EPS-based cornering control method, device, apparatus, medium and vehicle

Abstract

This invention provides a steering angle control method, apparatus, device, medium, and vehicle based on EPS (Electrical Power Steering). The method includes: determining a requested control state based on a received control request; if the requested control state is to activate the automatic steering angle control function, determining the control current corresponding to the activation state of the automatic steering angle control; controlling a first EPS control current to linearly increase from zero to the control current corresponding to the activation state within a first preset time period; controlling a second EPS control current to linearly decrease from the control current corresponding to the driver's current hand force to zero within a first preset time period; determining the EPS control current corresponding to each time point based on the first EPS control current and the second EPS control current at each time point; and controlling the vehicle steering angle based on the EPS control current. The aim is to improve driving comfort and safety when switching between automatic steering angle control and manual steering angle control.

Description

Technical Field

[0001] This invention relates to the field of vehicle steering control technology, and in particular to a steering control method, device, equipment, medium, and vehicle based on EPS. Background Technology

[0002] Currently, in some scenarios, Level 3 autonomous driving cornering control allows for conditional control of the speed and steering of autonomous vehicles, ensuring that the driver's eyes and hands can get a brief rest. However, the driver still needs to be ready to take over the vehicle at any time. When the ADAS (Advanced Driver Assistance System) controller is controlling the vehicle's steering and the driver manipulates the steering wheel, for functional safety reasons, the EPS (Electric Power Steering) needs to disengage from ADAS control in a very short time. This is manifested by the current supplied by the autonomous driving cornering control function momentarily dropping to 0 amperes. At this time, the driver may feel a sudden change in the steering feel. Although this ensures the safety of the transition between driver-driven and autonomous driving states, it does not guarantee the driver's comfort. Summary of the Invention

[0003] In view of this, the present invention provides a steering angle control method, apparatus, device, medium, and vehicle based on EPS. The aim is to improve driving comfort and safety when switching between automatic steering angle control and manual steering angle control.

[0004] The first aspect of this invention provides a steering angle control method based on EPS, the method comprising:

[0005] Determine the control status of the received control request;

[0006] If the requested control state is to activate the automatic corner control function, determine the control current corresponding to the activation state of the automatic corner control.

[0007] The control current of the first EPS is linearly increased from zero to the control current corresponding to the activation state within a first preset time period;

[0008] The control current of the second EPS is linearly reduced to zero within a first preset time period from the control current corresponding to the driver's current hand force;

[0009] Based on the first EPS control current and the second EPS control current at each time point, determine the EPS control current corresponding to each time point.

[0010] The vehicle's steering angle is controlled based on the EPS control current.

[0011] Optionally, the method further includes:

[0012] The ADAS controller analyzes the surrounding environmental data collected by sensors to determine the current optimal control state.

[0013] Receive a control request from the ADAS controller, which includes the current optimal control state.

[0014] Optionally, if the requested control state is to exit the automatic cornering control function, the method further includes:

[0015] Determine the control current corresponding to the driver's current hand force;

[0016] The control current of the first EPS is linearly reduced to zero from the current control current of the automatic corner control function within a second preset time period;

[0017] The second EPS control current is linearly increased from zero to the control current corresponding to the driver's current hand force within a second preset time period;

[0018] Based on the first EPS control current and the second EPS control current at each time point, determine the EPS control current corresponding to each time point.

[0019] The vehicle's steering angle is controlled based on the EPS control current.

[0020] Optionally, the method further includes:

[0021] When the automatic cornering control function is enabled, it recognizes the driver's control of the steering wheel;

[0022] If it is determined that the driver is currently making emergency control of the steering wheel, the automatic steering angle control function will be disengaged immediately.

[0023] Optionally, in the event of an emergency disengagement of the automatic cornering control function, the method further includes:

[0024] Determine the control current corresponding to the driver's current hand force;

[0025] The control current of the first EPS is linearly reduced to zero from the current control current of the automatic corner control function within a third preset time period;

[0026] The second EPS control current is controlled to increase linearly from zero to the control current corresponding to the driver's current hand force within a fourth preset time period, wherein the fourth preset time period is less than the third preset time period;

[0027] Based on the first EPS control current and the second EPS control current at each time point, determine the EPS control current corresponding to each time point.

[0028] The vehicle's steering angle is controlled based on the EPS control current.

[0029] Optionally, if the requested control state is "active" during the process of exiting the automatic corner control function, the method further includes:

[0030] Determine the control current corresponding to the activation state of the automatic corner control;

[0031] The control current of the first EPS is linearly increased from its current control current to the control current corresponding to the activation state of the automatic cornering control function within a fifth preset time period.

[0032] The control current of the second EPS is linearly reduced to zero from its current control current within a fifth preset time period;

[0033] Based on the first EPS control current and the second EPS control current at each time point, determine the EPS control current corresponding to each time point.

[0034] The vehicle's steering angle is controlled based on the EPS control current.

[0035] A second aspect of this invention provides a steering angle control device based on EPS, applied to an electric power steering system, the device comprising:

[0036] The control status determination module is used to determine the control status of the received control request.

