Steering control method, device, readable storage medium and vehicle of vehicle
By acquiring vehicle status information and using dynamic models to predict steering torque and angle, the problem of low steering accuracy in flying cars has been solved, achieving higher steering accuracy and a better driving experience.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- CHINA FAW CO LTD
- Filing Date
- 2023-09-27
- Publication Date
- 2026-07-31
AI Technical Summary
Existing flying cars use a steer-by-wire system, which results in no mechanical connection between the steering wheel and the wheels. As a result, the driver cannot directly feel the real feedback from the road surface, leading to low steering precision and a poor driving experience.
By acquiring vehicle status information, using a dynamic calculation model to predict steering torque and angle, and comparing them with reference values, the target steering torque and target angle are determined, and the vehicle is controlled to perform steering operations, thus achieving closed-loop control.
It improves the steering precision of flying cars, enhances the driving experience, and ensures the accuracy of steering operations.
Smart Images
Figure CN117302348B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of vehicle steering control technology, and more specifically, to a vehicle steering control method, apparatus, readable storage medium, and vehicle. Background Technology
[0002] With the continuous development of aviation and vehicle technology, flying vehicles, as a new mode of transportation, have broad application prospects. However, due to weight and space limitations, existing flying cars generally adopt a steer-by-wire system. This system eliminates the mechanical connection between the vehicle's steering wheel and the wheels, resulting in the steering wheel being in a free state. The steering wheel receives less real road information, and the driver cannot directly feel the real feedback from the road surface through the steering wheel, leading to a poor driving experience and even steering operation errors.
[0003] There is currently no effective solution to the technical problem of low steering precision during vehicle operation. Summary of the Invention
[0004] This invention provides a vehicle steering control method, apparatus, readable storage medium, and vehicle, which at least solves the technical problem of low steering accuracy during vehicle operation.
[0005] According to one aspect of the invention, a vehicle steering control method is provided. The method may include: acquiring vehicle state information, wherein the state information is used to at least represent the rotation state of the vehicle's steering wheel and the rotation state of its wheels; determining a predicted steering torque and a predicted steering angle of the vehicle based on the state information; determining a target steering torque of the vehicle based on the predicted steering torque and a reference steering torque, and determining a target steering angle of the vehicle based on the predicted steering angle and a reference steering angle; and controlling the vehicle to perform a steering operation based on the target steering torque and the target steering angle.
[0006] Optionally, based on the state information, determining the predicted steering torque and the predicted steering angle of the vehicle includes: inputting the steering wheel rotation parameters and wheel rotation parameters from the state information into the dynamic calculation model to determine the predicted steering torque and the predicted steering angle, wherein the dynamic calculation model is a pre-trained model that predicts the steering torque and the steering angle of the vehicle based on the steering wheel rotation parameters and wheel rotation parameters.
[0007] Optionally, determining the target steering torque of the vehicle based on the predicted steering torque and the reference steering torque includes: in response to the difference between the predicted steering torque and the reference steering torque being less than a first threshold, obtaining a first weight corresponding to the predicted steering torque and a second weight corresponding to the reference steering torque; and determining the target steering torque as the sum of the product of the predicted steering torque and the first weight and the product of the reference steering torque and the second weight.
[0008] Optionally, the vehicle steering control method further includes: determining the reference steering torque as the target steering torque in response to the difference between the predicted steering torque and the reference steering torque being not less than a first threshold. Optionally, sending a target detection command to the vehicle based on identification information and detection type includes: in response to the detection type being a single detection, obtaining the target detection command corresponding to the target controller based on the identification information of the target controller; and sending the target detection command to the vehicle.
[0009] Optionally, determining the target turning angle of the vehicle based on the predicted turning angle and the reference turning angle includes: in response to the difference between the predicted turning angle and the reference turning angle being less than a second threshold, obtaining a third weight corresponding to the predicted turning angle and a fourth weight corresponding to the reference turning angle; and determining the target turning angle as the sum of the product of the predicted turning angle and the third weight and the product of the reference turning angle and the fourth weight.
