Road feeling simulation method, device, module, electronic equipment and storage medium

Abstract

The application discloses a road feeling simulation method and device, a module, an electronic device and a storage medium, and belongs to the technical field of vehicles. The road feeling simulation method is applied to a target vehicle, a steer-by-wire system of the target vehicle comprises a steering actuator and a feel simulator, and the method comprises the following steps: acquiring rack position information of the steering actuator; determining first road feeling simulation amplitude information based on the rack position information; and determining target road feeling simulation amplitude information of the target vehicle based on the first road feeling simulation amplitude information and driving state information of the target vehicle, wherein the target road feeling simulation amplitude information is used for adjusting output torque of the feel simulator. The method can effectively convert road conditions into simulated feel and transmit the simulated feel to a driver in real time by acquiring the rack position information of the steering actuator and fusing the driving state information of the vehicle, so that the driver can perceive the road conditions in real time, and the safety of driving can be improved.

Description

Technical Field

[0001] This application belongs to the field of vehicle technology, and in particular relates to a road feel simulation method, device, module, electronic device and storage medium. Background Technology

[0002] Traditional steering systems have a mechanical connection between the steering wheel and the steering wheels. During driving, feedback from the tires' contact with the road surface is transmitted to the steering wheel via a mechanical path, allowing the driver to perceive road conditions in real time. Steer-by-wire systems eliminate this mechanical connection, decoupling steering wheel input from steering wheel output. However, feedback from the road surface and tires cannot be directly transmitted to the steering wheel, preventing the driver from perceiving road conditions in real time. This weak road feel can hinder the driver's ability to effectively perceive changes in road conditions, potentially impacting driving safety.

[0003] Currently, there is an urgent need for a road feel simulation method that can effectively convert road conditions into simulated hand feel. Summary of the Invention

[0004] This application aims to address at least one of the technical problems existing in the prior art. To this end, this application proposes a road feel simulation method, device, module, electronic device, and storage medium, which can effectively convert road conditions into simulated feel, enhance the road feel simulation feedback of the steer-by-wire system, and help improve driving safety.

[0005] In a first aspect, this application provides a road feel simulation method, which is applied to a target vehicle. The target vehicle's steer-by-wire system includes a steering actuator and a feel simulator. The method includes:

[0006] Obtain the rack position information of the steering actuator;

[0007] Based on the rack position information, the first road sense simulation amplitude information is determined;

[0008] Based on the first road feel simulation amplitude information and the driving status information of the target vehicle, the target road feel simulation amplitude information of the target vehicle is determined, and the target road feel simulation amplitude information is used to adjust the output torque of the hand feel simulator.

[0009] According to the road feel simulation method of this application, by obtaining the rack position information of the steering actuator and integrating the vehicle's driving status information, the road feel simulation feedback of the steer-by-wire system is enhanced. This method can effectively convert road conditions into simulated hand feel and transmit it to the driver in real time, enabling the driver to perceive the road conditions in real time and helping to improve driving safety.

[0010] According to one embodiment of this application, the driving state information includes the vehicle speed information of the target vehicle, and after determining the target road sense simulation amplitude information of the target vehicle, the method further includes:

[0011] Based on the rack position information and the vehicle speed information, determine the road sense simulation frequency information and trigger time information;

[0012] Based on the target road feel simulation amplitude information, the road feel simulation frequency information, and the trigger time information, the output torque of the hand feel simulator is controlled.

[0013] According to one embodiment of this application, the driving status information includes the vehicle speed information and steering wheel torque information of the target vehicle.

[0014] According to one embodiment of this application, obtaining the rack position information of the steering actuator includes:

[0015] Obtain the wheel speed information of the target vehicle;

[0016] Based on the wheel speed information, the rack position information is determined.

[0017] According to one embodiment of this application, the rack position information is collected by the steering actuator's angle sensor.