[0037] The control current determination module is used to determine the control current corresponding to the activation state of the automatic cornering control when the requested control state is to activate the automatic cornering control function.

[0038] The first control current control module is used to control the first EPS control current to increase linearly from zero to the control current corresponding to the activation state within a first preset time period.

[0039] The second control current control module is used to control the second EPS control current to decrease linearly to zero within a first preset time period from the control current corresponding to the driver's current hand force.

[0040] The EPS control current determination module is used to determine the EPS control current corresponding to each time moment based on the first EPS control current and the second EPS control current at each time moment.

[0041] The steering angle control module is used to control the vehicle steering angle according to the EPS control current.

[0042] A third aspect of the present invention provides an electronic device, characterized in that it includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements an EPS-based corner control method as described in the first aspect of the present invention.

[0043] A fourth aspect of the present invention provides a computer-readable storage medium storing a computer program, characterized in that, when the computer program is executed by a processor, it implements an EPS-based corner control method as described in the first aspect of the present invention.

[0044] A fifth aspect of the present invention provides a vehicle equipped with an EPS-based steering angle control device as described in the second aspect of the present invention, for implementing an EPS-based steering angle control method as described in the first aspect of the present invention.

[0045] Compared with prior art, the present invention has the following advantages:

[0046] This invention provides a steering angle control method based on EPS (Electric Power Steering). The method first determines the requested control state based on a received control request. If the requested control state is to activate the automatic steering angle control function, the method determines the control current corresponding to the activation state of the automatic steering angle control. After determining the control current corresponding to the activation state of the automatic steering angle control, the method controls the first EPS control current to linearly increase from zero to the control current corresponding to the activation state within a first preset time period, while simultaneously controlling the second EPS control current to linearly decrease from the control current corresponding to the driver's current hand force to zero within the same first preset time period. Based on the first and second EPS control currents at each time point, the method determines the corresponding EPS control current for each time point. Based on the EPS control current at the corresponding time point, the method controls the vehicle steering angle at that corresponding time point. Therefore, during the process of switching from manual to automatic steering angle control based on EPS, the current value of the first EPS control current gradually increases, while the current value of the second EPS control current gradually decreases. During this process, there will be no sudden change in the EPS control current, so the driver will no longer feel a sudden change in the steering feel during the switch from manual to automatic steering angle control based on EPS, thus effectively improving the driver's driving comfort and safety.

[0047] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention are described below. Attached Figure Description

[0048] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below.

[0049] Figure 1 A flowchart illustrating an EPS-based corner control method provided in an embodiment of the present invention;

[0050] Figure 2 A schematic diagram of the control current change for activating the automatic angle control function in an EPS-based angle control method provided in an embodiment of the present invention;

[0051] Figure 3 A schematic diagram of the control current change in an EPS-based corner control method provided in an embodiment of the present invention, illustrating the exit of the automatic corner control function.

[0052] Figure 4 A schematic diagram of the control current change in an emergency exit angle automatic control function in an EPS-based angle control method provided in an embodiment of the present invention;

[0053] Figure 5 A schematic diagram of the control current change during the reactivation of the automatic corner control function in an exit process in a corner control method based on EPS provided in an embodiment of the present invention;

[0054] Figure 6 This is a schematic diagram of an EPS-based corner control device provided in an embodiment of the present invention. Detailed Implementation

[0055] Exemplary embodiments of the present invention will now be described in more detail with reference to the accompanying drawings.

[0056] Figure 1 A flowchart of an EPS-based corner control method provided for an embodiment of the present invention is shown below. Figure 1 As shown, the method includes:

[0057] Step S101: Determine the control status of the received control request;

[0058] Step S102: If the requested control state is to activate the automatic corner control function, determine the control current corresponding to the activation state of the automatic corner control;

[0059] Step S103: Control the first EPS control current to increase linearly from zero to the control current corresponding to the activation state within a first preset time period;

[0060] Step S104: Control the second EPS control current to decrease linearly to zero within a first preset time period from the control current corresponding to the driver's current hand force;

[0061] Step S105: Determine the EPS control current corresponding to each time point based on the first EPS control current and the second EPS control current at each time point.

[0062] Step S106: Control the vehicle steering angle according to the EPS control current.

[0063] In this embodiment, the EPS-based steering angle control method provided by the present invention is applied to an Electric Power Steering (EPS) system. First, the EPS system receives a control request. Upon receiving the request, the EPS system parses it to determine whether it needs to switch to automatic steering angle control when the EPS system is in manual steering angle control mode, and whether it needs to switch back to manual steering angle control when the EPS system is in automatic steering angle control mode. If the control request requests that the automatic steering angle control function be activated (i.e., the EPS system is in manual steering angle control mode), it is determined that a switch to automatic steering angle control is required. The control current required for automatic steering angle control at the moment of activation is determined, which is the control current corresponding to the activation state of automatic steering angle control. After determining the control current required for automatic steering angle control at the moment of activation, the EPS system linearly increases the first EPS control current from zero to the control current corresponding to the activation state within a first preset time period. Simultaneously, the EPS system linearly decreases the second EPS control current from the control current corresponding to the driver's current hand force to zero within the same first preset time period. The moment corresponding to the driver's current hand force is the switching moment between manual and automatic steering angle control. Since steering angle control is inherently a switch from manual to automatic, the electric power steering system already knows the driver's current hand force at this switching moment and does not need to determine it further. The first and second EPS control currents at the same moment are superimposed to obtain the EPS control current for that same moment. When that same moment arrives, the vehicle's steering angle is controlled by the EPS control current at that moment, meaning the assistance corresponding to that EPS control current is provided to the vehicle's steering angle at that same moment. The EPS control current is the control current of the electric power steering system for controlling the steering angle; the superposition of the first and second EPS control currents at a given moment yields the EPS control current for that specific moment.