[0010] Optionally, the vehicle steering control method further includes: determining the reference angle as the target angle in response to the difference between the predicted angle and the reference angle being not less than a second threshold.
[0011] Optionally, after controlling the vehicle to perform a steering operation, the method further includes: obtaining target state parameters after the vehicle performs the steering operation; and sending the target state parameters to the vehicle's controller area network.
[0012] According to one aspect of the present invention, a vehicle steering control device is provided. The device may include: an acquisition unit for acquiring vehicle state information, wherein the state information is used to at least indicate the rotation state of the vehicle's steering wheel and the rotation state of its wheels; a first determination unit for determining a predicted steering torque and a predicted steering angle of the vehicle based on the state information; a second determination unit for determining a target steering torque of the vehicle based on the predicted steering torque and a reference steering torque, and determining a target steering angle of the vehicle based on the predicted steering angle and the reference steering angle; and a control unit for controlling the vehicle to perform a steering operation based on the target steering torque and the target steering angle.
[0013] According to another aspect of the present invention, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored program, wherein, when the program is run by a processor, it controls the device where the storage medium is located to execute any of the methods in the embodiments of the present invention.
[0014] According to another aspect of the present invention, a processor is also provided. The processor is used to run a program, wherein the program, when running, performs the method of any one of the embodiments of the present invention.
[0015] In this embodiment of the invention, vehicle state information is obtained, wherein the state information is used to at least indicate the rotation state of the vehicle's steering wheel and the rotation state of the wheels; based on the state information, a predicted steering torque and a predicted steering angle of the vehicle are determined; based on the predicted steering torque and a reference steering torque, a target steering torque of the vehicle is determined, and based on the predicted steering angle and a reference steering angle, a target steering angle of the vehicle is determined; based on the target steering torque and the target steering angle, the vehicle is controlled to perform a steering operation. In other words, in this embodiment of the invention, by acquiring the vehicle's state information and using a dynamic model to determine the predicted steering torque and predicted steering angle of the vehicle, and comparing the predicted reference steering torque and reference steering angle with the reference steering torque and reference steering angle of the corresponding vehicle state obtained through pre-simulation, the target steering torque and target steering angle of the vehicle are determined. The vehicle is then controlled to perform steering operations based on these target steering torque and target steering angle. Since the target steering torque and target steering angle of the vehicle are determined with reference to the pre-simulated reference steering torque and reference steering angle, the determined target steering torque and target steering angle can be guaranteed to be more accurate. This allows the vehicle to be controlled to perform steering operations based on the target steering torque and target steering angle, thereby achieving the goal of accurately controlling the vehicle to perform steering operations. This solves the technical problem of low steering accuracy during vehicle operation and achieves the technical effect of improving vehicle steering accuracy. Attached Figure Description
[0016] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this invention, illustrate exemplary embodiments of the invention and are used to explain the invention, but do not constitute an undue limitation of the invention. In the drawings:
[0017] Figure 1 This is a flowchart of a vehicle steering control method according to an embodiment of the present invention;
[0018] Figure 2 This is a schematic diagram of a vehicle steering system according to an embodiment of the present invention;
[0019] Figure 3 This is a schematic diagram of the internal structure of a vehicle steering system according to an embodiment of the present invention;
[0020] Figure 4 This is a schematic diagram of a vehicle steering control device according to an embodiment of the present invention. Detailed Implementation
[0021] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.
[0022] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.
[0023] Example 1
[0024] According to an embodiment of the present invention, a vehicle steering control method is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.
[0025] The vehicle steering control method according to an embodiment of the present invention will be described below.
[0026] Figure 1 This is a flowchart of a vehicle steering control method according to an embodiment of the present invention, such as... Figure 1 As shown, the method may include the following steps:
[0027] Step S101: Obtain vehicle status information.
[0028] In the technical solution provided by step S101 of the present invention, the state information of the vehicle is obtained, wherein the state information is used to at least indicate the rotation state of the steering wheel and the rotation state of the wheels of the vehicle.
