Optimization method and device for vehicle pull-off compensation

Abstract

This application provides an optimization method and apparatus for vehicle pull-off compensation. The method, applied in the field of automotive control technology, includes: detecting whether the vehicle is in a pull-off compensation state; when the vehicle is detected to be in a pull-off compensation state, determining whether at least one of the vehicle's state signals meets preset conditions; if any of the at least one state signal meets the preset conditions, determining a corresponding pull-off compensation optimization value based on the actual progress of the pull-off compensation state, and using the pull-off compensation optimization value to optimize the actual pull-off compensation torque of the actual progress. Through this technical solution, corresponding pull-off compensation optimization control can be performed when the vehicle's state signals are normal or abnormal, ensuring that the vehicle outputs a pull-off compensation torque that conforms to the current driving conditions. This guarantees stable output of vehicle pull-off compensation, improves the safety optimization management of vehicle pull-off compensation, and makes the process more intelligent and practical.

Description

Technical Field

[0001] This application relates to the field of automotive control, and more specifically, to an optimization method and apparatus for vehicle deviation compensation in the field of automotive control. Background Technology

[0002] In actual driving, vehicles often veer off course due to external factors. This is a common malfunction that often requires manual adjustment by the driver, affecting the driving experience and potentially causing safety hazards.

[0003] In related technologies, torque compensation can be performed on vehicle deviation based on electric power steering systems. However, when the torque compensation value is determined based on the actual driving conditions, it is impossible to determine whether the vehicle's input signal or external conditions are abnormal. It is difficult to implement corresponding deviation compensation control based on abnormal vehicle conditions, which affects the safety management level of the vehicle during driving and reduces the reliability of the vehicle. This issue urgently needs to be addressed. Summary of the Invention

[0004] This application provides an optimization method and apparatus for vehicle drift compensation. This method can perform corresponding drift compensation optimization control when the vehicle's status signal is abnormal, ensuring that the vehicle output drift compensation torque conforms to the current driving conditions. This guarantees stable drift compensation output, improves the safety optimization management of vehicle drift compensation, and makes it more intelligent and practical. Simultaneously, by adding a time threshold, the problem of slow learning speed caused by frequent exits from the learning mode is solved.

[0005] Firstly, an optimized method for vehicle drift compensation is provided, the method comprising:

[0006] Check if the vehicle is in a pull-to-side compensation state;

[0007] When the vehicle is detected to be in the deviation compensation state, it is determined whether at least one state signal of the vehicle meets a preset condition.

[0008] If any of the at least one state signal satisfies the preset condition, then the corresponding deviation compensation optimization value is determined according to the actual progress of the deviation compensation state, and the actual deviation compensation torque of the actual process is optimized using the deviation compensation optimization value.

[0009] The above technical solution enables corresponding deviation compensation and optimization control when abnormal vehicle status signals occur, ensuring that the vehicle outputs deviation compensation torque that matches the current driving conditions. This guarantees stable deviation compensation output, improves the safety optimization management of vehicle deviation compensation, and makes the system more intelligent and practical. It also solves the problem of slow learning speed and poor performance caused by frequent exits from the learning mode.

[0010] In conjunction with the first aspect, in some possible implementations, determining the corresponding deviation compensation optimization value based on the actual progress of the deviation compensation state includes:

[0011] Determine whether the vehicle is in the preset first deviation compensation process;

[0012] If the vehicle is in the preset first deviation compensation process, the vehicle is controlled to enter the no-compensation mode, the first deviation compensation torque corresponding to the no-compensation mode is obtained, and the deviation compensation optimization value is obtained based on the first deviation compensation torque.

[0013] The above technical solution enables the vehicle to enter a non-compensation mode when it is in the preset first deviation compensation process, and obtains the first deviation compensation torque corresponding to the non-compensation mode to obtain the deviation compensation optimization value. Then, the control system adjusts the electric power steering system or other related control devices based on the deviation compensation optimization value to achieve the optimized deviation compensation effect. This makes the vehicle's deviation compensation more in line with the actual operating conditions of the vehicle and further reduces the safety risks of the vehicle.

[0014] In combination with the first aspect and the above implementation methods, in some possible implementation methods, determining the corresponding deviation compensation optimization value based on the actual progress of the deviation compensation state includes:

[0015] Determine whether the vehicle is in a preset second deviation compensation process;

[0016] If the vehicle is in the preset second deviation compensation process, the vehicle is controlled to enter the learning and holding mode, the second deviation compensation torque corresponding to the learning and holding mode is obtained, and the deviation compensation optimization value is obtained based on the second deviation compensation torque.