[0064] The first preset duration can be determined through testing and calibration on a real vehicle to ensure the safety of the switching process from manual to automatic cornering control and to ensure the driver's driving comfort.

[0065] In this system, there is a positive correlation between the driver's hand force and the control current. During the first preset time period, the electric power steering system linearly reduces the control current of the second EPS (Electric Power Steering) from the driver's current hand force to zero. Throughout this first preset time period, the driver applies the same hand force to the steering wheel. This same hand force value is the driver's hand force value at the beginning of the first preset time period (i.e., the switching moment from manual to automatic steering angle control). The control current corresponding to this same hand force value is determined as the second EPS control current at the beginning of the first preset time period, and zero is determined as the second EPS control current at the end of the first preset time period. Simultaneously, the electric power steering system linearly reduces the second EPS control current from the beginning to the end of the first preset time period. After the first preset time period, the automatic steering angle control function determines the control current at the corresponding moment and directly determines the first EPS control current at that moment. Based on the determined first EPS control current and the second EPS control current (which is zero), the vehicle steering angle is controlled.

[0066] For example, within a first preset time period, the time intervals include time 1, time 2, and time 3. The first EPS control current at time 1 is a1, and the second EPS control current is b1; the first EPS control current at time 2 is a2, and the second EPS control current is b2; the first EPS control current at time 3 is a3, and the second EPS control current is b3. The first and second EPS control currents at the same time are superimposed to obtain the EPS control current for that same time, thus obtaining the EPS control current at time 1 as a1+b1, at time 2 as a2+b2, and at time 3 as a3+b3. Then, at time 1, the vehicle angle is controlled by the EPS control current a1+b1; at time 2, the vehicle angle is controlled by the EPS control current a2+b2; and at time 3, the vehicle angle is controlled by the EPS control current a3+b3. It should be understood that the first preset time period will include a large number of time intervals; the above example only illustrates three time intervals for ease of understanding.

[0067] like Figure 2 As shown, Figure 2This diagram illustrates the control current changes when the automatic cornering control function is activated according to the present invention. When time is 0, it corresponds to the moment the automatic cornering control function is activated. The line corresponding to Angle Control Current represents the change process of the first EPS control current, and the line corresponding to Torque Control Current represents the change process of the second EPS control current. FadeTime1 represents the first preset duration. The control current value of the line corresponding to Angle Control Current at time 0 (i.e., the moment the automatic cornering control function is activated) is zero. The control current value of the line corresponding to Torque Control Current at time1 is 0 is the control current corresponding to the driver's hand force at that moment. The control current value of the line corresponding to Angle Control Current at the end of the first preset duration is the control current corresponding to the activated state, and the control current value of the line corresponding to Torque Control Current at the end of the first preset duration is zero. After the first preset duration, if the automatic cornering control function remains in the activated state, the second EPS control current will remain zero, while the value of the first EPS control current will be determined based on the automatic cornering control function. Figure 2 The line after FadeTime1 indicates that the value of the first EPS control current determined by the automatic cornering control function after the first preset time period ends has not changed, but has remained at the value of the control current corresponding to the active state. In other words, the automatic cornering control function has not adjusted the output of the control current, but has kept the control current value at the level corresponding to the active state.

[0068] This invention provides a steering angle control method based on EPS (Electric Power Steering). The method first determines the requested control state based on a received control request. If the requested control state is to activate the automatic steering angle control function, the method determines the control current corresponding to the activation state of the automatic steering angle control. After determining the control current corresponding to the activation state of the automatic steering angle control, the method controls the first EPS control current to linearly increase from zero to the control current corresponding to the activation state within a first preset time period, while simultaneously controlling the second EPS control current to linearly decrease from the control current corresponding to the driver's current hand force to zero within the same first preset time period. Based on the first and second EPS control currents at each time point, the method determines the corresponding EPS control current for each time point. Based on the EPS control current at the corresponding time point, the method controls the vehicle steering angle at that corresponding time point. Therefore, during the process of switching from manual to automatic steering angle control based on EPS, the current value of the first EPS control current gradually increases, while the current value of the second EPS control current gradually decreases. During this process, there will be no sudden change in the EPS control current, so the driver will no longer feel a sudden change in the steering feel during the switch from manual to automatic steering angle control based on EPS, thus effectively improving the driver's driving comfort and safety.

