Method for processing a vehicle turn signal and vehicle

Abstract

This invention discloses a method for processing vehicle steering signals and a vehicle. The method includes: acquiring an initial torque signal, an initial steering angle signal, and a first steering signal, wherein the initial torque signal and the initial steering angle signal are signals input to a target sensor via a target communication protocol, and the first steering signal is the steering wheel angular offset value; determining a target torque based on the initial torque signal; determining a target steering angle based on the initial steering angle signal and the first steering signal; and determining the operating state of the target sensor based at least on the initial steering angle signal, wherein the target torque and the target steering angle act on the steering wheel; and controlling vehicle steering using the target torque and the target steering angle in response to the operating state being the target state. This invention solves the technical problem of low vehicle steering control accuracy caused by poor precision of vehicle steering signals processed by related technologies.

Description

Technical Field

[0001] This invention relates to the field of vehicle steering control technology, and more specifically, to a method for processing vehicle steering signals and a vehicle. Background Technology

[0002] Sensors in a vehicle's steering system transmit the applied steering angle and torque to the steering motor, driving the lateral movement of the wheels. Currently, torque-angle sensors (TAS) are typically used to measure the torque and angle signals from the steering wheel. These signals are then processed and transmitted to the steering motor to achieve the vehicle's steering function. However, the processing methods for the torque and angle signals measured by the TAS sensor in related technologies suffer from poor accuracy, resulting in low accuracy of the processed torque and angle signals. This makes it difficult to accurately control vehicle steering and negatively impacts the driver's driving experience.

[0003] As the above analysis shows, there is currently no effective solution to the problem of low vehicle steering control accuracy caused by the poor precision of the vehicle steering signals processed by the aforementioned technologies. Summary of the Invention

[0004] This invention provides a method for processing vehicle steering signals and a vehicle, to at least solve the technical problem that poor accuracy of vehicle steering signals processed by related technologies leads to low accuracy of vehicle steering control.

[0005] According to one aspect of the present invention, a method for processing vehicle turn signals is provided, comprising:

[0006] The system acquires an initial torque signal, an initial steering angle signal, and a first steering signal from the vehicle, wherein the initial torque signal and the initial steering angle signal are signals input to the target sensor via a target communication protocol, and the first steering signal is the steering wheel angular offset value; it determines a target torque based on the initial torque signal; it determines a target steering angle based on the initial steering angle signal and the first steering signal, and determines the operating state of the target sensor based at least on the initial steering angle signal, wherein the target torque and the target steering angle act on the steering wheel; and it controls the vehicle steering using the target torque and the target steering angle in response to the operating state being the target state.

[0007] Optionally, determining the target torque based on the initial torque signal includes: parsing the initial torque signal to obtain multiple torque parsing values ​​and a torque flag bit, wherein the torque flag bit is used to determine whether the initial torque signal is valid; superimposing the multiple torque parsing values ​​to obtain a torque superposition value; multiplying the torque superposition value and a first torque parameter to obtain a second torque parameter; and determining the target torque based on the second torque parameter and the torque flag bit.

[0008] Optionally, determining the target torque based on the second torque parameter and the torque flag bit includes: calculating the second torque parameter in response to the torque flag bit being a first value to obtain the target torque.

[0009] Optionally, the above-mentioned method for processing vehicle steering signals further includes: determining the target torque as a preset value in response to the torque flag bit being a second value.

[0010] Optionally, determining the target turning angle based on the initial turning angle signal and the first steering signal includes: parsing the initial turning angle signal to obtain multiple turning angle parsing values; calculating the multiple turning angle parsing values ​​and the first steering signal to obtain a first turning angle parameter; verifying the multiple turning angle parsing values ​​and the first turning angle parameter to obtain a second turning angle parameter; and calculating the second turning angle parameter and the first steering signal to obtain the target turning angle.

[0011] Optionally, multiple corner resolution values ​​are determined by preset resolution rules corresponding to the target communication protocol. These multiple corner resolution values ​​include a first corner resolution value, a second corner resolution value, and a third corner resolution value. A first corner parameter is obtained by calculating the multiple corner resolution values ​​and a first steering signal. This includes: calculating the first and second corner resolution values ​​to obtain a fourth corner parameter; calculating the third corner resolution value to obtain a fifth corner parameter; calculating the difference between the fourth and fifth corner parameters to obtain a sixth corner parameter; determining the output value of the sixth corner parameter based on its sign; determining a seventh corner parameter based on the output value and a preset parameter mapping table; and superimposing the fourth and seventh corner parameters and the first steering signal to obtain the first corner parameter.

[0012] Optionally, the above-mentioned method for processing vehicle steering signals further includes: calculating the difference between the seventh steering angle parameter and the output value to obtain the eighth steering angle parameter, wherein the eighth steering angle parameter is used together with the initial torque signal, the initial steering angle signal and the second steering angle parameter to determine whether the target sensor is in operation.

[0013] Optionally, the working state includes an initialization state, and the above-mentioned vehicle steering signal processing method further includes: under preset conditions, detecting multiple upper-level signals received by the target sensor, wherein the multiple upper-level signals include at least: an initial torque signal, an initial steering angle signal, and a power supply signal; in response to the multiple upper-level signals being valid, determining the working state as an initialization state.