[0018] Secondly, this application provides a road feel simulation device, which is applied to a target vehicle. The target vehicle's steer-by-wire system includes a steering actuator and a feel simulator. The device includes:

[0019] The acquisition module is used to acquire the rack position information of the steering actuator;

[0020] The first processing module is used to determine the first road sense simulation amplitude information based on the rack position information;

[0021] The second processing module is used to determine the target road feel simulation amplitude information of the target vehicle based on the first road feel simulation amplitude information and the driving status information of the target vehicle. The target road feel simulation amplitude information is used to adjust the output torque of the hand feel simulator.

[0022] According to the road feel simulation device of this application, by acquiring the rack position information of the steering actuator and integrating the vehicle's driving status information, the road feel simulation feedback of the steer-by-wire system is enhanced. The road conditions can be effectively converted into simulated hand feel and transmitted to the driver in real time, allowing the driver to perceive the road conditions in real time, which helps to improve driving safety.

[0023] Thirdly, this application provides a road feel simulation module applied to a target vehicle. The target vehicle's steer-by-wire system includes a steering actuator and a feel simulator. The road feel simulation module includes:

[0024] A trigger module and an amplitude module, wherein the output terminal of the trigger module is connected to the input terminal of the amplitude module;

[0025] The triggering module is used to output first road feel simulation amplitude information based on the rack position information of the steering actuator. The amplitude module is used to output target road feel simulation amplitude information of the target vehicle based on the first road feel simulation amplitude information and the driving state information of the target vehicle. The target road feel simulation amplitude information is used to adjust the output torque of the hand feel simulator.

[0026] According to the road feel simulation module of this application, by acquiring the rack position information of the steering actuator and integrating the vehicle's driving status information, the road feel simulation feedback of the steer-by-wire system is enhanced. The road conditions can be effectively converted into simulated hand feel and transmitted to the driver in real time, allowing the driver to perceive the road conditions in real time, which helps to improve driving safety.

[0027] According to one embodiment of this application, the driving status information includes the vehicle speed information of the target vehicle, and the road feel simulation module further includes:

[0028] The system includes a frequency calculation module and a road feel simulation torque module. The input of the road feel simulation torque module is connected to the output of the amplitude module. The input of the frequency calculation module is connected to the output of the trigger module. The output of the frequency calculation module is connected to the road feel simulation torque module. The frequency calculation module is used to output road feel simulation frequency information based on the rack position information and the vehicle speed information.

[0029] A trigger time module, wherein the input terminal of the trigger time module is connected to the output terminal of the frequency calculation module, and the output terminal of the trigger time module is connected to the input terminal of the road feel simulation torque module;

[0030] The trigger time module is used to output trigger time information based on the road feel simulation frequency information and the trigger signal output by the trigger module. The road feel simulation torque module is used to output the output torque of the hand feel simulator based on the target road feel simulation amplitude information, the trigger time information and the road feel simulation frequency information.

[0031] Fourthly, this application provides an electronic device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the road sense simulation method as described in the first aspect above.

[0032] Fifthly, this application provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the road sense simulation method as described in the first aspect above.

[0033] In a sixth aspect, this application provides a computer program product, including a computer program that, when executed by a processor, implements the road feel simulation method as described in the first aspect above.

[0034] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0035] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0036] Figure 1 This is a schematic flowchart of the road feel simulation method provided in the embodiments of this application;

[0037] Figure 2 This is a schematic diagram of the road feel simulation device provided in the embodiments of this application;

[0038] Figure 3 This is one of the structural schematic diagrams of the road feel simulation module provided in the embodiments of this application;

[0039] Figure 4 This is a second schematic diagram of the road feel simulation module provided in the embodiments of this application;

[0040] Figure 5 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application.