[0069] In conjunction with the above embodiments, in one implementation, the present invention also provides an EPS-based cornering control method. In this EPS-based cornering control method, the method further includes steps S201 to S202:

[0070] Step S201: The ADAS controller analyzes the ambient environmental data collected by the sensors to determine the current optimal control state;

[0071] Step S202: Receive a control request from the ADAS controller, which includes the current optimal control state, based on the current optimal control state.

[0072] In this embodiment, the control request received by the electric power steering system is issued by the Advanced Driver Assistance System (ADAS). The ADAS collects environmental data and driver status data from various sensors installed on the vehicle during driving. Based on the collected environmental data, it identifies, detects, and tracks dynamic objects. Combining this with navigation map data and driver status data, the system performs calculations and analysis to determine the optimal control state. For example, during manual cornering control, if the optimal control state is determined to be automatic cornering control, the ADAS issues a control request including this automatic cornering control to activate the EPS's automatic cornering function. At this time, the electric power steering system receives a control request from the ADAS controller including the automatic cornering control state. Conversely, if the optimal control state is determined to be manual cornering control, the ADAS issues a control request including this manual cornering control to deactivate the EPS's automatic cornering function. At this time, the electric power steering system receives a control request from the ADAS controller including the manual cornering control state.

[0073] In conjunction with the above embodiments, in one implementation, the present invention also provides an EPS-based cornering control method. In this EPS-based cornering control method, when the requested control state is to exit the automatic cornering control function, the method further includes steps S301 to S305:

[0074] Step S301: Determine the control current corresponding to the driver's current hand force;

[0075] Step S302: Control the first EPS control current to decrease linearly to zero from the current control current of the automatic corner control function within a second preset time period;

[0076] Step S303: Control the second EPS control current to increase linearly from zero to the control current corresponding to the driver's current hand force within a second preset time period;

[0077] Step S304: Determine the EPS control current corresponding to each time moment based on the first EPS control current and the second EPS control current at each time moment.

[0078] Step S305: Control the vehicle steering angle according to the EPS control current.

[0079] In this embodiment, when the control request received by the electric power steering system requests the exit of the automatic cornering control function, the control current corresponding to the driver's current hand force is determined by the correspondence between the driver's hand force and the control current. This correspondence is a preset positive correlation, meaning each specific driver's hand force value corresponds to a uniquely determined control current. After determining the control current corresponding to the driver's current hand force, the first EPS control current is linearly reduced to zero within a second preset time period from the current control current of the automatic cornering control function. Since cornering control is inherently a switch from automatic to manual cornering control, the EPS already knows the current control current of the automatic cornering control function at this switching moment and does not need further determination. Simultaneously, the second EPS control current is increased from zero to the control current corresponding to the driver's current hand force within the second preset time period. Then, the first and second EPS control currents at the same time are superimposed to obtain the EPS control current at that same time. When that same time arrives, the vehicle's cornering is controlled using the EPS control current at that same time, meaning the assistance corresponding to that EPS control current is provided to the vehicle at that cornering moment.

[0080] The second preset duration can be determined through testing and calibration on a real vehicle to ensure the safety of the switching process from automatic cornering control to manual cornering control and to ensure the driver's driving comfort.

[0081] In this system, there is a positive correlation between the driver's hand force and the control current. During the process of the electric power steering system controlling the second EPS control current to linearly increase from zero to the control current corresponding to the driver's current hand force within a second preset time period, the driver applies the same hand force to the steering wheel throughout this period. This same hand force value is the driver's hand force value at the beginning of the second preset time period (i.e., the switching moment from automatic to manual steering angle control). The control current corresponding to this same hand force value is determined as the second EPS control current at the end of the second preset time period, while zero is determined as the second EPS control current at the beginning of the second preset time period. Simultaneously, the electric power steering system controls the second EPS control current to linearly increase from the second EPS control current at the beginning to the second EPS control current at the end of the second preset time period. After the second preset time period, the control current at the corresponding moment is determined by the driver's hand force, and this determined control current is directly used as the second EPS control current at that moment. Based on the determined second EPS control current at the corresponding moment and the first EPS control current with a value of zero, the EPS control current at that moment is obtained for vehicle steering angle control.

[0082] like Figure 3 As shown, Figure 3 This diagram illustrates the control current for exiting the automatic cornering control function according to the present invention. When time is 0, it corresponds to the moment the automatic cornering control function exits. The line corresponding to Angle Control Current represents the change process of the first EPS control current, and the line corresponding to Torque Control Current represents the change process of the second EPS control current. FadeTime2 represents the second preset duration. The control current of the line corresponding to Angle Control Current at time 0 (i.e., the moment the automatic cornering control function exits) is the control current of the automatic cornering control function at that time. The control current of the line corresponding to Torque Control Current at time 0 is zero. The control current of the line corresponding to Angle Control Current at the end of the second preset duration is zero, and the control current of the line corresponding to Torque Control Current at the end of the first preset duration is the control current corresponding to the driver's hand force at time 0. After the second preset duration, if the vehicle remains in manual cornering control mode, the first EPS control current will remain zero, while the value of the second EPS control current is determined based on the hand force applied by the driver. Figure 3 The line after FadeTime2 represents the case where the value of the second EPS control current, determined based on the driver's hand force, does not change after the end of the second preset time. In other words, the hand force applied by the driver remains unchanged during and after the second preset time.