[0014] Optionally, the operating state also includes: running state, inspection state, and error state. The operating state of the target sensor is determined at least based on the initial rotation angle signal, including: determining the operating state as running state in response to the initial torque signal, initial rotation angle signal, second rotation angle parameter, and eighth rotation angle parameter all being valid; determining the operating state as inspection state in response to the target sensor being initialized and the first rotation angle parameter and the second rotation angle parameter both being valid; and determining the operating state as error state in response to the power supply signal received by the target sensor being invalid or the second rotation angle parameter being invalid.

[0015] According to another aspect of the present invention, a vehicle turn signal processing apparatus is also provided, comprising:

[0016] An acquisition module is used to acquire the vehicle's initial torque signal, initial steering angle signal, and first steering signal, wherein the initial torque signal and initial steering angle signal are signals input to the target sensor through the target communication protocol, and the first steering signal is the steering wheel's angular offset value; a first determination module is used to determine the target torque based on the initial torque signal; a second determination module is used to determine the target steering angle based on the initial steering angle signal and the first steering signal, and to determine the operating state of the target sensor based at least on the initial steering angle signal, wherein the target torque and target steering angle act on the steering wheel; and a control module is used to control the vehicle's steering using the target torque and target steering angle in response to the operating state being the target state.

[0017] Optionally, the first determining module is further configured to: analyze the initial torque signal to obtain multiple torque analysis values ​​and torque flag bits, wherein the torque flag bits are used to determine whether the initial torque signal is valid; superimpose the multiple torque analysis values ​​to obtain a torque superposition value; multiply the torque superposition value and the first torque parameter to obtain a second torque parameter; and determine the target torque based on the second torque parameter and the torque flag bits.

[0018] Optionally, the first determining module is further configured to: calculate the second torque parameter in response to the torque flag bit being a first value, to obtain the target torque.

[0019] Optionally, the above-mentioned vehicle steering signal processing device further includes: a third determining module, used to determine the target torque as a preset value in response to the torque flag bit being a second value.

[0020] Optionally, the second determining module is further configured to: analyze the initial turning angle signal to obtain multiple turning angle analysis values; calculate the multiple turning angle analysis values ​​and the first steering signal to obtain a first turning angle parameter; verify the multiple turning angle analysis values ​​and the first turning angle parameter to obtain a second turning angle parameter; and calculate the second turning angle parameter and the first steering signal to obtain a target turning angle.

[0021] Optionally, the second determining module is further configured to: determine multiple corner resolution values ​​by a preset resolution rule corresponding to the target communication protocol, the multiple corner resolution values ​​including: a first corner resolution value, a second corner resolution value, and a third corner resolution value; calculate the multiple corner resolution values ​​and a first steering signal to obtain a first corner parameter, including: calculating the first corner resolution value and the second corner resolution value to obtain a fourth corner parameter; calculating the third corner resolution value to obtain a fifth corner parameter; calculating the difference between the fourth corner parameter and the fifth corner parameter to obtain a sixth corner parameter; determining the output value of the sixth corner parameter based on its sign; determining a seventh corner parameter based on the output value and a preset parameter mapping table; and superimposing the fourth corner parameter, the seventh corner parameter, and the first steering signal to obtain the first corner parameter.

[0022] Optionally, the above-mentioned vehicle steering signal processing device further includes: a fourth determining module, used to calculate the difference between the seventh steering angle parameter and the output value to obtain an eighth steering angle parameter, wherein the eighth steering angle parameter is used together with the initial torque signal, the initial steering angle signal and the second steering angle parameter to determine whether the target sensor is in operation.

[0023] Optionally, the working state includes an initialization state, and the above-mentioned vehicle steering signal processing device further includes: a fifth determining module, used to detect multiple upper-level signals received by the target sensor under preset conditions, wherein the multiple upper-level signals include at least: an initial torque signal, an initial steering angle signal, and a power supply signal; in response to the multiple upper-level signals being valid, determining the working state as an initialization state.

[0024] Optionally, the working state also includes: running state, check state, and error state. The second determining module is further configured to: determine the working state as running state in response to the initial torque signal, initial angle signal, second angle parameter, and eighth angle parameter all being valid; determine the working state as check state in response to the target sensor being initialized and the first angle parameter and second angle parameter both being valid; and determine the working state as error state in response to the power supply signal received by the target sensor being invalid or the second angle parameter being invalid.

[0025] According to another aspect of the present invention, a vehicle is also provided, including an on-board memory and an on-board processor, wherein the on-board memory stores a computer program, and the on-board processor is configured to run the computer program to execute the vehicle steering signal processing method of any of the foregoing embodiments.

[0026] In this embodiment of the invention, the initial torque signal, initial steering angle signal, and first steering signal of the vehicle are first acquired. The initial torque signal and initial steering angle signal are signals input to the target sensor through the target communication protocol, and the first steering signal is the steering wheel angular offset value. Then, the target torque is determined based on the initial torque signal, the target steering angle is determined based on the initial steering angle signal and the first steering signal, and the working state of the target sensor is determined at least based on the initial steering angle signal. The target torque and target steering angle act on the steering wheel. Finally, in response to the working state being the target state, the vehicle steering is controlled using the target torque and target steering angle.