[0041] Figure label:

[0042] The road feel simulation module 300, the trigger module 310, the frequency calculation module 320, the trigger time module 330, the amplitude module 340, and the road feel simulation torque module 350 are included. Detailed Implementation

[0043] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0044] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0045] In related technologies, there are two methods for simulating road feel in steer-by-wire systems:

[0046] Firstly, the vehicle dynamics are estimated in real time through vehicle dynamics models, and the feel simulator simulates the desired road feel feedback through motor torque. The input parameters used by these methods are the dynamics of the whole vehicle, which cannot reflect the subtle dynamic changes between the road surface and the tires.

[0047] Secondly, by using the motor torque output of the steering actuator to estimate the rack force in real time, and extracting the road vibration information by the frequency of rack force change, and then using the motor torque of the hand feel simulator to simulate the road feedback, this method is limited by the system response inertia of the steering actuator and is difficult to obtain medium to high frequency road feel.

[0048] None of the above road feel simulation methods can effectively convert road conditions into simulated driving feel.

[0049] The road sense simulation method, road sense simulation device, electronic device, and readable storage medium provided in this application will be described in detail below with reference to the accompanying drawings and through specific embodiments and application scenarios.

[0050] The road feel simulation method can be applied to the terminal, and can be executed by the hardware or software in the terminal.

[0051] The terminal includes, but is not limited to, portable communication devices such as mobile phones or tablets with touch-sensitive surfaces (e.g., touchscreen displays and / or touchpads). It should also be understood that, in some embodiments, the terminal may not be a portable communication device, but rather a desktop computer with touch-sensitive surfaces (e.g., touchscreen displays and / or touchpads).

[0052] The following embodiments describe a terminal including a display and a touch-sensitive surface. However, it should be understood that the terminal may include one or more other physical user interface devices such as a physical keyboard, mouse, and joystick.

[0053] The road sense simulation method provided in this application embodiment can be executed by an electronic device or a functional module or entity in an electronic device that can implement the road sense simulation method. The electronic devices mentioned in this application embodiment include, but are not limited to, mobile phones, tablets, computers, cameras, and wearable devices. The road sense simulation method provided in this application embodiment will be described below using an electronic device as the execution subject as an example.

[0054] The road feel simulation method provided in this application is applied to a target vehicle, and the steer-by-wire system of the target vehicle includes a steering actuator and a feel simulator.

[0055] The steer-by-wire system converts the driver's actions into electrical signals through sensors. Steer-by-wire is a necessary key technology for autonomous vehicles to achieve path tracking and obstacle avoidance.

[0056] In this embodiment, the steering actuator is a device in the steer-by-wire system that controls the vehicle's movement, and the hand feel simulator can be connected to the steering wheel to provide the driver with appropriate road feel.

[0057] like Figure 1 As shown, the road feel simulation method includes steps 110, 120 and 130.

[0058] Step 110: Obtain the rack position information of the steering actuator.

[0059] It is understandable that when the steering actuator controls the vehicle's movement, the position of the steering actuator's rack changes. The rack position information of the steering actuator includes displacement information of the change in the rack position of the steering actuator when the target vehicle is moving and trigger information of the change in the rack position of the steering actuator when the target vehicle is moving.

[0060] Step 120: Determine the first road sense simulation amplitude information based on the rack position information.

[0061] In this embodiment, the change in the rack position of the steering actuator during vehicle movement can be determined based on the rack position information of the steering actuator, the dynamic characteristics of the steering actuator can be extracted, and then the contact status between the tires and the road surface during the driving of the target vehicle can be determined.

[0062] In this step, the first road feel simulation amplitude information is calculated based on the rack position information of the steering actuator, where the rack position information is the displacement information of the rack position change of the steering actuator when the target vehicle is moving.

[0063] It should be noted that the first road feel simulation amplitude information is the initial road feel simulation amplitude, which is only related to the rack position information of the steering actuator.

[0064] Step 130: Based on the first road sense simulation amplitude information and the driving status information of the target vehicle, determine the target road sense simulation amplitude information of the target vehicle.