[0029] In this embodiment, the vehicle's status information can be monitored and acquired in real time by sensors on the vehicle. The vehicle's status information includes at least steering wheel rotation parameters and wheel rotation parameters. The steering wheel rotation parameters may include at least steering wheel angle, steering wheel speed, and steering wheel torque, while the wheel rotation parameters may include at least vehicle speed and vehicle acceleration.
[0030] For example, this embodiment can obtain information on the vehicle's steering wheel angle, steering wheel speed, and steering wheel torque through a steering wheel sensor, and obtain information on the vehicle's speed and acceleration through a vehicle acceleration sensor.
[0031] In this embodiment, the vehicle's status information is monitored and acquired in real time. The status information is used to at least indicate the rotation status of the steering wheel and the rotation status of the wheels. After acquiring the vehicle's status information, step S102 can be further executed.
[0032] Step S102: Based on the state information, determine the predicted steering torque and the predicted steering angle of the vehicle.
[0033] In the technical solution provided by step S102 of the present invention, after obtaining the vehicle's state information according to step S101, the predicted steering torque and the predicted steering angle of the vehicle can be determined.
[0034] In this embodiment, after obtaining the vehicle's state information, the predicted steering torque and predicted steering angle of the vehicle can be further obtained based on the vehicle's state information. For example, the predicted steering torque and predicted steering angle of the vehicle can be calculated using a dynamic calculation model.
[0035] For example, the dynamics calculation model can be a model pre-trained based on vehicle state information and steering torque and angle under different operating conditions. Based on this, the steering wheel rotation parameters and wheel rotation parameters from the acquired vehicle state information can be input into the dynamics calculation model for prediction, thereby obtaining the predicted steering torque and predicted steering angle of the vehicle. This is merely an example and does not limit the specific process of determining the predicted steering torque and predicted steering angle of the vehicle based on state information.
[0036] In this embodiment, after obtaining the vehicle's state information, the predicted steering torque and predicted steering angle of the vehicle can be further determined based on the dynamic calculation model, so as to determine the predicted steering torque and predicted steering angle of the vehicle when it performs steering under the vehicle state information. Then, step S103 can be further executed.
[0037] Step S103: Based on the predicted steering torque and the reference steering torque, determine the target steering torque of the vehicle, and based on the predicted steering angle and the reference steering angle, determine the target steering angle of the vehicle.
[0038] In the technical solution provided by step S103 of the present invention, after calculating the predicted steering torque and the predicted turning angle of the vehicle, the reference steering torque and reference turning angle of the vehicle under the state information can be obtained, and the target steering torque of the vehicle can be determined by combining the predicted steering torque and the reference steering torque, and the target turning angle of the vehicle can be determined by combining the predicted turning angle and the reference turning angle.
[0039] In this embodiment, the reference steering torque and reference angle corresponding to the vehicle state information under different operating conditions can be calculated in advance based on the vehicle state information under different operating conditions. That is, the vehicle has a pre-stored mapping relationship between the vehicle state information under different operating conditions and the vehicle's reference steering torque and reference angle. Based on this, after calculating the vehicle's predicted steering torque and predicted angle based on the vehicle state information obtained in step S101, the reference steering torque and reference angle corresponding to the current vehicle state information can be obtained. Then, the reference steering torque and reference angle are used as a reference to determine whether the vehicle's predicted steering torque and predicted angle are accurate.
[0040] For example, the vehicle state information that is consistent with the vehicle state information obtained in step S101 can be obtained from the mapping relationship between the vehicle state information under different working conditions stored in the vehicle and the vehicle's reference steering torque and reference angle. The reference steering torque and reference angle corresponding to the obtained state information are used as the reference steering torque and reference angle corresponding to the vehicle state information obtained in step S101.