[0027] It is easy to understand that the above-mentioned method provided by the present invention obtains accurate target torque and target angle by processing the initial torque signal and the initial steering angle signal, and determines the working state of the target sensor based on the initial steering angle signal and the steering wheel angle offset value. Under the condition that the working state of the target sensor is determined to be the target state, the vehicle steering is controlled by the target torque and target steering angle, thereby achieving the purpose of accurately controlling the vehicle steering. This achieves the technical effect of improving the accuracy of the processed target torque and target steering angle and enhancing the user's driving experience, and solves the technical problem of low vehicle steering control accuracy caused by poor accuracy of the vehicle steering signal processed by related technologies. Attached Figure Description

[0028] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this invention, illustrate exemplary embodiments of the invention and are used to explain the invention, but do not constitute an undue limitation of the invention. In the drawings:

[0029] Figure 1 This is a hardware structure block diagram of a vehicle terminal for processing vehicle turn signals according to an embodiment of the present invention.

[0030] Figure 2 This is a flowchart of a vehicle turn signal processing method according to an embodiment of the present invention;

[0031] Figure 3 This is a flowchart of an optional vehicle turn signal processing procedure according to an embodiment of the present invention;

[0032] Figure 4 This is a structural block diagram of an optional vehicle turn signal processing device according to an embodiment of the present invention;

[0033] Figure 5 This is a structural block diagram of another optional vehicle turn signal processing device according to an embodiment of the present invention;

[0034] Figure 6 This is a structural block diagram of another optional vehicle turn signal processing device according to an embodiment of the present invention;

[0035] Figure 7 This is a structural block diagram of another optional vehicle turn signal processing device according to an embodiment of the present invention. Detailed Implementation

[0036] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0037] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0038] According to an embodiment of the present invention, a method embodiment for processing vehicle turn signals is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0039] Figure 1 This is a hardware structure block diagram of a vehicle terminal for processing vehicle turn signals according to an embodiment of the present invention, such as... Figure 1As shown, the vehicle terminal 10 (or a mobile device 10 that communicates with the vehicle) may include one or more processors 102 (processors 102 may include, but are not limited to, processing devices such as microprocessors (MCUs) or field-programmable gate arrays (FPGAs),) a memory 104 for storing data, and a transmission device 106 for communication functions. In addition, it may also include: a display device 110, an input / output device 108 (i.e., I / O devices), a Universal Serial Bus (USB) port (which may be included as one of the ports of a computer bus, not shown in the figure), a network interface (not shown in the figure), a power supply (not shown in the figure), and / or a camera (not shown in the figure). Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the vehicle terminal 1 described above. For example, the vehicle terminal 10 may also include components that are more... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0040] It should be noted that the aforementioned one or more processors 102 and / or other data processing circuits may be embodied, in whole or in part, as software, hardware, firmware, or any other combination thereof. Furthermore, the data processing circuitry may be a single, independent processing module, or may be integrated, in whole or in part, into any other element within the vehicle terminal 10 (or mobile device).

[0041] The memory 104 can be used to store software programs and modules of application software, such as the program instructions / data storage device corresponding to the vehicle steering signal processing method in this embodiment of the invention. The processor 102 executes various functional applications and data processing by running the software programs and modules stored in the memory 104, thereby realizing the aforementioned vehicle steering signal processing method. The memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the vehicle terminal 10 via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0042] The transmission device 106 is used to receive or send data via a network. Specific examples of the network described above may include a wireless network provided by the communication provider of the vehicle terminal 10. In one example, the transmission device 106 includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the transmission device 106 may be a Radio Frequency (RF) module, used for wireless communication with the Internet.

[0043] Under the above operating environment, the embodiments of the present invention provide as follows: Figure 2 The method for processing vehicle turn signals shown is as follows: Figure 2 This is a flowchart of a vehicle turn signal processing method according to an embodiment of the present invention, such as... Figure 2 As shown, the above Figure 2 The embodiments shown may include at least the following implementation steps, namely, the technical solutions implemented by steps S21 to S24.

[0044] Step S21: Obtain the vehicle's initial torque signal, initial steering angle signal, and first steering signal, wherein the initial torque signal and initial steering angle signal are signals input to the target sensor through the target communication protocol, and the first steering signal is the steering wheel's steering angle offset value;

[0045] Step S22: Determine the target torque based on the initial torque signal;

[0046] Step S23: Determine the target steering angle based on the initial steering angle signal and the first steering signal, and determine the working state of the target sensor based at least on the initial steering angle signal, wherein the target torque and the target steering angle act on the steering wheel;

[0047] Step S24: In response to the target working state, control the vehicle steering using the target torque and target steering angle.

[0048] In the technical solutions provided in steps S21 to S24 above, the target communication protocol can be a Single-Ended Nibble Transmission (SENT) protocol. It should also be noted that this protocol uses a single-sided 4-bit transmission method, with each data bit occupying one clock cycle. Different data values ​​are represented by defining different voltage levels. This protocol also supports error detection and correction, and can detect and correct single-bit errors. The target sensor can be a TAS sensor, which can be used to simultaneously measure the torque and angle signals of the vehicle's steering wheel. The first steering signal can be input from the upper layer of the TAS sensor (such as the steering control unit), or it can be determined by the difference between two measured initial angle signals.