[0017] The above technical solution enables the vehicle to enter a learning and holding mode when it is in the preset second deviation compensation process. It also enables the acquisition of the second deviation compensation torque corresponding to the learning and holding mode, obtaining the deviation compensation optimization value. The control system then adjusts the electric power steering system or other related control devices based on the deviation compensation optimization value to achieve the optimized deviation compensation effect. This avoids the vehicle from mislearning during the deviation compensation process and further improves the management strategy for deviation compensation learning.

[0018] In combination with the first aspect and the above implementation methods, in some possible implementation methods, determining whether at least one state signal of the vehicle satisfies a preset condition includes:

[0019] Determine whether there is a fault in the transmission status of the at least one status signal;

[0020] If there is no fault in the transmission state, then the at least one state signal is parsed to obtain the corresponding state data;

[0021] The state data is compared with the corresponding preset threshold to obtain a comparison result, and the preset condition is determined based on the comparison result.

[0022] The above technical solution can determine whether there is a fault in the transmission status of at least one status signal, and when there is no fault in the transmission status, it can parse at least one status signal to obtain the corresponding status data, compare the status data with the corresponding preset threshold, and determine whether the preset conditions are met based on the comparison result. This avoids the vehicle from being affected by the failure or error of the signal speed and deviation compensation. By screening the signal fault conditions, the deviation compensation can be optimized accordingly based on the signal fault conditions.

[0023] In combination with the first aspect and the above-described implementation methods, in some possible implementation methods, the at least one state signal includes at least one of the following: vehicle speed signal, steering wheel angle signal, filtered hand force signal, steering wheel speed signal, power supply voltage signal of electric power steering system, and operating temperature signal of electric power steering system.

[0024] Through the above technical solution, at least one of the following status signals includes vehicle speed signal, steering wheel angle signal, filtered hand force signal, steering wheel speed signal, power supply voltage signal of electric power steering system and operating temperature signal of electric power steering system. The required status signal can be obtained by using appropriate sensor devices, collecting sensor data, filtering and signal processing, decoding and calculating data, so as to be further used for vehicle deviation compensation optimization processing.

[0025] In combination with the first aspect and the above implementation methods, in some possible implementation methods, before comparing the state data with the corresponding preset threshold, the following further step is taken:

[0026] The corresponding preset threshold is determined based on the actual progress of the deviation compensation state.

[0027] Through the above technical solution, the threshold values ​​corresponding to vehicle speed, steering wheel angle, filtered hand force, steering wheel speed, power supply voltage of electric power steering system, and operating temperature of electric power steering system in the status data can be confirmed by the actual process of the deviation compensation state, so as to obtain at least one status data to confirm whether the preset conditions are met according to the actual process of the deviation compensation state.

[0028] In combination with the first aspect and the above implementation methods, in some possible implementation methods, determining whether the preset condition is met based on the comparison result includes:

[0029] The duration for which the state data is obtained;

[0030] When both the duration and the comparison result meet the preset conditions, it is determined that the preset conditions are met.

[0031] The above technical solution can determine whether the status signal meets the preset conditions based on the duration of the status data and the comparison results, and trigger corresponding measures based on whether the preset conditions are met, thereby helping to determine whether there is an abnormal state in the vehicle deviation compensation and taking appropriate countermeasures for the abnormal situation.

[0032] Secondly, an optimization device for vehicle drift compensation is provided, which includes:

[0033] The detection module is used to detect whether the vehicle is in a deviation compensation state;

[0034] The judgment module is used to determine whether at least one state signal of the vehicle satisfies a preset condition when the vehicle is detected to be in the deviation compensation state; and

[0035] An optimization module is used to determine a corresponding deviation compensation optimization value based on the actual progress of the deviation compensation state when any of the at least one state signal satisfies the preset condition, and to optimize the actual deviation compensation torque of the actual process using the deviation compensation optimization value.

[0036] In conjunction with the second aspect, in some possible implementations, the optimization module includes:

[0037] The first judgment unit is used to determine whether the vehicle is in a preset first deviation compensation process.

[0038] The first acquisition unit is configured to control the vehicle to enter a no-compensation mode when the vehicle is in the preset first deviation compensation process, acquire the first deviation compensation torque corresponding to the no-compensation mode, and obtain the deviation compensation optimization value based on the first deviation compensation torque.

[0039] In combination with the second aspect and the above implementation methods, in some possible implementation methods, the optimization module includes:

[0040] The second judgment unit is used to determine whether the vehicle is in a preset second deviation compensation process.

[0041] The second acquisition unit is used to control the vehicle to enter a learning and holding mode when the vehicle is in the preset second deviation compensation process, acquire the second deviation compensation torque corresponding to the learning and holding mode, and obtain the deviation compensation optimization value based on the second deviation compensation torque.