[0041] Optionally, after obtaining the reference steering torque and reference steering angle of the vehicle, the difference between the reference steering torque and the predicted steering torque can be calculated to obtain the steering torque difference result. The steering torque difference result is then compared with a first threshold, where the first threshold is a pre-set threshold used to indicate the magnitude of the deviation between the reference steering torque and the predicted steering torque. If the steering torque difference result is less than the first threshold, it indicates that the deviation between the reference steering torque and the predicted steering torque is small. In this case, the reference steering torque and the predicted steering torque can be weighted to obtain the target steering torque. If the steering torque difference result is not less than the first threshold, it indicates that the deviation between the reference steering torque and the predicted steering torque is large. In this case, it means that the predicted steering torque may not turn, and the reference steering torque can be directly determined as the target steering torque.
[0042] For example, when the preset first threshold is 30N, the reference steering torque is 100N, and the predicted steering torque is 120N, the steering torque difference is 20N. Since 20N < 30N, that is, the steering torque difference is less than the first threshold, the reference steering torque and the predicted steering torque are weighted to obtain the target steering torque.
[0043] For another example, when the preset first threshold is 18N, the reference steering torque is 100N, and the predicted steering torque is 120N, the steering torque difference is 20N. Since 20N > 18N, that is, the steering torque difference is not less than the first threshold, the reference steering torque is determined as the target steering torque, that is, the target steering torque is 100N.
[0044] Optionally, the reference steering angle and the predicted steering angle are subtracted to obtain the steering angle difference result, and the steering angle difference result is compared with a second threshold, where the second threshold is a preset threshold used to indicate the magnitude of the deviation between the reference steering angle and the predicted steering angle. If the steering angle difference result is less than the second threshold, it indicates that the deviation between the reference steering angle and the predicted steering angle is small. In this case, the reference steering angle and the predicted steering angle can be weighted to obtain the target steering angle. If the steering angle difference result is not less than the second threshold, it indicates that the deviation between the reference steering angle and the predicted steering angle is large. In this case, the reference steering angle can be directly determined as the target steering angle.
[0045] For example, when the preset second threshold is 30°, the reference angle is 100°, and the predicted angle is 120°, the angle difference result is 20°. Since 20° < 30°, that is, the angle difference result is less than the second threshold, the reference angle and the predicted angle are weighted to obtain the target angle.
[0046] For another example, when the preset first threshold is 18°, the reference angle is 100°, and the predicted angle is 120°, the angle difference result is 20°. Since 20°>18°, that is, the angle difference result is not less than the second threshold, the reference angle is determined as the target angle, that is, the target angle is 100°.
[0047] In this embodiment, the reference steering torque and the predicted steering torque of the vehicle can be subtracted to obtain a steering torque difference result. The steering torque difference result is compared with a first threshold. If the steering torque difference result is less than the first threshold, the reference steering torque and the predicted steering torque are weighted to obtain a target steering torque. If the steering torque difference result is not less than the first threshold, the reference steering torque is determined as the target steering torque. Similarly, the reference turning angle and the predicted turning angle of the vehicle can be subtracted to obtain a turning angle difference result. The turning angle difference result is compared with a second threshold. If the turning angle difference result is less than the second threshold, the reference turning angle and the predicted turning angle are weighted to obtain a target turning angle. If the turning angle difference result is not less than the second threshold, the reference turning angle is determined as the target turning angle. That is, by using the reference steering torque and the reference turning angle as references to determine the target steering torque and the target turning angle, the accuracy of the determined target steering torque and the target turning angle can be improved, thereby improving the accuracy of vehicle turning.
[0048] Step S104: Based on the target steering torque and target steering angle, control the vehicle to perform a steering operation.
[0049] In the technical solution provided by step S104 of the present invention, after determining the target steering torque and target turning angle of the vehicle in step S103, the vehicle can be controlled to perform steering operations based on the determined target steering torque and target turning angle.
[0050] In this embodiment, the target steering torque and target steering angle can be sent to the drive motor and the steering actuator motor, respectively. The drive motor and the steering actuator motor rotate according to the received target steering torque and target steering angle, thereby driving the vehicle to perform steering operations.
[0051] It should be noted that steps S101 to S104 above can be executed by the vehicle steering system.