[0049] In the technical solutions provided by steps S21 to S24 above, the target torque and the target steering angle can be target steering signals obtained by processing the initial torque signal using a torque processing algorithm and processing the initial steering angle signal using an angle algorithm and a following performance verification method, respectively. It should be noted that the torque processing algorithm can parse the initial torque signal to obtain the torque signal parsing value and the torque signal flag bit, then multiply the torque signal parsing value with the steering wheel torque parameter, and use the torque signal flag bit and the multiplication result to determine the target torque output by the steering wheel; the angle algorithm and the following performance verification method can calculate and verify the parsing value of the initial steering angle signal to obtain the target steering angle and the working state of the target sensor, and combine the error signal judgment value of the target sensor to switch the working state of the target sensor.

[0050] In the technical solutions provided by steps S21 to S24 above, the working state of the target sensor may include, but is not limited to: initialization state, check state, error state, and running state. The initialization state may be the state in which the target sensor performs initialization operations after startup or reset. The check state may be the state in which the target sensor checks or calibrates its own parameters during operation. The error state may be the state in which the target sensor troubleshoots and repairs when an error or abnormality occurs during operation. The running state may be the state in which the target sensor works normally and accurately measures and outputs torque and angle.

[0051] In this embodiment of the invention, the initial torque signal, initial steering angle signal, and first steering signal of the vehicle are first acquired. The initial torque signal and initial steering angle signal are signals input to the target sensor through the target communication protocol, and the first steering signal is the steering wheel angular offset value. Then, the target torque is determined based on the initial torque signal, the target steering angle is determined based on the initial steering angle signal and the first steering signal, and the working state of the target sensor is determined at least based on the initial steering angle signal. The target torque and target steering angle act on the steering wheel. Finally, in response to the working state being the target state, the vehicle steering is controlled using the target torque and target steering angle.

[0052] It is easy to understand that the above-mentioned method provided by the present invention obtains accurate target torque and target angle by processing the initial torque signal and the initial steering angle signal, and determines the working state of the target sensor based on the initial steering angle signal and the steering wheel angle offset value. Under the condition that the working state of the target sensor is determined to be the target state, the vehicle steering is controlled by the target torque and target steering angle, thereby achieving the purpose of accurately controlling the vehicle steering. This achieves the technical effect of improving the accuracy of the processed target torque and target steering angle and enhancing the user's driving experience, and solves the technical problem of low vehicle steering control accuracy caused by poor accuracy of the vehicle steering signal processed by related technologies.

[0053] The methods described in the embodiments of the present invention will be further described below.

[0054] In an optional embodiment, in step S22, determining the target torque based on the initial torque signal includes:

[0055] Step S221: The initial torque signal is parsed to obtain multiple torque parsing values ​​and torque flag bits, wherein the torque flag bits are used to determine whether the initial torque signal is valid;

[0056] Step S222: Superimpose multiple torque analytical values ​​to obtain a torque superposition value;

[0057] Step S223: Multiply the superimposed torque value and the first torque parameter to obtain the second torque parameter;

[0058] Step S224: Determine the target torque based on the second torque parameter and the torque flag.

[0059] The determination of the target torque based on the second torque parameter and the torque flag bit includes:

[0060] In step S2241, in response to the torque flag being a first value, the second torque parameter is calculated to obtain the target torque.

[0061] In the technical solution provided by steps S221 to S224 (including step S2241), the multiple torque resolution values ​​can be obtained by parsing the initial torque signal using the preset parsing rules corresponding to the target communication protocol. Each torque resolution value can be determined by different data bits in the data frame of the target communication protocol. The torque flag bit can be a binary parameter. As an optional implementation, the value of the torque flag bit can be 1 or 0. When the value of the torque flag bit is 1, it can be determined that the initial torque signal is invalid; when the value of the torque flag bit is 0, it can be determined that the initial torque signal is valid.

[0062] In the technical solutions provided by steps S221 to S224 (including step S2241) above, the first torque parameter can be a steering wheel torque parameter. It should also be noted that this steering wheel torque parameter can be calibrated by a technician according to the vehicle's steering requirements. The second torque parameter can be the difference in torsion bar deformation angle of the steering wheel input shaft.

[0063] The following combination Figure 3 The above methods will be further explained.

[0064] Figure 3 This is a flowchart of an optional vehicle turn signal processing procedure according to an embodiment of the present invention, such as... Figure 3 As shown, in the technical solution provided by this invention, after measuring the initial torque signal of the steering wheel using TAS, the initial torque signal is analyzed to obtain torque signal analysis values ​​(multiple torque analysis values) and torque signal flag bits. Further, the torque signal analysis values ​​are input to a torque signal superposition unit for superposition, and the superposition result is then input to a multiplier along with the steering wheel torque parameters for calculation to obtain the torsion bar deformation angle difference. Further, the torque signal flag bits are input to a selection unit to determine the target output torque. Specifically, as an optional embodiment, when the torque signal flag bit is 0 (first value), the initial torque signal is determined to be valid. At this time, the target output torque can be obtained by calculating the torsion bar deformation angle difference and the torsion bar stiffness value of the input shaft (e.g., 2.5).