[0042] In combination with the second aspect and the above implementation methods, in some possible implementation methods, the judgment module includes:

[0043] The third judgment unit is used to determine whether there is a fault in the transmission status of the at least one status signal;

[0044] The parsing unit is used to parse the at least one status signal to obtain the corresponding status data when there is no fault in the transmission state.

[0045] The comparison unit is used to compare the state data with the corresponding preset threshold, obtain the comparison result, and determine whether the preset condition is met based on the comparison result.

[0046] In combination with the second aspect and the above implementation methods, in some possible implementation methods, the at least one state signal includes at least one of the following: vehicle speed signal, steering wheel angle signal, filtered hand force signal, steering wheel speed signal, power supply voltage signal of electric power steering system, and operating temperature signal of electric power steering system.

[0047] In combination with the second aspect and the above implementation methods, in some possible implementation methods, the comparison unit is specifically used to determine the corresponding preset threshold based on the actual progress of the deviation compensation state before comparing the state data with the corresponding preset threshold.

[0048] In combination with the second aspect and the above implementation methods, in some possible implementation methods, the comparison unit is specifically used to obtain the duration of the state data; when both the duration and the comparison result meet the preset conditions, it is determined that the preset conditions are met.

[0049] Thirdly, an automobile is provided, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being configured to perform the methods of the first aspect or any possible implementation thereof.

[0050] Fourthly, a computer-readable storage medium is provided that stores computer program code, which, when executed on a computer, causes the computer to perform the methods described in the first aspect or any possible implementation thereof. Attached Figure Description

[0051] Figure 1 This is a schematic diagram of the control logic for the deviation compensation function described in an embodiment of the present invention;

[0052] Figure 2This is a schematic diagram of the control logic for the state transition of the deviation compensation function according to an embodiment of the present invention;

[0053] Figure 3 This is a schematic diagram of the logic flow of the deviation compensation algorithm described in an embodiment of the present invention;

[0054] Figure 4 This is a schematic flowchart of the vehicle deviation compensation optimization method according to an embodiment of the present invention;

[0055] Figure 5 This is a schematic diagram of the vehicle deviation compensation optimization device according to an embodiment of the present invention;

[0056] Figure 6 This is a schematic diagram of the vehicle described in an embodiment of the present invention. Detailed Implementation

[0057] The technical solutions in this application will be clearly and thoroughly described below with reference to the accompanying drawings. In the description of the embodiments of this application, unless otherwise stated, " / " means "or," for example, A / B can mean A or B. "And / or" in the text is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Furthermore, in the description of the embodiments of this application, "multiple" refers to two or more than two.

[0058] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as implying or suggesting relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0059] Traditional PDC (Pull Drift Compensation) is a unique function of EPS (Electric Power Steering) that can compensate for vehicle drift caused by factors such as suspension positioning errors, abnormal tire pressure, and crosswinds.

[0060] like Figure 1 As shown, the vehicle can acquire steering wheel angle, steering wheel speed, input hand force, and vehicle speed in real time during driving. Then, the input hand force is low-pass filtered, and the steering wheel angle, steering wheel speed, vehicle speed, and filtered input hand force are input for PDC state recognition and PDC compensation torque calculation to obtain the compensation torque. At the same time, the vehicle speed gain value is calculated. The vehicle speed gain value is multiplied by the compensation torque and then PDC torque is limited to obtain the PDC torque request value. The PDC torque request value is used for deviation compensation.

[0061] However, during the execution of the vehicle's deviation compensation function, no corresponding safety measures were set up to address potential faults or safety hazards that might occur. This made it difficult for the obtained deviation compensation value to achieve the corresponding functional effect in the event of a fault. There were problems such as the inability to determine abnormal input signals or external conditions of the vehicle, the difficulty in implementing corresponding deviation compensation control based on abnormal vehicle conditions, and low vehicle safety and reliability.

[0062] The deviation compensation state transition control logic of this application embodiment will be described next. See [link to relevant documentation]. Figure 2 The system acquires the vehicle's steering wheel angle signal, steering wheel speed signal, hand force signal, and vehicle speed signal. The hand force signal is then processed using a filtering formula, and PDC state transition is performed based on the filtered hand force signal, steering wheel angle signal, steering wheel speed signal, and vehicle speed input signal. The PDC state transition specifically includes a preset first deviation compensation process and a preset second deviation compensation process. The preset first deviation compensation process includes no compensation mode and compensation mode, outputting a preset first deviation compensation result. The preset second deviation compensation process includes a learn-and-hold mode and a learn mode, outputting a preset second deviation compensation result. In the preset first deviation compensation process, if the vehicle is determined to be in compensation mode, the preset second deviation compensation process is further executed; otherwise, the preset first deviation compensation result is directly output. The specific mode of the deviation compensation process can be determined by the numerical range of the state signal, and PDC deviation compensation control is performed based on the deviation compensation result. Among them, the first preset deviation compensation process is used to determine whether deviation compensation torque needs to be provided, and the second preset deviation compensation process is used to determine how to provide deviation compensation torque. Specifically, in the compensation mode, the vehicle is controlled to output the deviation compensation value purely. In the no-compensation mode, the deviation compensation value is 0. In the learning mode, the deviation compensation value is output in real time through the learning algorithm. In the learning and holding mode, the compensation value is output when exiting the learning state and the deviation compensation value is always kept unchanged.

