering angle of the steering wheel to obtain the first difference value;

[0124] The processing module 430 determines the cornering synchronization duration based on the ratio of a first preset constant to the vehicle speed and the ratio of a second preset constant to the vehicle speed, wherein the vehicle speed and the first difference are both negatively correlated with the synchronization duration.

[0125] In some embodiments, the acquisition module 420 is further configured to acquire the initial steering angle of the steering wheel;

[0126] The processing module 430 calculates the difference between the target turning angle and the initial turning angle of the steering wheel to obtain a second difference value;

[0127] Processing module 430 establishes a dynamic adjustment function for the steering wheel between the initial steering angle of the steering wheel, the second difference, and the steering angle synchronization time, wherein the dynamic adjustment function of the steering wheel is a function of the adjustment time and the steering angle of the steering wheel;

[0128] The control module 440 is also used to dynamically adjust the steering angle of the steering wheel to the target steering angle within the steering angle synchronization time according to the dynamic adjustment function of the steering wheel.

[0129] In some embodiments, the dynamic adjustment function of the steering wheel is:

[0130]

[0131] Where, δ w δ represents the steering angle of the steering wheel. w0 Δw is the initial steering angle of the steering wheel, Δw is the second difference, T is the steering angle synchronization duration, and t is the adjustment time.

[0132] In some embodiments, dynamically adjusting the steering angle of the steering wheel to the target steering angle and generating a rotational torque corresponding to the steering angle of the steering wheel to control the steering wheel rotation includes:

[0133] The acquisition module 420 is also used to acquire the steering angle of the steering wheel in real time during the process of dynamically adjusting the steering angle of the steering wheel to the target steering angle.

[0134] The processing module 430 determines the rotational torque corresponding to the steering angle of the steering wheel in real time according to the preset angle conversion relationship information, wherein the preset angle conversion information includes the correlation between the steering wheel steering angle and the steering wheel rotational torque;

[0135] The control module 440 is also used to control the rotation of the steering wheel according to the rotational torque.

[0136] It is understood that the steering wheel and steering wheel synchronization device 400 in this application embodiment can correspond to the execution subject of the steering wheel and steering wheel synchronization method provided in this application embodiment. For specific details of the operation and / or function of each module / unit of the steering wheel and steering wheel synchronization device 400, please refer to the description of the corresponding part in the steering wheel and steering wheel synchronization method in the above application embodiment. For the sake of brevity, it will not be repeated here.

[0137] The steering wheel and steering wheel synchronization device of this application embodiment can monitor the vehicle's steering control mode in real time during vehicle operation. When the vehicle's steering control mode is detected as a synchronized steering mode, the device acquires the vehicle's current speed and the first steering angle of the steering wheel. Based on the vehicle speed and the first steering angle, it quickly determines the target steering wheel angle and dynamically adjusts the steering wheel angle to the target angle. This achieves a simple and highly stable synchronization process between the steering wheel and steering wheel angles, ensuring safety during steer-by-wire driving. Simultaneously, during the adjustment of the steering wheel angle, a rotational torque corresponding to the steering wheel angle is generated to control the steering wheel rotation, allowing the driver to effectively perceive the vehicle's steering status and improving the maneuverability and safety of steer-by-wire.

[0138] Figure 5 A schematic diagram of the structure of an electronic device according to an embodiment of this application is shown. Figure 5 As shown, the device may include a processor 501 and a memory 502 storing computer program instructions.

[0139] Specifically, the processor 501 may include a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this application.

[0140] Memory 502 may include mass storage for information or instructions. For example, and not limitingly, memory 502 may include a hard disk drive (HDD), floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or Universal Serial Bus (USB) drive, or a combination of two or more of these. In one instance, memory 502 may include removable or non-removable (or fixed) media, or memory 502 may be a non-volatile solid-state memory. Memory 502 may be internal or external to an electronic device.

[0141] Memory may include read-only memory (ROM), random access memory (RAM), disk storage media devices, optical storage media devices, flash memory devices, and electrical, optical, or other physical / tangible memory storage devices. Therefore, typically, memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the methods according to one aspect of this disclosure.

[0142] The processor 501 reads and executes the computer program instructions stored in the memory 502 to implement the method described in the embodiments of this application and achieve the corresponding technical effects achieved by executing the method in the embodiments of this application. For the sake of brevity, it will not be described in detail here.