[0052] In steps S101 to S104 of the present invention, the vehicle's state information is acquired, and the predicted steering torque and predicted steering angle of the vehicle are determined using a dynamic model. The predicted reference steering torque and reference steering angle of the vehicle are then compared with the reference steering torque and reference steering angle of the corresponding vehicle state obtained through pre-simulation to determine the target steering torque and target steering angle of the vehicle. The vehicle is then controlled to perform steering operations based on the target steering torque and target steering angle. Since the target steering torque and target steering angle of the vehicle are determined with reference to the pre-simulated reference steering torque and reference steering angle, the determined target steering torque and target steering angle can be guaranteed to be more accurate. This allows the vehicle to be controlled to perform steering operations based on the target steering torque and target steering angle, thereby achieving the purpose of accurately controlling the vehicle to perform steering operations. This solves the technical problem of low steering accuracy during vehicle operation and achieves the technical effect of improving vehicle steering accuracy.
[0053] The method described in this embodiment will be further described below.
[0054] As an optional embodiment, step S102, based on the state information, determines the predicted steering torque and the predicted steering angle of the vehicle, including: inputting the steering wheel rotation parameters and wheel rotation parameters in the state information into the dynamic calculation model to determine the predicted steering torque and the predicted steering angle, wherein the dynamic calculation model is a pre-trained model that predicts the steering torque and the steering angle of the vehicle based on the steering wheel rotation parameters and wheel rotation parameters.
[0055] In this embodiment, the dynamics calculation model is a pre-trained model based on vehicle state information, steering torque, and steering angle. The input to the dynamics calculation model can be the steering wheel rotation parameters and wheel rotation parameters from the vehicle state information, and the output can be the steering torque and steering angle. The dynamics calculation model can be trained using multiple sets of steering wheel rotation parameters and wheel rotation parameters, as well as multiple sets of steering wheel rotation parameters and wheel rotation parameters corresponding to the vehicle's steering torque and steering angle, until the dynamics calculation model can accurately calculate the vehicle's steering torque and steering angle based on the steering wheel rotation parameters and wheel rotation parameters. Based on this, after obtaining the vehicle's state information, the steering wheel rotation parameters and wheel rotation parameters from the vehicle's state information can be input into the dynamics calculation model to calculate the predicted steering torque and predicted steering angle of the vehicle.
[0056] Alternatively, other methods can be used to predict the steering torque and angle of a vehicle, which will not be elaborated here.
[0057] In this embodiment, the accuracy of predicting steering torque and steering angle can be improved by using a pre-trained dynamics calculation model to calculate the vehicle's predicted steering torque and steering angle.
[0058] As an optional embodiment, step S103, determining the target steering torque of the vehicle based on the predicted steering torque and the reference steering torque, includes: in response to the difference between the predicted steering torque and the reference steering torque being less than a first threshold, obtaining a first weight corresponding to the predicted steering torque and a second weight corresponding to the reference steering torque; and determining the target steering torque as the sum of the product of the predicted steering torque and the first weight and the product of the reference steering torque and the second weight.
[0059] In this embodiment, the predicted steering torque can be adjusted according to the reference steering torque to determine the target steering torque. For example, the difference between the predicted steering torque and the reference steering torque can be calculated to obtain the steering torque difference result, and then the steering torque difference result can be compared with a first threshold, wherein the first threshold is a preset threshold used to indicate the magnitude of the deviation between the reference steering torque and the predicted steering torque.
[0060] Optionally, if the steering torque difference result is less than the first threshold, it indicates that the deviation between the predicted steering torque and the reference steering torque is small. Then, the first weight corresponding to the predicted steering torque and the second weight corresponding to the reference steering torque are obtained. The first weight and the second weight can be preset, and the sum of the first weight and the second weight is 1. For example, the first weight can be 0.2 and the second weight can be 0.8. This is only an example and does not limit the specific values of the first weight and the second weight.