[0065] Among them, the target road feel simulation amplitude information is used to adjust the output torque of the hand feel simulator.

[0066] In this step, the target road feel simulation amplitude information of the target vehicle is calculated based on the first road feel simulation amplitude information and the driving status information of the target vehicle during driving. The output torque of the hand feel simulator can be controlled according to the target road feel simulation amplitude information to simulate the contact between the tire and the road surface and provide road feel feedback to the driver.

[0067] It should be noted that the first road feel simulation amplitude information is the initial road feel simulation amplitude, which is related to the rack position information of the steering actuator. In this embodiment, by fusing the first road feel simulation amplitude information and the actual driving state information of the target vehicle, the obtained target road feel simulation amplitude information can more accurately reflect the contact between the tire and the road surface, and simulate a more realistic and effective road feel feedback to the driver.

[0068] In related technologies, vehicle dynamics are estimated in real time through vehicle dynamics models, and the feel simulator simulates the desired road feel feedback through motor torque. The input parameters used by these methods are the dynamics of the whole vehicle, which cannot reflect the subtle dynamic changes between the road surface and the tires.

[0069] In this embodiment, the dynamic changes between the tires and the road surface of the target vehicle are obtained in real time through the rack position information of the steering actuator. The change in the rack position of the steering actuator can accurately reflect the subtle dynamic changes between the road surface and the tires. Then, by integrating the real-time driving status information, the corresponding feedback is simulated in real time as the motor torque of the hand feel simulator (i.e., the target road feel simulation amplitude information). Effective road feel feedback is achieved based on the existing system hardware architecture without adding additional costs.

[0070] According to the road feel simulation method provided in the embodiments of this application, by obtaining the rack position information of the steering actuator and fusing the vehicle's driving status information, the road feel simulation feedback of the steer-by-wire system is enhanced. The road conditions can be effectively converted into simulated hand feel and transmitted to the driver in real time, so that the driver can perceive the road conditions in real time, which helps to improve driving safety.

[0071] In some embodiments, the driving state information includes the vehicle speed information of the target vehicle. After determining the target road sense simulation amplitude information of the target vehicle in step 130, the road sense simulation method may further include:

[0072] Based on rack position information and vehicle speed information, determine road feel simulation frequency information and trigger time information;

[0073] The output torque of the hand feel simulator is controlled based on the target road feel simulation amplitude information, road feel simulation frequency information, and trigger time information.

[0074] In this embodiment, the frequency bandwidth required for road feel simulation, i.e., the road feel simulation frequency information, can be calculated based on the rack position information of the steering actuator and the vehicle speed information of the target vehicle.

[0075] It should be noted that the rack position information includes the triggering information of the change in the rack position of the steering actuator when the target vehicle is moving. The triggering information includes information related to the triggering time of the change in rack position. Based on the rack position information and the vehicle speed information of the target vehicle, the triggering time information for triggering the road feel simulation can also be determined.

[0076] In related technologies, the rack force is estimated in real time by the motor torque output of the steering actuator, and the vibration information of the road surface is extracted by the frequency of the rack force change. Then, the road feedback is simulated by the motor torque of the hand feel simulator. However, this method is limited by the system response inertia of the steering actuator and is difficult to obtain medium to high frequency road feel.

[0077] In this embodiment, based on the rack position information and vehicle speed information, the dynamic changes of the steering actuator caused by changes in the road surface can be obtained. This allows for the calculation of a higher bandwidth for the road feel simulation frequency information, which can realistically reflect changes in the road surface. By combining the target road feel simulation amplitude information, road feel simulation frequency information, and trigger time information, the output torque of the hand feel simulator can be controlled. This effectively converts real road conditions into simulated hand feel and transmits it to the driver, enabling the driver to perceive the road conditions in real time and improving driving safety.

[0078] In some embodiments, the driving status information includes the target vehicle's speed information and steering wheel torque information.