[0065] In an optional embodiment, the above-mentioned vehicle turn signal processing method further includes:

[0066] In step S2242, in response to the torque flag being set to the second value, the target torque is determined to be a preset value.

[0067] In the technical solution provided by the present invention, still in the above optional embodiments, when the torque signal flag bit is 1 (second value), it is determined that the initial torque signal is invalid, and therefore the target torque output is determined to be 0 (preset value).

[0068] In an optional embodiment, in step S23, determining the target turning angle based on the initial turning angle signal and the first steering signal includes:

[0069] Step S231: Analyze the initial angle signal to obtain multiple angle analysis values;

[0070] Step S232: Calculate the first steering angle parameters by analyzing multiple steering angle resolution values ​​and the first steering signal;

[0071] Step S233: Verify the multiple angle resolution values ​​and the first angle parameter to obtain the second angle parameter;

[0072] Step S234: Calculate the second steering angle parameter and the first steering signal to obtain the target steering angle.

[0073] Among them, multiple angle resolution values ​​are determined by preset resolution rules corresponding to the target communication protocol. These multiple angle resolution values ​​include: a first angle resolution value, a second angle resolution value, and a third angle resolution value. The first angle parameters are obtained by calculating these multiple angle resolution values ​​and the first steering signal, including:

[0074] Step S2321: Calculate the analytical values ​​of the first and second corners to obtain the fourth corner parameter;

[0075] Step S2322: Calculate the analytical value of the third turning angle to obtain the parameters of the fifth turning angle;

[0076] Step S2323: Calculate the difference between the fourth and fifth corner parameters to obtain the sixth corner parameter;

[0077] Step S2324: Determine the output value of the sixth corner parameter based on the sign of the sixth corner parameter;

[0078] Step S2325: Determine the parameters of the seventh turning angle based on the output value and the preset parameter mapping table;

[0079] Step S2326: The fourth steering angle parameter, the seventh steering angle parameter, and the first steering signal are superimposed to obtain the first steering angle parameter.

[0080] In the technical solution provided by steps S231 to S234 (including steps S2321 to S326) above, the aforementioned multiple angle resolution values ​​can be obtained by parsing the initial angle signal using the aforementioned preset resolution rules. Each angle resolution value can be determined by different data bits in the data frame of the target communication protocol. The aforementioned first angle parameter can be a vernier angle, the aforementioned second angle parameter can be a steering wheel following angle, the aforementioned fourth angle parameter can be a primary tracking value of the steering wheel angle, the aforementioned fifth angle parameter can be an auxiliary tracking value of the steering wheel angle, the aforementioned sixth angle parameter can be a vernier difference of the steering wheel angle, and the aforementioned seventh angle parameter can be a vernier range of the steering wheel angle.

[0081] Still as Figure 3As shown, in the technical solution provided by the present invention, after the initial steering angle signal of the steering wheel is measured by TAS, the initial steering angle signal is analyzed to obtain multiple steering angle signal analysis values, including: A1 (first steering angle analysis value), A2 (second steering angle analysis value), and A3 (third steering angle analysis value). Further, the multiple steering angle analysis values ​​are processed using an angle algorithm. Specifically, the difference between the first steering angle analysis value A1 and the second steering angle analysis value is calculated and the difference is added to the first steering angle analysis value A1 to obtain the primary tracking value G1 of the steering wheel angle. The auxiliary tracking value G2 of the steering wheel angle is calculated from the third steering angle analysis value A3 as shown in the following formula (1):

[0082]

[0083] Furthermore, the vernier difference G of the steering wheel angle can be obtained by calculating the difference between the primary tracking value G1 and the auxiliary tracking value G2, as shown in the following formula (2):

[0084] Formula (2) G = G1 - G2

[0085] Furthermore, when the sign of the vernier error G is positive, the output value G of the vernier error is... out For the vernier error G itself, when the sign of the vernier error G is negative, the output value G of the vernier error is... out The value is G+121122. Next, the positive vernier error G is calculated based on the vernier error G. r It can be shown in the following formula (3):

[0086]

[0087] Furthermore, based on the above-mentioned vernier deviation G... r Using the aforementioned preset parameter mapping table, the cursor range of the steering wheel angle is obtained by querying. Then, the aforementioned primary tracking value, cursor range, and steering wheel angle offset value are superimposed to obtain the cursor angle.

[0088] Still as Figure 3As shown, in the technical solution provided by this invention, multiple angle resolution values ​​and vernier angles calculated by the angle algorithm are used to perform angle following performance verification. First, the steering wheel angle following value is calculated from the multiple angle resolution values. Specifically, the reciprocal of each angle resolution value is superimposed with the vernier angle to obtain three angles (denoted as B1, B2, and B3). If angle B1 corresponding to the first angle resolution value is valid, angle B1 is used as the steering wheel following angle. If angle B1 corresponding to the first angle resolution value is invalid, but angle B2 corresponding to the second angle resolution value is valid, angle B2 is used as the steering wheel following angle. If the angles corresponding to the first and second angle resolution values ​​are invalid, but angle B3 corresponding to the third angle resolution value is valid, angle B3 is used as the steering wheel following angle. Then, the invalidity judgment value of the steering wheel following angle is determined based on the following performance verification result. It should be noted that, as an optional implementation, when the invalidity judgment value is 1, the steering wheel following angle can be determined to be invalid; when the invalidity judgment value is 0, the steering wheel following angle can be determined to be valid.