[0061] For example, when the preset first threshold is 30N, the first weight is 0.2, and the second weight is 0.8, the reference steering torque is 100N, and the predicted steering torque is 120N. Since 120N - 100N = 20N, the steering torque difference is 20N. Because 20N < 30N, meaning the steering torque difference is less than the first threshold, the predicted steering torque can be multiplied by the first weight to obtain the first product result, and the reference steering torque can be multiplied by the second weight to obtain the second product result. The first and second product results are then summed to obtain the target steering torque. That is, the first product result is 120N. 0.2 = 24N, the second product is 100N. 0.8 = 80N. Since 24N + 80N = 104N, the target steering torque is 104N.
[0062] In this embodiment, the predicted steering torque and the reference steering torque can be subtracted to obtain a steering torque difference result. The steering torque difference result is compared with a first threshold. If the steering torque difference result is less than the first threshold, the first weight corresponding to the predicted steering torque and the second weight corresponding to the reference steering torque are obtained. The predicted steering torque and the reference steering torque are weighted according to the first weight and the second weight to obtain the target steering torque. This can improve the accuracy of the calculated target steering torque, thereby improving the accuracy of vehicle turning.
[0063] As an optional embodiment, the vehicle steering control method further includes: determining the reference steering torque as the target steering torque in response to the difference between the predicted steering torque and the reference steering torque being not less than a first threshold.
[0064] In this embodiment, the difference between the predicted steering torque and the reference steering torque is compared with a first threshold. When the difference between the predicted steering torque and the reference steering torque is not less than the first threshold, it indicates that the predicted steering torque deviates significantly from the reference steering torque. In this case, the reference steering torque can be determined as the target steering torque.
[0065] For example, when the preset first threshold is 30N, the reference steering torque is 100N, and the predicted steering torque is 140N. Since 140N-100N=40N, the steering torque difference is 40N. Since 40N>30N, that is, the steering torque difference is not less than the first threshold, in this case, the reference steering torque can be determined as the target steering torque, that is, the target steering torque is 100N.
[0066] In this embodiment, when the difference between the predicted steering torque and the reference steering torque is not less than a first threshold, the reference steering torque is determined as the target steering torque, making the vehicle's steering torque more accurate and the vehicle's turning precision higher.
[0067] As an optional embodiment, step S103, determining the target turning angle of the vehicle based on the predicted turning angle and the reference turning angle, includes: in response to the difference between the predicted turning angle and the reference turning angle being less than a second threshold, obtaining a third weight corresponding to the predicted turning angle and a fourth weight corresponding to the reference turning angle; and determining the target turning angle as the sum of the product of the predicted turning angle and the third weight and the product of the reference turning angle and the fourth weight.
[0068] In this embodiment, the predicted angle is adjusted according to the reference angle to determine the target angle. The difference between the predicted angle and the reference angle is calculated to obtain the angle difference result. Then, the angle difference result is compared with a second threshold, where the second threshold is a preset threshold used to indicate the magnitude of the deviation between the reference angle and the predicted angle.
[0069] Optionally, if the angle difference result is less than the second threshold, it indicates that the deviation between the predicted angle and the reference angle is small. Then, the third weight corresponding to the predicted angle and the fourth weight corresponding to the reference angle are obtained. The third weight and the fourth weight can be preset, and the sum of the third weight and the fourth weight is 1. For example, the first weight can be 0.3 and the second weight can be 0.7. This is only an example and does not limit the specific values of the third weight and the fourth weight.
[0070] For example, when the preset second threshold is 30°, the third weight is 0.3, and the fourth weight is 0.7, the reference turning angle is 100°, and the predicted turning angle is 120°. Since 120° - 100° = 20°, the turning angle difference is 20°. Because 20° < 30°, meaning the turning angle difference is less than the second threshold, the predicted turning angle can be multiplied by the third weight to obtain the third product result. Simultaneously, the reference steering torque can be multiplied by the fourth weight to obtain the fourth product result. Finally, the third and fourth product results are summed to obtain the target turning angle. That is, the third product result is 120°. 0.3 = 36°, the fourth product is 100° 0.7 = 70°. Since 36° + 70° = 106°, the target turning angle is 106°.