[0063] A logical diagram of the learning algorithm is shown below. Figure 3 As shown, the rack force required for the vehicle to move straight is estimated using the driver's hand force signal and the EPS motor assist signal as inputs. The assist current provided by the EPS motor required for the vehicle to move straight is calculated using the rack force required for the vehicle to move straight as input. The PDC compensation current is calculated using the EWMA algorithm using the calculated PDC compensation current as input. The final PDC current (Iq*) is obtained using the calculated PDC compensation current as input. The final PDC current (Iq*) is then added to the total motor assist current (Iq) using the EPS assist current calculation module as input.

[0064] In summary, during the normal vehicle drift compensation control process, any abnormal signal or external conditions can lead to mislearning during the drift compensation process, resulting in the output of incorrect abnormal current. This can cause the final drift compensation torque to fail to meet the actual drift compensation requirements of the vehicle, and even pose a safety risk. Therefore, it is possible to add corresponding optimization methods to the vehicle drift compensation process to achieve corresponding drift compensation control based on abnormal vehicle conditions, thereby avoiding the output of abnormal current due to mislearning during vehicle drift compensation. However, there are various specific implementation methods, which can be set by those skilled in the art according to the actual situation, and no specific restrictions are imposed here.

[0065] Figure 3 This is a schematic flowchart illustrating an optimization method for vehicle deviation compensation provided in an embodiment of this application.

[0066] For example, such as Figure 4 As shown, the method includes:

[0067] In step S401, it is detected whether the vehicle is in a deviation compensation state.

[0068] It is understood that, in the embodiments of this application, the vehicle's motion state and body angle can be sensed by sensor devices installed on the vehicle, such as acceleration sensors and steering angle sensors. The vehicle motion data collected by the sensors can be processed to extract features related to the deviation compensation state from the collected data. For example, by analyzing changes in the vehicle's acceleration and steering angle, deviation features can be extracted. Then, based on the extracted features, predefined rules are used to determine whether the vehicle is in a deviation compensation state. Based on the determination result, the deviation compensation optimization strategy in the following steps is executed.

[0069] In step S402, when the vehicle is detected to be in a deviation compensation state, it is determined whether at least one state signal of the vehicle meets a preset condition.

[0070] It should be noted that the preset conditions can be set by those skilled in the art according to the actual situation, and no specific limitations are made here.

[0071] It is understood that, in the embodiments of this application, by obtaining the vehicle's deviation compensation state obtained in the above steps, when the vehicle is detected to be in deviation compensation state, it is further determined whether the vehicle has at least one state signal that meets a preset condition.

[0072] Specifically, abnormal conditions for vehicle deviation can be preset based on actual circumstances. Simultaneously, the status signals received by the vehicle deviation compensation system can be monitored; these signals can be collected by sensors. The real-time acquired status signals are compared with the preset conditions to determine if the status signal is abnormal, and corresponding measures are then taken.

[0073] Optionally, in some embodiments, at least one status signal includes at least one of the following: vehicle speed signal, steering wheel angle signal, filtered hand force signal, steering wheel speed signal, power supply voltage signal of electric power steering system, and operating temperature signal of electric power steering system.

[0074] In actual operation, appropriate sensors can be used to acquire various status signals. For example, vehicle speed signals can be obtained through ESP, steering wheel angle signals through a steering wheel angle sensor, filtered hand force signals through a torque sensor, steering wheel speed signals through a steering wheel speed sensor, and the power supply voltage and operating temperature signals of the electric power steering system through corresponding sensors. The data acquired by the sensors is then transmitted in the form of analog or digital signals. Specifically, the hand force signals that require filtering can be processed using signal processing algorithms to remove noise or unwanted frequency components, resulting in a more accurate signal.

[0075] In this application embodiment, at least one of the following status signals includes vehicle speed signal, steering wheel angle signal, filtered hand force signal, steering wheel speed signal, power supply voltage signal of electric power steering system, and operating temperature signal of electric power steering system. The required status signal can be obtained by using appropriate sensor devices, collecting sensor data, filtering and signal processing, decoding and calculating data, so as to be further used for vehicle deviation compensation optimization processing.