[0089] In an optional embodiment, the above-mentioned vehicle turn signal processing method further includes:

[0090] Step S235: Calculate the difference between the seventh rotation angle parameter and the output value to obtain the eighth rotation angle parameter. The eighth rotation angle parameter is used together with the initial torque signal, the initial rotation angle signal, and the second rotation angle parameter to determine whether the target sensor is in operation.

[0091] In the technical solution provided by the present invention, it should also be noted that the vernier algorithm state (eighth angle parameter) of the steering wheel angle can be obtained by subtracting the above vernier range from the above vernier difference G. When the vernier algorithm state, the initial torque signal, the initial angle signal and the steering wheel following angle are all valid, it can be determined that the target sensor is in the operating state.

[0092] In an optional embodiment, the operating state includes an initialization state, and the above-mentioned vehicle turn signal processing method further includes:

[0093] Step S271: Under preset conditions, detect multiple upper-level signals received by the target sensor, wherein the multiple upper-level signals include at least: initial torque signal, initial rotation angle signal and power supply signal;

[0094] Step S272: In response to multiple valid upper-layer signals, the working state is determined to be the initialization state.

[0095] In the technical solution provided by the present invention, the above-mentioned preset conditions can be redundant conditions set in advance by technicians. The above-mentioned multiple upper-level signals can be transmitted from the upper-level device of the target sensor (such as the steering control unit of the vehicle) to the target sensor. Under the redundant conditions, when the multiple upper-level signals transmitted from the upper-level device to the target sensor are all valid, it can be determined that the target sensor is in the initialization state.

[0096] In an optional embodiment, in step S23, the operating state further includes: running state, inspection state, and error state, and the operating state of the target sensor is determined at least based on the initial rotation angle signal, including:

[0097] Step S236: In response to the initial torque signal, initial angle signal, second angle parameter and eighth angle parameter all being valid, the working state is determined to be the running state;

[0098] Step S237: In response to the target sensor being initialized and both the first and second rotation angle parameters being valid, the working state is determined to be the inspection state;

[0099] Step S238: In response to the invalid power supply signal received by the target sensor or the invalid second rotation angle parameter, the working state is determined to be an error state.

[0100] In the technical solution provided by this invention, the mapping relationship between the initialization state, operating state, inspection state, and error state of the target sensor and their causes can be shown in Table 1 below:

[0101] Table 1

[0102] TAS working status Causes Initialization state Under redundancy conditions, all upper-layer signals of TAS are valid. Running status The TAS signal, vernier algorithm status, and steering wheel following angle are all effective. Check status Vernier angle and steering wheel following angle are valid; TAS has been initialized. Error status TAS power supply signal error, steering wheel follow angle invalid, etc.

[0103] In the technical solution provided by this invention, it should also be noted that after determining the current working state of the target sensor, when the state transition conditions shown in Table 2 below are met, the working state of the target sensor can be switched in a timely manner. The state transition process of the target sensor and its corresponding state transition conditions are shown in Table 2 below:

[0104] Table 2

[0105]

[0106]

[0107] The technical effects that the vehicle turn signal processing method provided by this invention can achieve are as follows:

[0108] (1) The initial torque signal and initial steering angle signal measured by the TAS sensor are processed by analysis, calculation and verification to obtain accurate target torque and target steering angle, thereby improving the vehicle steering control accuracy;

[0109] (2) During the vehicle steering control process, the working state of the TAS sensor is judged and switched to ensure that the TAS sensor outputs the correct torque signal and steering angle signal under normal working conditions, thereby improving the flexibility of vehicle steering control and further improving the accuracy of vehicle steering control.

[0110] In this embodiment, a vehicle turn signal processing device is also provided. This device is used to implement the above embodiments and preferred embodiments, and details already described will not be repeated. As used below, a "module" is a combination of software and / or hardware that can perform a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0111] Figure 4 This is a structural block diagram of an optional vehicle turn signal processing device according to an embodiment of the present invention, such as... Figure 4 As shown, the device includes:

[0112] The acquisition module 401 is used to acquire the vehicle's initial torque signal, initial steering angle signal and first steering signal, wherein the initial torque signal and initial steering angle signal are signals input to the target sensor through the target communication protocol, and the first steering signal is the steering wheel's steering angle offset value;

[0113] The first determining module 402 is used to determine the target torque based on the initial torque signal;

[0114] The second determining module 403 is used to determine the target angle based on the initial angle signal and the first steering signal, and to determine the working state of the target sensor based at least on the initial angle signal, wherein the target torque and the target angle act on the steering wheel;

[0115] The control module 404 is used to control the vehicle steering by using the target torque and target steering angle in response to the target working state.