[0083] In conjunction with the above embodiments, in one implementation, the present invention also provides an EPS-based cornering control method. In this EPS-based cornering control method, the method further includes steps S401 to S402:

[0084] Step S401: With the automatic steering angle control function enabled, identify the driver's control of the steering wheel;

[0085] Step S401: If it is determined that the driver is currently making emergency control of the steering wheel, the automatic steering angle control function is disengaged in an emergency.

[0086] In this embodiment, to ensure driving safety, when the automatic steering wheel control function is activated, the present invention monitors the driver's control of the steering wheel in real time via EPS. When it is determined that the driver is making emergency steering wheel control in an emergency situation, the EPS immediately deactivates the automatic steering wheel control function. One implementation method for determining whether the driver is making emergency steering wheel control is as follows: by detecting the amount of force applied to the steering wheel by the driver, if the force exceeds a set threshold, it is determined that the driver is making emergency steering wheel control. The set threshold can be determined based on real-vehicle calibration for different vehicle models. Alternatively, the driver's driving state can be monitored by a DriverMonitor System (DMS). When the driver makes rapid steering wheel control and / or the driver's steering wheel control is detected, it is determined that the driver is making emergency steering wheel control. One implementation method for the EPS to immediately deactivate the automatic steering wheel control function is the same as the implementation method for the control state when the automatic steering wheel control function is deactivated, as requested above.

[0087] In conjunction with the above embodiments, in one implementation, the present invention also provides an EPS-based cornering control method. In this EPS-based cornering control method, in the event of an emergency exit from automatic cornering control, the method further includes steps S501 to S505:

[0088] Step S501: Determine the control current corresponding to the driver's current hand force;

[0089] Step S502: Control the first EPS control current to decrease linearly to zero from the current control current of the automatic corner control function within a third preset time period;

[0090] Step S503: Control the second EPS control current to increase linearly from zero to the control current corresponding to the driver's current hand force within a fourth preset time period, wherein the fourth preset time period is less than the third preset time period;

[0091] Step S504: Determine the EPS control current corresponding to each time point based on the first EPS control current and the second EPS control current at each time point.

[0092] Step S505: Control the vehicle steering angle according to the EPS control current.

[0093] In this embodiment, when the automatic cornering control function is disengaged in an emergency, the driver actively intervenes to ensure both driving comfort and safety. To allow the driver to quickly regain control of the cornering control, the cornering mechanism responds more quickly to the driver's input, ensuring safety. Therefore, this invention proposes another implementation method for the control process of the EPS emergency disengagement of the automatic cornering control function: In the event of an emergency disengagement, the control current corresponding to the driver's current hand force is determined by the correlation between the driver's hand force and the control current. This correlation is a preset positive correlation, where a specific driver's hand force value corresponds to a uniquely determined control current. After determining the control current corresponding to the driver's current hand force, the first EPS control current is linearly reduced to zero within a third preset time period from the current control current of the automatic cornering control function. Since the cornering control is originally switched from automatic to manual cornering control, the EPS already knows the current control current of the automatic cornering control function at this switching moment and does not need further determination. Simultaneously, the second EPS control current is increased from zero to the control current corresponding to the driver's current hand force within a fourth preset time period. Then, the first EPS control current and the second EPS control current at the same moment are superimposed to obtain the EPS control current at that same moment. When the time reaches that same moment, the vehicle's steering angle is controlled by the EPS control current at that moment, that is, the assistance corresponding to the EPS control current at that moment is applied to the vehicle's steering angle at that same moment. To ensure driving comfort and safety during the driver's active intervention in controlling the vehicle's steering angle in emergency situations, this invention sets the fourth preset time to be shorter than the third preset time, thereby allowing the steering angle to respond to the driver's control more quickly to ensure driving safety and comfort.

[0094] The third and fourth preset durations can be determined through testing and calibration on a real vehicle.

[0095] In this system, there is a positive correlation between the driver's hand force and the control current. During the process where the electric power steering system linearly increases the second EPS control current from zero to the control current corresponding to the driver's current hand force within a fourth preset time period, the driver applies the same hand force to the steering wheel throughout this period. This same hand force value is the driver's hand force value at the beginning of the fourth preset time period (i.e., the switching moment from automatic to manual steering angle control). The control current corresponding to this same hand force value is determined as the second EPS control current at the end of the fourth preset time period, while zero is determined as the second EPS control current at the beginning of the fourth preset time period. Simultaneously, the electric power steering system linearly increases the second EPS control current from the beginning to the end of the fourth preset time period. After the fourth preset time period, the control current at that corresponding moment is determined based on the driver's hand force, and this determined control current is directly used as the second EPS control current at that corresponding moment. Based on the determined second EPS control current and the first EPS control current at that corresponding moment, the vehicle steering angle is controlled. It should be understood that, since the fourth preset duration is shorter than the third preset duration, when the second EPS control current can be determined based on the correspondence between the driver's hand force and the control current, the first EPS control current has not yet been reduced to zero, and needs to be zero after the third preset duration.