[0071] In this embodiment, the predicted turning angle and the reference turning angle can be subtracted to obtain the turning angle difference result. The turning angle difference result is compared with a second threshold. If the turning angle difference result is less than the second threshold, the third weight corresponding to the predicted turning angle and the fourth weight corresponding to the reference turning angle are obtained. The predicted turning angle and the reference turning angle are weighted according to the third weight and the fourth weight to obtain the target turning angle. This can improve the accuracy of the calculated target turning angle and thus improve the accuracy of vehicle turning.
[0072] As an optional embodiment, the vehicle steering control method further includes: determining the reference angle as the target angle in response to the difference between the predicted angle and the reference angle being not less than a second threshold.
[0073] In this embodiment, the difference between the predicted angle and the reference angle is compared with a second threshold. When the difference between the predicted angle and the reference angle is not less than the second threshold, it indicates that the predicted angle deviates significantly from the reference angle, and the reference angle is then determined as the target angle.
[0074] For example, when the preset third threshold is 30°, the reference turning angle is 100° and the predicted turning angle is 140°. Since 140°-100°=40°, the turning angle difference is 40°. Since 40°>30°, that is, the turning angle difference is not less than the second threshold, the reference turning angle is determined as the target turning angle, that is, the target turning angle is 100°.
[0075] In this embodiment, when the difference between the predicted turning angle and the reference turning angle is not less than the second threshold, the reference turning angle is determined as the target turning angle, making the vehicle's turning angle more accurate and the vehicle's turning precision higher.
[0076] As an optional embodiment, after controlling the vehicle to perform a steering operation, the method further includes: obtaining target state parameters of the vehicle after performing the steering operation; and sending the target state parameters to the vehicle's controller area network.
[0077] In this embodiment, after controlling the vehicle to perform a steering operation based on the target steering torque and target steering angle, the target state parameters of the vehicle after the steering operation can also be obtained. These target state parameters may include steering wheel state parameters and wheel state parameters after the steering operation. The target parameters are then sent to the vehicle's Controller Area Network (CAN). Since the target state parameters have changed after the vehicle performs the steering operation, uploading these parameters to the CAN network allows the CAN network to store the received parameters. The other controllers of the vehicle can then obtain the same target state parameters from the CAN network, ensuring that all controllers acquire the same target state parameters, which is beneficial for stable driving.
[0078] It should be noted that the above embodiments can be implemented through the vehicle steering system.
[0079] In this embodiment, by acquiring the vehicle's state information and using a dynamic model to determine the predicted steering torque and predicted steering angle, the predicted reference steering torque and reference steering angle are compared with the reference steering torque and reference steering angle obtained from pre-simulation of the corresponding vehicle state to determine the target steering torque and target steering angle. The vehicle is then controlled to perform steering operations based on these target steering torque and target steering angle. Since the target steering torque and target steering angle are determined with reference to the pre-simulated reference steering torque and reference steering angle, the determined target steering torque and target steering angle are more accurate. This allows the vehicle to be controlled to perform steering operations based on the target steering torque and target steering angle, achieving the goal of accurately controlling the vehicle to perform steering operations. This solves the technical problem of low steering accuracy during vehicle operation and achieves the technical effect of improving vehicle steering accuracy.
[0080] Example 2
[0081] The technical solutions of the embodiments of the present invention will be illustrated below with reference to preferred embodiments.
[0082] With the continuous development of aviation and automotive technologies, flying cars, as a new mode of transportation, have broad application prospects. However, due to weight and space limitations, existing flying cars generally use a steer-by-wire system. This system eliminates the mechanical connection between the steering wheel and the wheels, resulting in the steering wheel being in a free state. The steering wheel receives less real road information, and the driver cannot directly feel the real feedback from the road surface, leading to a poor driving experience and even steering errors.