[0079] Among them, steering wheel torque information refers to the torque information of the driver when turning the steering wheel.

[0080] In some embodiments, step 130, determining the target road sense simulation amplitude information of the target vehicle based on the first road sense simulation amplitude information and the driving state information of the target vehicle, may include:

[0081] Based on the first road feel simulation amplitude information, vehicle speed information, and steering wheel torque information, the target road feel simulation amplitude information is determined.

[0082] In this embodiment, the first road feel simulation amplitude information is corrected by using the actual vehicle speed information and steering wheel torque information of the target vehicle. The calculated target road feel simulation amplitude information can more accurately reflect the tire-road contact situation of the target vehicle during driving, and simulate a more realistic and effective road feel feedback to the driver.

[0083] It should be noted that the embodiments of this application use the rack position information of the steering actuator as the source of the road feel simulation signal, and integrate the vehicle's driving status information to effectively enhance the road feel simulation feedback of the steer-by-wire system.

[0084] In this embodiment of the application, the rack position information of the steering actuator can be obtained in the following way.

[0085] In some embodiments, the rack position information is acquired by the steering actuator's angle sensor.

[0086] In this embodiment, the angle sensor collects the rack position information of the steering actuator. The rack position information includes displacement information of the change in rack position of the steering actuator when the target vehicle is moving and trigger information of the change in rack position of the steering actuator when the target vehicle is moving.

[0087] The corner sensor collects rack position information as a source of road sense feedback signal. The sensor collects accurate and high-resolution information, which helps to improve the simulation accuracy of the first road sense simulation amplitude information, the target road sense simulation amplitude information, and the road sense simulation frequency information.

[0088] In this embodiment, the dynamic changes between the tires and the road surface are obtained in real time through the sensor signals of the steering actuator. The corresponding feedback is then simulated in real time as the motor torque of the hand feel simulator and transmitted to the driver through the steering wheel. This allows the driver to perceive the road conditions in real time, which helps to improve driving safety.

[0089] In some embodiments, step 110, obtaining the rack position information of the steering actuator, may include:

[0090] Obtain the wheel speed information of the target vehicle;

[0091] The rack position information is determined based on the wheel speed information.

[0092] In this embodiment, wheel speed information of the target vehicle during its driving process is obtained, and the corresponding rack position information is calculated based on the wheel speed information.

[0093] The road sense simulation method provided in this application can be executed by a road sense simulation device. This application uses a road sense simulation device executing the road sense simulation method as an example to illustrate the road sense simulation device provided in this application.

[0094] This application also provides a road feel simulation device.

[0095] The road feel simulation device is applied to the target vehicle, and the steer-by-wire system of the target vehicle includes a steering actuator and a feel simulator.

[0096] like Figure 2 As shown, the road feel simulation device includes:

[0097] The acquisition module 210 is used to acquire the rack position information of the steering actuator;

[0098] The first processing module 220 is used to determine the first road sense simulation amplitude information based on the rack position information;

[0099] The second processing module 230 is used to determine the target road sense simulation amplitude information of the target vehicle based on the first road sense simulation amplitude information and the driving status information of the target vehicle. The target road sense simulation amplitude information is used to adjust the output torque of the hand feel simulator.

[0100] According to the road feel simulation device provided in the embodiments of this application, by acquiring the rack position information of the steering actuator and integrating the vehicle's driving status information, the road feel simulation feedback of the steer-by-wire system is enhanced. The road conditions can be effectively converted into simulated hand feel and transmitted to the driver in real time, allowing the driver to perceive the road conditions in real time, which helps to improve driving safety.

[0101] In some embodiments, the driving status information includes the target vehicle's speed information. The second processing module 230 is further configured to determine the road feel simulation frequency information and trigger time information based on the rack position information and the vehicle speed information; and to control the output torque of the hand feel simulator based on the target road feel simulation amplitude information, the road feel simulation frequency information and the trigger time information.