[0116] Optionally, the first determining module 402 is further configured to: analyze the initial torque signal to obtain multiple torque analysis values ​​and torque flag bits, wherein the torque flag bits are used to determine whether the initial torque signal is valid; superimpose the multiple torque analysis values ​​to obtain a torque superposition value; multiply the torque superposition value and the first torque parameter to obtain a second torque parameter; and determine the target torque based on the second torque parameter and the torque flag bits.

[0117] Optionally, the first determining module 402 is further configured to: calculate the second torque parameter in response to the torque flag bit being a first value, to obtain the target torque.

[0118] Optionally, Figure 5This is a structural block diagram of another optional vehicle turn signal processing device according to an embodiment of the present invention, such as... Figure 5 As shown, the device includes, in addition to Figure 4 In addition to all the modules shown, it also includes: a third determining module 405, used to determine the target torque as a preset value in response to the torque flag bit being a second value.

[0119] Optionally, the second determining module 403 is further configured to: analyze the initial turning angle signal to obtain multiple turning angle analysis values; calculate the multiple turning angle analysis values ​​and the first steering signal to obtain a first turning angle parameter; verify the multiple turning angle analysis values ​​and the first turning angle parameter to obtain a second turning angle parameter; and calculate the second turning angle parameter and the first steering signal to obtain a target turning angle.

[0120] Optionally, the second determining module 403 is further configured to: determine multiple angle resolution values ​​by a preset resolution rule corresponding to the target communication protocol, the multiple angle resolution values ​​including: a first angle resolution value, a second angle resolution value, and a third angle resolution value; calculate the multiple angle resolution values ​​and a first steering signal to obtain a first angle parameter, including: calculating the first angle resolution value and the second angle resolution value to obtain a fourth angle parameter; calculating the third angle resolution value to obtain a fifth angle parameter; calculating the difference between the fourth angle parameter and the fifth angle parameter to obtain a sixth angle parameter; determining the output value of the sixth angle parameter according to the sign of the sixth angle parameter; determining a seventh angle parameter according to the output value and a preset parameter mapping table; and superimposing the fourth angle parameter, the seventh angle parameter, and the first steering signal to obtain the first angle parameter.

[0121] Optionally, Figure 6 This is a structural block diagram of another optional vehicle turn signal processing device according to an embodiment of the present invention, such as... Figure 6 As shown, the device includes, in addition to Figure 5 In addition to all the modules shown, it also includes: a fourth determining module 406, which is used to calculate the difference between the seventh rotation angle parameter and the output value to obtain the eighth rotation angle parameter, wherein the eighth rotation angle parameter is used together with the initial torque signal, the initial rotation angle signal and the second rotation angle parameter to determine whether the target sensor is in the operating state.

[0122] Optionally, the working state includes the initialization state. Figure 7 This is a structural block diagram of another optional vehicle turn signal processing device according to an embodiment of the present invention, such as... Figure 7 As shown, the device includes, in addition to Figure 6In addition to all the modules shown, it also includes: a fifth determining module 407, used to detect multiple upper-level signals received by the target sensor under preset conditions, wherein the multiple upper-level signals include at least: an initial torque signal, an initial rotation angle signal and a power supply signal; in response to the multiple upper-level signals being valid, the operating state is determined to be an initialization state.

[0123] Optionally, the working state also includes: running state, check state, and error state. The second determining module 403 is further configured to: determine the working state as running state in response to the initial torque signal, initial angle signal, second angle parameter, and eighth angle parameter all being valid; determine the working state as check state in response to the target sensor being initialized and the first angle parameter and second angle parameter both being valid; and determine the working state as error state in response to the power supply signal received by the target sensor being invalid or the second angle parameter being invalid.

[0124] It should be noted that the above modules can be implemented by software or hardware. For the latter, they can be implemented in the following ways, but are not limited to: all the above modules are located in the same processor; or, the above modules are located in different processors in any combination.

[0125] According to another aspect of the present invention, a vehicle is also provided, including an on-board memory and an on-board processor, wherein the on-board memory stores a computer program, and the on-board processor is configured to run the computer program to execute the vehicle steering signal processing method of any of the foregoing embodiments.

[0126] Optionally, in this embodiment, the above-mentioned vehicle-mounted storage device can be configured to store the following steps:

[0127] Step S1: Obtain the vehicle's initial torque signal, initial steering angle signal, and first steering signal, wherein the initial torque signal and initial steering angle signal are signals input to the target sensor through the target communication protocol, and the first steering signal is the steering wheel's steering angle offset value;

[0128] Step S2: Determine the target torque based on the initial torque signal;

[0129] Step S3: Determine the target steering angle based on the initial steering angle signal and the first steering signal, and determine the working state of the target sensor based at least on the initial steering angle signal, wherein the target torque and the target steering angle act on the steering wheel;

[0130] Step S4: In response to the target working state, control the vehicle steering using the target torque and target steering angle.