[0096] like Figure 4 As shown, Figure 4The diagram illustrates the control current for the emergency exit of the automatic cornering control function. When time is 0, it corresponds to the moment the automatic cornering control function exits. The line corresponding to Angle Control Current represents the change in the first EPS control current, the line corresponding to Torque Control Current represents the change in the second EPS control current, Angle_FadeTime1 represents the third preset duration, Torque_FadeTime1 represents the fourth preset duration, and the line corresponding to EPS Current represents the change in the EPS control current. The control current at time 0 (the moment the automatic cornering control function exits) is the control current of the automatic cornering control function at that time (positive or negative indicates different cornering directions; for example, a negative control current indicates a leftward cornering, and a positive control current indicates a rightward cornering). The control current at time 0 is zero. The control current corresponding to the AngleControl Current line is zero at the end of the third preset time period, while the control current corresponding to the TorqueControl Current line is the control current corresponding to the driver's hand force at time 0 at the end of the fourth preset time period. After the third preset time period, if the driver remains in manual cornering control mode, the first EPS control current will remain zero, while the value of the second EPS control current will be determined based on the hand force applied by the driver. Figure 4 The line following Torque_FadeTime1 represents the situation where the value of the second EPS control current, determined based on the driver's hand force, does not change after the end of Torque_FadeTime1. In other words, the hand force applied by the driver remains unchanged within the fourth preset time period and after the fourth preset time period.

[0097] In conjunction with the above embodiments, in one implementation, the present invention also provides an EPS-based cornering control method. In this EPS-based cornering control method, when the requested control state is to activate the automatic cornering control function during the process of exiting the automatic cornering control function, the method further includes steps S601 to S605:

[0098] Step S601: Determine the control current corresponding to the activation state of the automatic corner control;

[0099] Step S602: Control the first EPS control current to increase linearly from its current control current to the control current corresponding to the activation state of the automatic cornering control function within a fifth preset time period;

[0100] Step S603: Control the second EPS control current to decrease linearly from its current control current to zero within a fifth preset time period;

[0101] Step S604: Determine the EPS control current corresponding to each time point based on the first EPS control current and the second EPS control current at each time point.

[0102] Step S605: Control the vehicle steering angle according to the EPS control current.

[0103] In this embodiment, when a control request to activate the automatic cornering control function is received again from the driver assistance system during the process of exiting the automatic cornering control function, since the automatic cornering control function is being activated while it is being exited, the electric power steering system is simultaneously decreasing the control current of the first EPS and increasing the control current of the second EPS. Therefore, the electric power steering system knows the current of the first EPS control function itself. Thus, the control current for automatic cornering control at the moment of activation is determined, which is the control current corresponding to the activation state of automatic cornering control. After determining the control current for automatic cornering control at the moment of activation, the electric power steering system linearly increases the control current of the first EPS from its current control current to the control current corresponding to the activation state of the automatic cornering control function within a fifth preset time period, while simultaneously linearly decreasing the control current of the second EPS from its current control current to zero within the same fifth preset time period. The first EPS control current and the second EPS control current at the same moment are superimposed to obtain the EPS control current at that same moment. When the time reaches the position at that same moment, the vehicle's steering angle is controlled by the EPS control current at that same moment, that is, the assistance corresponding to the EPS control current at that moment is provided to the vehicle at that steering angle. The fifth preset duration can be determined through actual vehicle testing and calibration to ensure the safety of the transition process from manual steering angle control to automatic steering angle control and to ensure the driver's driving comfort.

[0104] like Figure 5 As shown, Figure 5The diagram illustrates the control current during the reactivation of the automatic cornering control function in the exit process. When time is 0, it corresponds to the moment the automatic cornering control function exits under driver intervention. The line corresponding to EPS Current represents the change in EPS control current. The line corresponding to Angle Control Current represents the change in the first EPS control current, and the line corresponding to Torque Control Current represents the change in the second EPS control current. Angle_FadeTime2 corresponds to the sixth preset duration, and Torque_FadeTime2 corresponds to the seventh preset duration. The seventh preset duration is less than the sixth preset duration. Under normal circumstances, when the automatic cornering control function exits under driver intervention, the changes in the first and second preset EPS control currents will be as follows: Figure 5 The changes in control current corresponding to the two solid lines (time 0 to time 6) and the two dashed lines (time 6 to time 10) are shown in the diagram. FadeTime3 corresponds to the fifth preset time. The control current of the line corresponding to Angle Control Current at time 0 (that is, the moment when the driver's manual intervention exits the automatic cornering control function) is the control current of the automatic cornering control function at time 0 (positive and negative control currents indicate different cornering directions; for example, a negative control current indicates a leftward cornering, and a positive control current indicates a rightward cornering). The control current of the line corresponding to TorqueControl Current at time 1 is zero. The control current of the line corresponding to Angle ControlCurrent at the end of the sixth preset time is zero. The control current of the line corresponding to Torque ControlCurrent at the end of the seventh preset time is the control current corresponding to the driver's manual intervention at time 0. If the automatic steering angle control function is activated again within the seventh preset time period, as shown in the figure when time is 6, the control current value of the line corresponding to Angle Control Current at time 6 is the control current value of the first EPS control current of the electric power steering system as it gradually decreases to reach that moment. The control current value of the line corresponding to Torque Control Current at time 6 is the control current value of the second EPS control current of the electric power steering system as it gradually increases to reach that moment. The line corresponding to Angle Control Current... Figure 5The control current value at the fifth preset duration termination time is the control current value corresponding to the active state, and the line corresponding to Torque Control Current is in... Figure 5 The control current at the fifth preset duration termination time is zero. Figure 5 After the fifth preset time period, if the automatic cornering control function remains active, the second EPS control current will remain at zero, while the value of the first EPS control current will be determined based on the automatic cornering control function. Figure 5 After FadeTime3, there are no lines. At this point, the lines only show the situation when the automatic corner control function is activated, and the subsequent control situation is not drawn.