[0143] In one example, the electronic device may also include a communication interface 503 and a bus 510. Wherein, as... Figure 5 As shown, the processor 501, memory 502, and communication interface 503 are connected through bus 510 and complete communication with each other.

[0144] The communication interface 503 is mainly used to realize communication between various modules, devices, units and / or equipment in the embodiments of this application.

[0145] Bus 510 includes hardware, software, or both, that couples components of an online information flow metering device together. For example, and not limitingly, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Extended Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hyper Transport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a Microchannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or other suitable buses, or combinations of two or more of these. Where appropriate, bus 510 may include one or more buses. Although specific buses are described and illustrated in embodiments of this application, this application contemplates any suitable bus or interconnect.

[0146] The electronic device can execute the steering wheel and steering wheel synchronization method in the embodiments of this application, thereby achieving the corresponding technical effects of the steering wheel and steering wheel synchronization method described in the embodiments of this application.

[0147] Furthermore, in conjunction with the synchronization methods of the steering wheel and steering wheel in the above embodiments, this application embodiment can provide a readable storage medium for implementation. This readable storage medium stores computer program instructions; when these computer program instructions are executed by a processor, they implement any of the synchronization methods of the steering wheel and steering wheel in the above embodiments. Examples of readable storage media can be non-transitory machine-readable media, such as electronic circuits, semiconductor memory devices, read-only memory (ROM), floppy disks, compact disc read-only memory (CD-ROM), optical discs, hard disks, etc.

[0148] It should be clarified that this application is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of this application is not limited to the specific steps described and shown. Those skilled in the art can make various changes, modifications, and additions, or change the order of steps, after understanding the spirit of this application.

[0149] The functional blocks shown in the above-described block diagram can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application-specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of this application are programs or code segments used to perform the required tasks. Programs or code segments can be stored on a machine-readable medium or transmitted over a transmission medium or communication link via data signals carried on a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, read-only memory (ROM), flash memory, erasable read-only memory (EROM), floppy disks, compact disc read-only memory (CD-ROM), optical disks, hard disks, fiber optic media, radio frequency (RF) links, etc. Code segments can be downloaded via computer networks such as the Internet, intranets, etc.

[0150] It should also be noted that the exemplary embodiments mentioned in this application describe methods or systems based on a series of steps or apparatus. However, this application is not limited to the order of the above steps; that is, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0151] This application also provides a computer-readable storage medium storing computer program instructions; when executed by a processor, the computer program instructions implement the steering wheel and steering wheel synchronization method provided in this application.

[0152] Furthermore, in conjunction with the steering wheel and steering wheel synchronization method and apparatus in the above embodiments, and the readable storage medium, this application embodiment can provide a computer program product for implementation. When the instructions in the computer program product are executed by the processor of an electronic device, the electronic device causes the electronic device to execute any of the steering wheel and steering wheel synchronization methods in the above embodiments.

[0153] The aspects of this disclosure have been described above with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It should be understood that each block in the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that these instructions, executable via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions / actions specified in one or more blocks of the flowchart illustrations and / or block diagrams. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field-programmable logic circuit. It is also understood that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can also be implemented by special-purpose hardware performing the specified functions or actions, or can be implemented by a combination of special-purpose hardware and computer instructions.

[0154] The above description is merely a specific implementation of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.

Claims

1. A method for synchronizing a steering wheel and steering wheels, characterized in that, include: During vehicle operation, the current steering control mode of the vehicle is detected in real time; When the vehicle's steering control mode is synchronous steering mode, the current operating information of the vehicle is obtained, wherein the operating information includes the vehicle speed and the first steering angle of the steering wheel in the vehicle. Based on the vehicle speed and the first steering angle, determine the target turning angle of the steering wheels in the vehicle; The steering angle of the steering wheel is dynamically adjusted to the target steering angle, and a rotational torque corresponding to the steering angle of the steering wheel is generated to control the rotation of the steering wheel; The step of dynamically adjusting the steering angle of the steering wheel to the target steering angle includes: obtaining the steering angle synchronization duration corresponding to the operating information; and dynamically adjusting the steering angle of the steering wheel to the target steering angle within the steering angle synchronization duration. The step of obtaining the steering angle synchronization duration corresponding to the operating information includes: obtaining the initial steering angle of the steering wheel; calculating the difference between the first steering angle of the steering wheel and the initial steering angle of the steering wheel to obtain a first difference value; determining the steering angle synchronization duration based on the ratio of a first preset constant to the vehicle speed and the ratio of a second preset constant to the first difference value, wherein the vehicle speed and the first difference value are both negatively correlated with the synchronization duration.