[0076] Optionally, in some embodiments, determining whether at least one status signal of the vehicle meets a preset condition includes: determining whether there is a fault in the transmission status of at least one status signal; if there is no fault in the transmission status, parsing at least one status signal to obtain corresponding status data; comparing the status data with a corresponding preset threshold to obtain a comparison result, and determining whether the preset condition is met based on the comparison result.

[0077] It should be noted that the preset threshold can be set by those skilled in the art according to the actual situation, and no specific limitation is made here.

[0078] It is understood that, in the embodiments of this application, a transmission failure of at least one vehicle status signal can manifest as an anomaly in the status signal received by the vehicle, i.e., the vehicle cannot receive the status signal transmitted via the transmission route or the received status signal cannot be parsed to obtain corresponding data. When the vehicle determines that there is no transmission failure in the status signal transmission, the status signals, including the vehicle speed signal, steering wheel angle signal, filtered hand force signal, steering wheel speed signal, power supply voltage signal of the electric power steering system, and operating temperature signal of the electric power steering system, are decoded and calculated to convert them into usable status data. For example, for the steering angle signal, the sensor output can be read and calibrated to convert it into an actual angle value. The obtained status data is compared with corresponding preset thresholds to obtain comparison results, which determine whether the status signal meets preset conditions.

[0079] This application embodiment can determine whether there is a fault in the transmission status of at least one status signal, and when there is no fault in the transmission status, it can parse at least one status signal to obtain the corresponding status data, compare the status data with the corresponding preset threshold, and determine whether the preset conditions are met based on the comparison result, thereby avoiding the normal operation of vehicle deviation compensation due to signal transmission failure or error. By screening the signal fault conditions, the corresponding deviation compensation optimization can be performed according to the signal fault conditions.

[0080] Optionally, in some embodiments, before comparing the state data with the corresponding preset threshold, the method further includes: determining the corresponding preset threshold based on the actual progress of the deviation compensation state.

[0081] It is understood that, in the embodiments of this application, the corresponding preset thresholds can be determined based on the actual progress of different deviation compensation states. That is, the thresholds corresponding to vehicle speed, steering wheel angle, filtered hand force, steering wheel speed, power supply voltage of the electric power steering system, and operating temperature of the electric power steering system in the state data can be confirmed by the actual progress of the deviation compensation state to obtain at least one state data, and whether the preset conditions are met can be confirmed according to the actual progress of the deviation compensation state.

[0082] Optionally, in some embodiments, determining whether a preset condition is met based on the comparison result includes: the duration of acquiring the state data; and determining that the preset condition is met when both the duration and the comparison result meet the preset condition.

[0083] It should be noted that the preset conditions can be set by those skilled in the art according to the actual situation, and no specific limitations are made here.

[0084] It is understood that in the embodiments of this application, during the real-time acquisition of status signals, the timestamps of the status signals can be recorded, and the duration of the status data can be obtained by calculating the difference between the timestamps. A comparison result is obtained based on the preset threshold confirmed in the above steps. When both the duration and the comparison result meet the preset conditions, it is determined that the preset conditions are met. Then, based on the judgment result, the corresponding deviation compensation optimization strategy is triggered. By increasing the time threshold, the learning speed reduction caused by the vehicle frequently exiting the learning mode is avoided. This prevents the second deviation compensation state from migrating to the learning-holding mode in real time when the conditions for entering the learning mode are not met, thus slowing down the deviation compensation learning speed and affecting the performance of the deviation compensation function. The embodiments of this application can determine whether the status signal meets the preset conditions based on the duration of the status data and the comparison result, and trigger corresponding measures based on whether the preset conditions are met, thereby helping to determine whether there is an abnormal state in the vehicle deviation compensation and taking appropriate countermeasures for the abnormal situation.

[0085] In step S403, if any of the at least one state signal satisfies the preset condition, the corresponding deviation compensation optimization value is determined according to the actual progress of the deviation compensation state, and the actual deviation compensation torque of the actual process is optimized using the deviation compensation optimization value.

[0086] It is understood that in the embodiments of this application, when any state signal meets the preset conditions, such as the vehicle speed exceeding a certain threshold or the steering wheel angle being too large, the real-time acquired state signal value is compared with the preset abnormal conditions to determine whether the preset conditions are met. Then, based on the actual process, the corresponding deviation compensation optimization value is determined, and the deviation compensation optimization value is used to optimize the actual deviation compensation torque output.

[0087] Optionally, in some embodiments, determining the corresponding deviation compensation optimization value based on the actual progress of the deviation compensation state includes: determining whether the vehicle is in a preset first deviation compensation process; if the vehicle is in a preset first deviation compensation process, controlling the vehicle to enter a no-compensation mode, obtaining the first deviation compensation torque corresponding to the no-compensation mode, and obtaining the deviation compensation optimization value based on the first deviation compensation torque.