[0105] A second aspect of the present invention provides a steering angle control device based on EPS, such as... Figure 6 As shown, the device 600 includes:

[0106] The control status determination module 601 is used to determine the control status of the received control request.

[0107] The control current determination module 602 is used to determine the control current corresponding to the activation state of the automatic cornering control when the requested control state is to activate the automatic cornering control function.

[0108] The first control current control module 603 is used to control the first EPS control current to increase linearly from zero to the control current corresponding to the activation state within a first preset time period.

[0109] The second control current control module 604 is used to control the second EPS control current to decrease linearly to zero within a first preset time period from the control current corresponding to the driver's current hand force.

[0110] EPS control current determination module 605 is used to determine the EPS control current corresponding to each time moment based on the first EPS control current and the second EPS control current at each time moment.

[0111] The steering angle control module 606 is used to control the vehicle steering angle according to the EPS control current.

[0112] Optionally, the device further includes:

[0113] The optimal control state determination module is used by the ADAS controller to determine the current optimal control state by analyzing the surrounding environmental data collected by the sensors.

[0114] The control request receiving module is used to receive a control request sent by the ADAS controller based on the current optimal control state, which includes the current optimal control state.

[0115] Optionally, the device further includes:

[0116] The first control current determination module is used to determine the control current corresponding to the driver's current hand force when the requested control state is to exit the automatic cornering control function.

[0117] The third control current control module is used to control the first EPS control current to decrease linearly from the current control current of the automatic angle control function to zero within a second preset time period;

[0118] The fourth control current control module is used to control the second EPS control current to increase linearly from zero to the control current corresponding to the driver's current hand force within a second preset time period;

[0119] The first EPS control current determination module is used to determine the EPS control current corresponding to each time moment based on the first EPS control current and the second EPS control current at each time moment.

[0120] The first steering angle control module is used to control the vehicle steering angle according to the EPS control current.

[0121] Optionally, the device further includes:

[0122] The steering wheel control recognition module is used to recognize the driver's control of the steering wheel when the automatic steering angle control function is activated.

[0123] The emergency exit module is used to exit the automatic steering control function in case the driver is making emergency control of the steering wheel.

[0124] Optionally, the device further includes:

[0125] The second control current determination module is used to determine the control current corresponding to the driver's current hand force in the event of an emergency exit from the automatic cornering control function.

[0126] The fifth control current control module is used to control the first EPS control current to decrease linearly to zero from the current control current of the automatic angle control function within a third preset time period;

[0127] The sixth control current control module is used to control the second EPS control current to increase linearly from zero to the control current corresponding to the driver's current hand force within a fourth preset time period, wherein the fourth preset time period is less than the third preset time period;

[0128] The second EPS control current determination module is used to determine the EPS control current corresponding to each time moment based on the first EPS control current and the second EPS control current at each time moment.

[0129] The second steering angle control module is used to control the vehicle steering angle according to the EPS control current.

[0130] Optionally, the device further includes:

[0131] The third control current determination module is used to determine the control current corresponding to the activation state of the corner automatic control when the requested control state is the activation state of the corner automatic control function during the process of exiting the corner automatic control function.

[0132] The seventh control current control module is used to control the first EPS control current to increase linearly from its current control current to the control current corresponding to the activation state of the automatic cornering control function within a fifth preset time period;

[0133] The eighth control current control module is used to control the second EPS control current to decrease linearly from its current control current to zero within a fifth preset time period;

[0134] The third EPS control current determination module is used to determine the EPS control current corresponding to each time moment based on the first EPS control current and the second EPS control current at each time moment.

[0135] The third steering angle control module is used to control the vehicle's steering angle based on the EPS control current.

[0136] A third aspect of the present invention provides an electronic device, characterized in that it includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements an EPS-based corner control method as described in the first aspect of the present invention.

[0137] A fourth aspect of the present invention provides a computer-readable storage medium storing a computer program, characterized in that, when the computer program is executed by a processor, it implements an EPS-based corner control method as described in the first aspect of the present invention.