[0102] In some embodiments, the driving status information includes the target vehicle's speed information and steering wheel torque information.

[0103] In some embodiments, the acquisition module 210 is used to acquire wheel speed information of the target vehicle;

[0104] The rack position information is determined based on the wheel speed information.

[0105] In some embodiments, the acquisition module 210 is used to acquire rack position information collected by the angle sensor of the steering actuator.

[0106] The road sense simulation device in this application embodiment can be an electronic device or a component within an electronic device, such as an integrated circuit or a chip. The electronic device can be a terminal or other devices besides a terminal. For example, the electronic device can be a mobile phone, tablet computer, laptop computer, PDA, in-vehicle electronic device, mobile internet device (MID), augmented reality (AR) / virtual reality (VR) device, robot, wearable device, ultra-mobile personal computer (UMPC), netbook, or personal digital assistant (PDA), etc. It can also be a server, network attached storage (NAS), personal computer (PC), television set (TV), ATM, or self-service machine, etc. This application embodiment does not specifically limit the device.

[0107] The road feel simulation device in this application embodiment can be a device with an operating system. This operating system can be Android, iOS, or other possible operating systems; this application embodiment does not specifically limit it.

[0108] The road feel simulation device provided in this application embodiment can achieve… Figure 1 The various processes implemented in the method implementation examples will not be described again here to avoid repetition.

[0109] This application also provides a road feel simulation module 300.

[0110] Among them, the road feel simulation module 300 is applied to the target vehicle, and the steer-by-wire system of the target vehicle includes a steering actuator and a feel simulator.

[0111] like Figure 4 As shown, the road feel simulation module 300 may include a trigger module 310, a frequency calculation module 320, a trigger time module 330, an amplitude module 340, and a road feel simulation torque module 350.

[0112] In this embodiment, the output terminal of the trigger module 310 is connected to the input terminal of the amplitude module 340.

[0113] It is understandable that the input end of the trigger module 310 can be connected to the steering actuator, and the trigger module 310 can obtain the rack position information of the steering actuator.

[0114] The trigger module 310 is used to output the first road feel simulation amplitude information based on the rack position information of the steering actuator.

[0115] The amplitude module 340 is used to output the target road sense simulation amplitude information of the target vehicle based on the first road sense simulation amplitude information and the driving status information of the target vehicle. The target road sense simulation amplitude information is used to adjust the output torque of the hand feel simulator.

[0116] According to the road feel simulation module 300 provided in the embodiments of this application, by acquiring the rack position information of the steering actuator and integrating the vehicle's driving status information, the road feel simulation feedback of the steer-by-wire system is enhanced. The road conditions can be effectively converted into simulated hand feel and transmitted to the driver in real time, so that the driver can perceive the road conditions in real time, which helps to improve driving safety.

[0117] In some embodiments, the input terminal of the road feel simulation torque module 350 is connected to the output terminal of the amplitude module 340, the input terminal of the frequency calculation module 320 is connected to the output terminal of the trigger module 310, and the output terminal of the frequency calculation module 320 is connected to the road feel simulation torque module 350.

[0118] The frequency calculation module 320 is used to output road feel simulation frequency information based on rack position information and vehicle speed information.

[0119] In this embodiment, based on the rack position information and vehicle speed information, the dynamic changes of the steering actuator caused by changes in the road surface can be obtained. This allows for the calculation of a higher bandwidth for the road feel simulation frequency information, which can realistically reflect changes in the road surface. By combining the target road feel simulation amplitude information and the road feel simulation frequency information, the output torque of the hand feel simulator can be controlled, effectively converting real road conditions into simulated hand feel and transmitting it to the driver. This enables the driver to perceive the road conditions in real time, improving driving safety.

[0120] In some embodiments, the input terminal of the trigger time module 330 is connected to the output terminal of the frequency calculation module 320, and the output terminal of the trigger time module 330 is connected to the input terminal of the road feel simulation torque module 350.