[0088] It should be noted that the preset first deviation compensation process can be set by those skilled in the art according to the actual situation, and no specific limitation is made here.

[0089] Specifically, based on the state data confirmed in the above steps, the corresponding preset thresholds, and the preset conditions for duration and comparison results, the preset conditions corresponding to the preset first deviation compensation process can be confirmed. For example, as described in the control logic content of the PDC state transition above, the actual process of the deviation compensation state includes the preset first deviation compensation process, and the corresponding threshold settings and preset conditions are as follows.

[0090] If the vehicle is in the preset first deviation compensation process, when the vehicle speed is less than the vehicle speed threshold, the steering wheel angle is greater than the steering wheel angle threshold, the filtered hand force is greater than the hand force threshold, the steering wheel speed is greater than the steering wheel speed threshold, the power supply voltage of the electric power steering system is greater than the high voltage threshold or less than the low voltage threshold, the operating temperature of the electric power steering system is greater than the high temperature threshold or less than the low temperature threshold, the vehicle is controlled to enter the no-compensation mode, and at this time the first deviation compensation torque corresponding to the no-compensation mode is 0. Based on the first deviation compensation torque, the deviation compensation optimization value is obtained to optimize the deviation compensation torque actually executed by the vehicle at this time.

[0091] This application embodiment can control the vehicle to enter a no-compensation mode when the vehicle is in a preset first deviation compensation process, and obtain the first deviation compensation torque corresponding to the no-compensation mode to obtain the deviation compensation optimization value. Then, the control system adjusts the electric power steering system or other related control devices based on the deviation compensation optimization value to achieve the optimized deviation compensation effect, so that the deviation compensation of the vehicle is more in line with the actual working conditions of the vehicle and further reduces the safety risks of the vehicle.

[0092] Optionally, in some embodiments, determining the corresponding deviation compensation optimization value based on the actual progress of the deviation compensation state includes: determining whether the vehicle is in a preset second deviation compensation process; if the vehicle is in a preset second deviation compensation process, controlling the vehicle to enter a learning and holding mode, obtaining the second deviation compensation torque corresponding to the learning and holding mode, and obtaining the deviation compensation optimization value based on the second deviation compensation torque.

[0093] It should be noted that the preset second deviation compensation process can be set by those skilled in the art according to the actual situation, and is not specifically limited here. Specifically, the preset conditions corresponding to the preset second deviation compensation process can be determined based on the state data confirmed in the above steps, the corresponding preset thresholds, and the preset conditions for duration and comparison results. For example, as in the control logic content of the PDC state transition described above, the actual process of deviation compensation state includes the preset second deviation compensation process, and the corresponding threshold settings and preset conditions are as follows.

[0094] If the vehicle is in the preset second deviation compensation process, when the vehicle speed is less than the minimum vehicle speed threshold, the vehicle speed is greater than the maximum vehicle speed threshold, the steering wheel angle is greater than the steering wheel angle threshold and the duration is greater than or equal to the steering wheel angle time threshold t1, the filtered hand force is less than the minimum hand force threshold and the duration is greater than or equal to the first hand force time threshold t2, the filtered hand force is greater than the maximum hand force threshold and the duration is greater than or equal to the second hand force time threshold t3, the steering wheel speed is greater than the steering wheel speed threshold, the power supply voltage of the electric power steering system is greater than the high voltage threshold or less than the low voltage threshold, and the operating temperature of the electric power steering system is greater than the high temperature threshold or less than the low temperature threshold, the vehicle is controlled to enter the learning and holding mode. At this time, the second deviation compensation torque corresponding to the learning and holding mode is obtained, and the deviation compensation optimization value is obtained based on the second deviation compensation torque to optimize the deviation compensation torque actually executed by the vehicle at this time. By increasing the time thresholds t1, t2, and t3, the problems of immediate exiting the learning mode if the learning mode is not met and slow learning speed caused by frequent exiting the learning mode are solved, thus improving the performance of the product.

[0095] This application embodiment can control the vehicle to enter a learning and holding mode when the vehicle is in a preset second deviation compensation process, and obtain the second deviation compensation torque corresponding to the learning and holding mode to obtain the deviation compensation optimization value. Then, the control system adjusts the electric power steering system or other related control devices based on the deviation compensation optimization value to achieve the optimized deviation compensation effect, thereby avoiding the vehicle from mislearning during the deviation compensation process and further improving the management strategy of deviation compensation learning.