[0138] A fifth aspect of the present invention provides a vehicle equipped with an EPS-based steering angle control device as described in the second aspect of the present invention, for implementing an EPS-based steering angle control method as described in the first aspect of the present invention.

[0139] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present invention are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state disk (SSD)).

[0140] It should be noted that, in this document, relational terms such as "first" and "second" are used only 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 one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0141] The various embodiments in this specification are described in a related manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0142] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention are included within the scope of protection of the present invention.

Claims

1. A steering angle control method based on EPS, characterized in that, Applied to an electric power steering system, the method includes: Determine the control status of the request based on the received control request; If the requested control state is to activate the automatic corner control function, determine the control current corresponding to the activation state of the automatic corner control. The control current of the first EPS is linearly increased from zero to the control current corresponding to the activation state within a first preset time period; The control current of the second EPS is linearly reduced to zero within a first preset time period from the control current corresponding to the driver's current hand force; Based on the first EPS control current and the second EPS control current at each time point, determine the EPS control current corresponding to each time point. The vehicle steering angle is controlled based on the EPS control current; In the event of an emergency deactivation of the automatic cornering control function, the method further includes: Determine the control current corresponding to the driver's current hand force; The control current of the first EPS is linearly reduced to zero from the current control current of the automatic corner control function within a third preset time period; The second EPS control current is controlled to increase linearly from zero to the control current corresponding to the driver's current hand force within a fourth preset time period, wherein the fourth preset time period is less than the third preset time period; Based on the first EPS control current and the second EPS control current at each time point, determine the EPS control current corresponding to each time point. The vehicle's steering angle is controlled based on the EPS control current.

2. The angle control method based on EPS according to claim 1, characterized in that, The method further includes: The ADAS controller analyzes the surrounding environmental data collected by sensors to determine the current optimal control state. Receive a control request from the ADAS controller, which includes the current optimal control state.

3. The angle control method based on EPS according to claim 2, characterized in that, When the requested control state is to exit the automatic cornering control function, the method further includes: Determine the control current corresponding to the driver's current hand force; The control current of the first EPS is linearly reduced to zero from the current control current of the automatic corner control function within a second preset time period; The second EPS control current is linearly increased from zero to the control current corresponding to the driver's current hand force within a second preset time period; Based on the first EPS control current and the second EPS control current at each time point, determine the EPS control current corresponding to each time point. The vehicle's steering angle is controlled based on the EPS control current.

4. The angle control method based on EPS according to claim 1, characterized in that, The method further includes: When the automatic cornering control function is enabled, it recognizes the driver's control of the steering wheel; If it is determined that the driver is currently making emergency control of the steering wheel, the automatic steering angle control function will be disengaged immediately.

5. The EPS-based angle control method according to claim 1, characterized in that, During the process of exiting the automatic cornering control function, if the requested control state is that the automatic cornering control function is activated, the method further includes: Determine the control current corresponding to the activation state of the automatic corner control; The control current of the first EPS is linearly increased from its current control current to the control current corresponding to the activation state of the automatic cornering control function within a fifth preset time period. The control current of the second EPS is linearly reduced to zero from its current control current within a fifth preset time period; Based on the first EPS control current and the second EPS control current at each time point, determine the EPS control current corresponding to each time point. The vehicle's steering angle is controlled based on the EPS control current.

6. A steering angle control device based on EPS, characterized in that, The device is used in an electric power steering system and includes: The control status determination module is used to determine the control status of the received control request. The control current determination module is used to determine the control current corresponding to the activation state of the automatic cornering control when the requested control state is to activate the automatic cornering control function. The first control current control module is used to control the first EPS control current to increase linearly from zero to the control current corresponding to the activation state within a first preset time period. The second control current control module is used to control the second EPS control current to decrease linearly to zero within a first preset time period from the control current corresponding to the driver's current hand force. The EPS control current determination module is used to determine the EPS control current corresponding to each time moment based on the first EPS control current and the second EPS control current at each time moment. The steering angle control module is used to control the vehicle steering angle according to the EPS control current; The device further includes: The second control current determination module is used to determine the control current corresponding to the driver's current hand force in the event of an emergency exit from the automatic cornering control function. The fifth control current control module is used to control the first EPS control current to decrease linearly to zero from the current control current of the automatic angle control function within a third preset time period; The sixth control current control module is used to control the second EPS control current to increase linearly from zero to the control current corresponding to the driver's current hand force within a fourth preset time period, wherein the fourth preset time period is less than the third preset time period; The second EPS control current determination module is used to determine the EPS control current corresponding to each time moment based on the first EPS control current and the second EPS control current at each time moment. The second steering angle control module is used to control the vehicle steering angle according to the EPS control current.

7. An electronic device, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements an EPS-based cornering control method as described in any one of claims 1 to 5.

8. A computer-readable storage medium storing a computer program thereon, characterized in that, When the computer program is executed by the processor, it implements an EPS-based corner control method as described in any one of claims 1 to 5.

9. A vehicle, characterized in that, The vehicle is equipped with an EPS-based steering angle control device as described in claim 6, for implementing an EPS-based steering angle control method as described in any one of claims 1 to 5.

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