2. The method according to claim 1, characterized in that, Determining the target steering angle of the steering wheels in the vehicle based on the vehicle speed and the first steering angle includes: Obtain preset transmission relationship information, wherein the preset transmission relationship information includes the correlation between vehicle speed, steering wheel angle and transmission ratio; The target gear ratio is determined based on the vehicle speed and the first steering angle; Calculate the ratio of the first steering angle to the target transmission ratio to obtain the target steering angle of the steering wheel.

3. The method according to claim 1, characterized in that, The step of dynamically adjusting the steering angle of the steering wheel to the target steering angle within the steering angle synchronization time includes: Obtain the initial steering angle of the steering wheel; Calculate the difference between the target turning angle and the initial turning angle of the steering wheel to obtain a second difference value; A dynamic adjustment function for the steering wheel is established, relating the initial steering angle of the steering wheel, the second difference, and the steering angle synchronization time. The dynamic adjustment function of the steering wheel is a function of the adjustment time and the steering angle of the steering wheel. According to the dynamic adjustment function of the steering wheel, the steering angle of the steering wheel is dynamically adjusted to the target steering angle within the steering angle synchronization time.

4. The method according to claim 3, characterized in that, The dynamic adjustment function of the steering wheel is: in, The steering angle of the steering wheel. The initial steering angle of the steering wheel. The second difference is T, the angle synchronization duration is t, and the adjustment time is t.

5. The method according to claim 1, characterized in that, The step of dynamically adjusting the steering angle of the steering wheel to the target steering angle and generating a rotational torque corresponding to the steering angle of the steering wheel to control the rotation of the steering wheel includes: During the process of dynamically adjusting the steering angle of the steering wheel to the target steering angle, the steering angle of the steering wheel is acquired in real time. Based on preset angle conversion relationship information, the rotational torque corresponding to the steering angle of the steering wheel is determined in real time, wherein the preset angle conversion relationship information includes the correlation between the steering wheel steering angle and the steering wheel rotational torque; The steering wheel is controlled to rotate based on the rotational torque.

6. A synchronization device for a steering wheel and steering wheels, characterized in that, The device includes: The detection module is used to detect the current steering control mode of the vehicle in real time during vehicle operation; The acquisition module is used to acquire the current operating information of the vehicle when the vehicle's steering control mode is synchronous steering mode, wherein the operating information includes the vehicle speed and the first steering angle of the steering wheel in the vehicle. The processing module is used to determine the target turning angle of the steering wheels in the vehicle based on the vehicle speed and the first steering angle; The control module is used to dynamically adjust the steering angle of the steering wheel to the target steering angle and generate a rotational torque corresponding to the steering angle of the steering wheel to control the rotation of the steering wheel; The acquisition module is also used to acquire the rotation angle synchronization duration corresponding to the running information; the control module is also used to dynamically adjust the steering angle of the steering wheel to the target rotation angle within the rotation angle synchronization duration; The acquisition module is further configured to acquire the initial steering angle of the steering wheel; the processing module is configured to calculate the difference between the first steering angle of the steering wheel and the initial steering angle of the steering wheel to obtain a first difference value; and determine the steering angle synchronization duration based on the ratio of a first preset constant to the vehicle speed and the ratio of a second preset constant to the first difference value, wherein the vehicle speed and the first difference value are both negatively correlated with the synchronization duration.

7. An electronic device, characterized in that, The device includes: a processor, and a memory storing computer program instructions; The processor reads and executes the computer program instructions to implement the synchronization method of the steering wheel and steering wheel as described in any one of claims 1-5.

8. A readable storage medium, characterized in that, The readable storage medium stores computer program instructions, which, when executed by a processor, implement the synchronization method of the steering wheel and steering wheel as described in any one of claims 1-5.

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