[0096] In summary, this application optimizes vehicle drift compensation by implementing corresponding drift compensation control when the vehicle's status signal becomes abnormal. This ensures the vehicle outputs drift compensation torque that matches the current driving conditions, thereby guaranteeing stable drift compensation output and improving the safety optimization management of vehicle drift compensation, making it more intelligent and practical. This solves the technical problem of being unable to determine abnormal input signals or external conditions when determining torque compensation values ​​based on actual driving conditions. This makes it difficult to implement corresponding drift compensation control based on abnormal vehicle conditions, affecting the safety management level during driving and reducing vehicle reliability.

[0097] Figure 5 This is a schematic diagram of the structure of the vehicle deviation compensation optimization device provided in the embodiments of this application.

[0098] For example, such as Figure 5 As shown, the device 10 may include:

[0099] Detection module 100: Used to detect whether the vehicle is in a deviation compensation state.

[0100] Judgment module 200: When the vehicle is detected to be in a deviation compensation state, it determines whether at least one state signal of the vehicle meets a preset condition.

[0101] Optimization module 300: When any signal in at least one state signal meets a preset condition, it determines the corresponding deviation compensation optimization value according to the actual progress of the deviation compensation state, and uses the deviation compensation optimization value to optimize the actual deviation compensation torque of the actual process.

[0102] Optionally, in some embodiments, the optimization module 300 includes:

[0103] First judgment unit: used to determine whether the vehicle is in the preset first deviation compensation process.

[0104] First acquisition unit: When the vehicle is in the preset first deviation compensation process, it controls the vehicle to enter the no-compensation mode, acquires the first deviation compensation torque corresponding to the no-compensation mode, and obtains the deviation compensation optimization value based on the first deviation compensation torque.

[0105] Optionally, in some embodiments, the optimization module 300 includes:

[0106] The second judgment unit is used to determine whether the vehicle is in the preset second deviation compensation process.

[0107] The second acquisition unit is used to control the vehicle to enter the learning and holding mode when the vehicle is in the preset second deviation compensation process, acquire the second deviation compensation torque corresponding to the learning and holding mode, and obtain the deviation compensation optimization value based on the second deviation compensation torque.

[0108] Optionally, in some embodiments, the determination module 200 includes:

[0109] The third judgment unit is used to determine whether there is a fault in the transmission status of at least one status signal.

[0110] Parsing unit: Used to parse at least one status signal to obtain the corresponding status data if there is no fault in the transmission state.

[0111] Comparison unit: Used to compare state data with the corresponding preset threshold, obtain the comparison result, and determine whether the preset conditions are met based on the comparison result.

[0112] Optionally, in some embodiments, at least one status signal includes at least one of the following: vehicle speed signal, steering wheel angle signal, filtered hand force signal, steering wheel speed signal, power supply voltage signal of electric power steering system, and operating temperature signal of electric power steering system.

[0113] Optionally, in some embodiments, the comparison unit is specifically used to determine the corresponding preset threshold based on the actual progress of the deviation compensation state before comparing the state data and the corresponding preset threshold.

[0114] Optionally, in some embodiments, the comparison unit is specifically used to obtain the duration of the state data; when both the duration and the comparison result meet the preset conditions, it is determined that the preset conditions are met.

[0115] It should be noted that the specific implementation of the vehicle deviation compensation optimization device in this embodiment of the invention is similar to the specific implementation of the vehicle deviation compensation optimization method. In order to reduce redundancy, it will not be described in detail here.

[0116] In summary, this application optimizes vehicle drift compensation by implementing corresponding drift compensation control when the vehicle's status signal becomes abnormal. This ensures the vehicle outputs drift compensation torque that matches the current driving conditions, thereby guaranteeing stable drift compensation output and improving the safety optimization management of vehicle drift compensation, making it more intelligent and practical. This solves the technical problem of being unable to determine abnormal input signals or external conditions when determining torque compensation values ​​based on actual driving conditions. This makes it difficult to implement corresponding drift compensation control based on abnormal vehicle conditions, affecting the safety management level during driving and reducing vehicle reliability.

[0117] Figure 6 This is a schematic diagram of the structure of a car provided in an embodiment of this application.

[0118] It should be understood that the methods described above can be applied to... Figure 6 In the car with the structure shown.

[0119] Furthermore, this application also protects an apparatus that may include a memory and a processor, wherein the memory stores executable program code, and the processor is used to call and execute the executable program code to perform the vehicle deviation compensation optimization method provided in this application.

[0120] This embodiment can divide the device into functional modules based on the above method example. For example, each module can correspond to a separate function, or two or more functions can be integrated into one processing module. The integrated module can be implemented in hardware. It should be noted that the module division in this embodiment is illustrative and only represents one logical functional division. In actual implementation, there may be other division methods.