[0121] Among them, the trigger time module 330 is used to output trigger time information based on the road feel simulation frequency information and the trigger signal output by the trigger module 310, and the road feel simulation torque module 350 is used to output the output torque of the hand feel simulator based on the target road feel simulation amplitude information, the trigger time information and the road feel simulation frequency information.

[0122] The trigger time module 330 outputs corresponding trigger time information based on the road feel simulation frequency information output by the frequency calculation module 320 and the trigger signal output by the trigger module 310. When the road feel simulation torque module 350 outputs the output torque of the hand feel simulator, it adjusts the amplitude, frequency and trigger time of the output torque according to the target road feel simulation amplitude information, road feel simulation frequency information and trigger time information.

[0123] In some embodiments, the driving status information includes the target vehicle's speed information and steering wheel torque information.

[0124] like Figure 3 As shown, the road feel simulation module 300 calculates the output road feel simulation torque through rack position information, vehicle speed information, and steering wheel torque information. The road feel simulation torque is realized through the movement of the drive motor of the hand feel simulator, simulating effective road feel transmission to the steering wheel, so that the driver can perceive the road conditions in real time and improve driving safety.

[0125] The input and output signals of the trigger module 310, frequency calculation module 320, trigger time module 330, amplitude module 340 and road feel simulation torque module 350 within the road feel simulation module 300 are described in detail below.

[0126] The trigger module 310 obtains the rack speed signal, amplitude signal and trigger signal through internal calculation and processing based on the rack position.

[0127] Among them, the rack speed signal and the trigger signal can reflect the displacement information of the rack position change of the steering actuator when the target vehicle is moving and the trigger information of the rack position change of the steering actuator when the target vehicle is moving.

[0128] The amplitude signal corresponds to the first road sense simulation amplitude information determined based on the rack position information. The amplitude signal is the initial road sense simulation amplitude.

[0129] The frequency calculation module 320 calculates the frequency signal required for road sense simulation based on the trigger signal and vehicle speed signal. The frequency signal corresponds to the frequency bandwidth required for road sense simulation, i.e., the road sense simulation frequency information.

[0130] The trigger time module 330 calculates the continuous trigger time signal required for the road sense simulation based on the frequency signal and the trigger signal. The trigger time signal corresponds to the trigger time information for triggering the road sense simulation.

[0131] The amplitude module 340 calculates the torque amplitude signal of the road feel simulation based on the current vehicle speed signal, rack speed signal, amplitude signal and steering wheel torque signal, which is the target road feel simulation amplitude information.

[0132] The road feel simulation torque module 350 calculates the final road feel simulation torque based on the trigger time signal, torque amplitude signal, and frequency signal, and outputs the corresponding road feel simulation torque to the hand feel simulator for road feel simulation.

[0133] In some embodiments, such as Figure 5 As shown, this application embodiment also provides an electronic device 500, including a processor 501, a memory 502, and a computer program stored in the memory 502 and executable on the processor 501. When the program is executed by the processor 501, it implements the various processes of the above-described road sense simulation method embodiment and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0134] It should be noted that the electronic devices in the embodiments of this application include the mobile electronic devices and non-mobile electronic devices described above.

[0135] This application also provides a non-transitory computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the various processes of the above-described road sense simulation method embodiments and achieves the same technical effect. To avoid repetition, it will not be described again here.

[0136] The processor is the processor in the electronic device described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[0137] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described road feel simulation method.

[0138] The processor is the processor in the electronic device described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[0139] This application embodiment also provides a chip, which includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is used to run programs or instructions to implement the various processes of the above-described road sense simulation method embodiments and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0140] It should be understood that the chip mentioned in the embodiments of this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.