[0131] Optionally, in this embodiment, the storage medium may include, but is not limited to, various media capable of storing computer programs, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0132] Optionally, in this embodiment, the on-board processor can be configured to perform the following steps via a computer program:

[0133] Step S1: Obtain the vehicle's initial torque signal, initial steering angle signal, and first steering signal, wherein the initial torque signal and initial steering angle signal are signals input to the target sensor through the target communication protocol, and the first steering signal is the steering wheel's steering angle offset value;

[0134] Step S2: Determine the target torque based on the initial torque signal;

[0135] Step S3: Determine the target steering angle based on the initial steering angle signal and the first steering signal, and determine the working state of the target sensor based at least on the initial steering angle signal, wherein the target torque and the target steering angle act on the steering wheel;

[0136] Step S4: In response to the target working state, control the vehicle steering using the target torque and target steering angle.

[0137] Optionally, specific examples in this embodiment can refer to the examples described in the above embodiments and their optional implementations, which will not be repeated here.

[0138] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0139] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0140] In the several embodiments provided by this invention, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection can be through some interfaces; the indirect coupling or communication connection of units or modules can be electrical or other forms.

[0141] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0142] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0143] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0144] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for processing vehicle turn signals, characterized in that, include: Acquire the vehicle's initial torque signal, initial steering angle signal, and first steering signal, wherein the initial torque signal and the initial steering angle signal are signals input to the target sensor through the target communication protocol, and the first steering signal is the steering wheel's angular offset value; The target torque is determined based on the initial torque signal; The target steering angle is determined based on the initial steering angle signal and the first steering signal, and the operating state of the target sensor is determined at least based on the initial steering angle signal, wherein the target torque and the target steering angle act on the steering wheel; In response to the target operating state, the vehicle steering is controlled using the target torque and the target steering angle; Determining the target torque based on the initial torque signal includes: parsing the initial torque signal to obtain multiple torque parsing values ​​and a torque flag bit, wherein the torque flag bit is used to determine whether the initial torque signal is valid; superimposing the multiple torque parsing values ​​to obtain a torque superposition value; multiplying the torque superposition value and a first torque parameter to obtain a second torque parameter; and determining the target torque based on the second torque parameter and the torque flag bit.

2. The processing method according to claim 1, characterized in that, Determining the target torque based on the second torque parameter and the torque flag bit includes: In response to the torque flag being a first value, the second torque parameter is calculated to obtain the target torque.

3. The processing method according to claim 1, characterized in that, The method further includes: In response to the torque flag being a second value, the target torque is determined to be a preset value.

4. The processing method according to claim 1, characterized in that, Determining the target turning angle based on the initial turning angle signal and the first steering signal includes: The initial angle signal is analyzed to obtain multiple angle analysis values; The first steering angle parameter is obtained by calculating the plurality of steering angle analytical values ​​and the first steering signal; The multiple angle resolution values ​​and the first angle parameter are verified to obtain the second angle parameter; The target turning angle is obtained by calculating the second turning angle parameter and the first steering signal.

5. The processing method according to claim 4, characterized in that, The plurality of angle resolution values ​​are determined by a preset resolution rule corresponding to the target communication protocol. The plurality of angle resolution values ​​include: a first angle resolution value, a second angle resolution value, and a third angle resolution value. The plurality of angle resolution values ​​and the first steering signal are used to calculate the first angle parameter, including: The fourth angle parameter is obtained by calculating the first angle resolution value and the second angle resolution value; The parameters of the fifth turning angle are obtained by calculating the analytical value of the third turning angle; Calculate the difference between the fourth and fifth corner parameters to obtain the sixth corner parameter; Determine the output value of the sixth angle parameter based on the sign of the sixth angle parameter; The parameters for the seventh turning angle are determined based on the output values ​​and the preset parameter mapping table. The first steering angle parameter is obtained by superimposing the fourth steering angle parameter, the seventh steering angle parameter, and the first steering signal.

6. The processing method according to claim 5, characterized in that, The method further includes: The difference between the seventh rotation angle parameter and the output value is calculated to obtain the eighth rotation angle parameter, wherein the eighth rotation angle parameter is used together with the initial torque signal, the initial rotation angle signal and the second rotation angle parameter to determine whether the target sensor is in the operating state.

7. The processing method according to claim 1, characterized in that, The working state includes an initialization state, and the method further includes: Under preset conditions, multiple upper-level signals received by the target sensor are detected, wherein the multiple upper-level signals include at least: the initial torque signal, the initial rotation angle signal, and the power supply signal; In response to the validity of all the above-layer signals, the working state is determined to be the initialization state.

8. The processing method according to claim 1, characterized in that, The operating states also include: running state, inspection state, and error state. The operating state of the target sensor is determined at least based on the initial rotation angle signal, including: In response to the initial torque signal, the initial angle signal, the second angle parameter, and the eighth angle parameter all being valid, the working state is determined to be the running state. In response to the fact that the target sensor has been initialized and both the first rotation angle parameter and the second rotation angle parameter are valid, the working state is determined to be the inspection state; If the power supply signal received by the target sensor is invalid or the second rotation angle parameter is invalid, the operating state is determined to be an error state.

9. A vehicle, characterized in that, The system includes an on-board memory and an on-board processor, wherein the on-board memory stores a computer program and the on-board processor is configured to run the computer program to perform the vehicle steering signal processing method of any one of claims 1 to 8.

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