[0121] When each functional module is divided according to its corresponding function, the device may also include a detection module, a judgment module, and an optimization module. It should be noted that all relevant content regarding the steps involved in the above method embodiments can be referenced to the functional descriptions of the corresponding functional modules, and will not be repeated here.

[0122] It should be understood that the device provided in this embodiment is used to perform the above-described vehicle deviation compensation optimization method, and therefore can achieve the same effect as the above-described implementation method.

[0123] When using integrated units, the device may include a processing module and a storage module. When applied to an automobile, the processing module can be used to control and manage the vehicle's movements. The storage module can be used to support the vehicle in executing program code, etc.

[0124] The processing module may be a processor or a controller, which can implement or execute various exemplary logic blocks, modules, and circuits as disclosed in this application. The processor may also be a combination of computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and microprocessors, etc., and the storage module may be a memory.

[0125] In addition, the device provided in the embodiments of this application may specifically be a chip, component or module. The chip may include a connected processor and a memory. The memory is used to store instructions. When the processor calls and executes the instructions, the chip can execute the vehicle deviation compensation optimization method provided in the above embodiments.

[0126] This embodiment also provides a computer-readable storage medium storing computer program code. When the computer program code is run on a computer, the computer executes the above-described related method steps to implement the vehicle deviation compensation optimization method provided in the above embodiment.

[0127] In this embodiment, the device, computer-readable storage medium, computer program product, or chip are all used to execute the corresponding methods provided above. Therefore, the beneficial effects they can achieve can be referred to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0128] Through the above description of the embodiments, those skilled in the art will understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0129] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only 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 device, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0130] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. An optimized method for vehicle deviation compensation, characterized in that, Includes the following steps: Check if the vehicle is in a pull-to-side compensation state; When the vehicle is detected to be in the lane deviation compensation state, it is determined whether at least one state signal of the vehicle meets a preset condition; wherein, determining whether at least one state signal of the vehicle meets the preset condition includes: Determine whether there is a fault in the transmission status of the at least one status signal; If there is no fault in the transmission state, then the at least one state signal is parsed to obtain the corresponding state data; The state data is compared with the corresponding preset threshold to obtain the comparison result; The duration of the state data is obtained; when the comparison result indicates that the state data exceeds the preset threshold and the duration reaches the preset time threshold, it is determined that the preset condition is met; and If any of the at least one state signal satisfies the preset condition, then the corresponding deviation compensation optimization value is determined according to the actual progress of the deviation compensation state, and the actual deviation compensation torque of the actual process is optimized using the deviation compensation optimization value.

2. The method according to claim 1, characterized in that, The step of determining the corresponding deviation compensation optimization value based on the actual progress of the deviation compensation state includes: Determine whether the vehicle is in the preset first deviation compensation process; If the vehicle is in the preset first deviation compensation process, the vehicle is controlled to enter the no-compensation mode, the first deviation compensation torque corresponding to the no-compensation mode is obtained, and the deviation compensation optimization value is obtained based on the first deviation compensation torque.

3. The method according to claim 2, characterized in that, The step of determining the corresponding deviation compensation optimization value based on the actual progress of the deviation compensation state includes: Determine whether the vehicle is in a preset second deviation compensation process; If the vehicle is in the preset second deviation compensation process, the vehicle is controlled to enter the learning and holding mode, the second deviation compensation torque corresponding to the learning and holding mode is obtained, and the deviation compensation optimization value is obtained based on the second deviation compensation torque.

4. The method according to claim 1, characterized in that, The at least one status signal includes at least one of the following: vehicle speed signal, steering wheel angle signal, filtered hand force signal, steering wheel speed signal, power supply voltage signal of the electric power steering system, and operating temperature signal of the electric power steering system.

5. The method according to claim 4, characterized in that, Before comparing the state data with the corresponding preset threshold, the method further includes: The corresponding preset threshold is determined based on the actual progress of the deviation compensation state.

6. An optimization device for vehicle deviation compensation, characterized in that, To implement the optimized method for vehicle drift compensation as described in any one of claims 1-5, the apparatus comprises: The detection module is used to detect whether the vehicle is in a deviation compensation state; The judgment module is used to determine whether at least one state signal of the vehicle satisfies a preset condition when the vehicle is detected to be in the deviation compensation state; and An optimization module is used to determine a corresponding deviation compensation optimization value based on the actual progress of the deviation compensation state when any of the at least one state signal satisfies the preset condition, and to optimize the actual deviation compensation torque of the actual process using the deviation compensation optimization value.

7. A vehicle, characterized in that, include: The memory, the processor, and the computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the optimized method for vehicle siding compensation as described in any one of claims 1-5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by the processor to implement the optimized method for vehicle drift compensation as described in any one of claims 1-5.

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