[0141] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0142] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a computer software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0143] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

[0144] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0145] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. A road feel simulation method, characterized in that, The method is applied to a target vehicle, the target vehicle's steer-by-wire system including a steering actuator and a feel simulator, and the method includes: Obtain the rack position information of the steering actuator; Based on the rack position information, the first road sense simulation amplitude information is determined; Based on the first road feel simulation amplitude information and the driving status information of the target vehicle, the target road feel simulation amplitude information of the target vehicle is determined, and the target road feel simulation amplitude information is used to adjust the output torque of the hand feel simulator; The rack position information includes displacement information of the rack position change of the steering actuator when the target vehicle is moving and trigger information of the rack position change of the steering actuator when the target vehicle is moving; the driving state information includes the vehicle speed information of the target vehicle, and after determining the target road feel simulation amplitude information of the target vehicle, the method further includes: Based on the rack position information and the vehicle speed information, determine the road sense simulation frequency information and trigger time information; Based on the target road feel simulation amplitude information, the road feel simulation frequency information, and the trigger time information, the output torque of the hand feel simulator is controlled.

2. The road feel simulation method according to claim 1, characterized in that, The driving status information includes the target vehicle's speed and steering wheel torque information.

3. The road feel simulation method according to any one of claims 1-2, characterized in that, The step of obtaining the rack position information of the steering actuator includes: Obtain the wheel speed information of the target vehicle; Based on the wheel speed information, the rack position information is determined.

4. The road feel simulation method according to any one of claims 1-2, characterized in that, The rack position information is collected by the steering actuator's angle sensor.

5. A road feel simulation device, said device being used to implement the road feel simulation method as described in any one of claims 1-4, characterized in that, The device is applied to a target vehicle, the target vehicle's steer-by-wire system including a steering actuator and a hand feel simulator, and the device includes: The acquisition module is used to acquire the rack position information of the steering actuator; The first processing module is used to determine the first road sense simulation amplitude information based on the rack position information; The second processing module is used to determine the target road feel simulation amplitude information of the target vehicle based on the first road feel simulation amplitude information and the driving status information of the target vehicle. The target road feel simulation amplitude information is used to adjust the output torque of the hand feel simulator.

6. A road feel simulation module, said module being applied to the road feel simulation device as described in claim 5, characterized in that, The road feel simulation module is applied to the target vehicle, whose steer-by-wire system includes a steering actuator and a feel simulator. The road feel simulation module includes: A trigger module and an amplitude module, wherein the output terminal of the trigger module is connected to the input terminal of the amplitude module; The triggering module is used to output first road feel simulation amplitude information based on the rack position information of the steering actuator. The amplitude module is used to output target road feel simulation amplitude information of the target vehicle based on the first road feel simulation amplitude information and the driving state information of the target vehicle. The target road feel simulation amplitude information is used to adjust the output torque of the hand feel simulator.

7. The road feel simulation module according to claim 6, characterized in that, The driving status information includes the target vehicle's speed information, and the road sense simulation module further includes: The system includes a frequency calculation module and a road feel simulation torque module. The input of the road feel simulation torque module is connected to the output of the amplitude module. The input of the frequency calculation module is connected to the output of the trigger module. The output of the frequency calculation module is connected to the road feel simulation torque module. The frequency calculation module is used to output road feel simulation frequency information based on the rack position information and the vehicle speed information. A trigger time module, wherein the input terminal of the trigger time module is connected to the output terminal of the frequency calculation module, and the output terminal of the trigger time module is connected to the input terminal of the road feel simulation torque module; The trigger time module is used to output trigger time information based on the road feel simulation frequency information and the trigger signal output by the trigger module. The road feel simulation torque module is used to output the output torque of the hand feel simulator based on the target road feel simulation amplitude information, the trigger time information and the road feel simulation frequency information.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the road feel simulation method as described in any one of claims 1-4.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the road feel simulation method as described in any one of claims 1-4.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the road feel simulation method as described in any one of claims 1-4.

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