[0083] However, the present invention provides a steering feel simulation device for a flying car, comprising a steering wheel feel simulation module and a steering execution module. The steering wheel feel simulation module calculates the predicted steering torque value of the vehicle based on vehicle status information and compares the predicted steering torque value with a reference steering torque value to determine the target steering torque value for the feel simulation motor. The target steering torque value is then sent to the drive motor. Upon receiving the target steering torque value, the drive motor controls the vehicle to rotate according to the target steering torque value. The steering execution module calculates the predicted turning angle of the vehicle based on vehicle status information and compares the predicted turning angle with a reference turning angle to determine the target turning angle for the steering execution motor. The target turning angle is then sent to the steering execution motor. Upon receiving the target turning angle, the steering execution motor controls the vehicle to turn according to the target turning angle, thereby driving the wheels to rotate, forming a closed-loop control to achieve the purpose of controlling the vehicle's steering. This solves the technical problem of low steering accuracy during vehicle operation and achieves the technical effect of improving the vehicle's steering accuracy.
[0084] The following is a further description of a vehicle steering system proposed in an embodiment of the present invention.
[0085] Figure 2 This is a schematic diagram of a vehicle steering system according to an embodiment of the present invention, such as... Figure 2 As shown, the steering system may include: a power supply module 200, a steering wheel sensor 201, a steering command controller 202, a steering execution module 203, a chassis 204, and a motor 205.
[0086] In this embodiment, the steering wheel sensor 201 can monitor and collect the vehicle's status information in real time. The vehicle's status information may include at least the steering wheel angle, steering wheel speed, and steering wheel torque. The vehicle's status information is sent to the steering command controller 202. The steering command controller 202 calculates the vehicle's steering torque and angle based on the received vehicle status information and sends the calculated steering torque and angle to the steering execution controller 203, so that the steering command controller 203 controls the vehicle's rotation based on the steering torque and angle.
[0087] Optionally, the steering command controller 202 and the steering execution controller 203 interact in real time, transmitting their respective current status information. The current status information may include at least: vehicle speed, power supply status, vehicle system operating status, steering wheel angle, etc. The steering command controller 202 generates control commands based on the received vehicle status information and sends the control commands to the steering execution controller 203. The steering execution controller 203 sends the received commands to the motor 205. The motor 205 generates torque based on the received commands and outputs the torque to the wheels. The wheels rotate according to the received torque. At the same time, the steering execution controller 203 interacts with the chassis 204 in real time.
[0088] Optionally, the steering command controller 202 and the steering execution controller 203 can interact with the chassis 204 in real time, and the power supply module 200 is used to provide real-time power to the steering command controller 202 and the steering execution controller 203.
[0089] The following is a further description of a vehicle steering system proposed in an embodiment of the present invention.
[0090] Figure 3 This is a schematic diagram of the internal structure of a vehicle steering system according to an embodiment of the present invention, such as... Figure 3 As shown, the internal structure of the steering system may include: a power supply module 300, a vehicle status observation module 301, a steering wheel feel simulation module 302, a steering execution module 303, a torque closed-loop control 3022, a motor drive control 3023, a feel simulation motor 3024, a reduction mechanism 3025, an output torque and angle sensor 3026, a steering wheel 3027, a position closed-loop control 3033, a motor drive control 3034, a steering gear motor 3035, a reduction mechanism 3036, a rack 3037, a wheel 3038, an output torque and angle sensor 3039, and a controller local area network 304.
[0091] In this embodiment, the power supply module 300 supplies power to the vehicle status observation module 301, the steering wheel feel simulation module 302, and the steering execution module 303. The vehicle status observation module 301 monitors and acquires the vehicle's status information in real time and sends the vehicle's status information to the steering wheel feel simulation module 302 and the steering execution module 303. The vehicle's status information may include at least the following: steering wheel angle, steering wheel speed, steering wheel torque, and vehicle speed.
[0092] Optionally, the steering wheel feel simulation module 302 includes a target steering torque module 3021, a torque closed-loop control module 3022, a motor drive control module 3023, a feel simulation motor 3024, a reduction mechanism 3025, an output torque and angle sensor (Torque and Angle Sensor, abbreviated as TAS) 3026, and a steering wheel 3027. The target steering torque module 3021 can realize functions such as steering torque control, feel simulation control, active return to center, friction compensation, damping compensation, inertia compensation, central area stiffness, simulated soft stop at the end of the steering wheel, engine shutdown delay assist, start / stop, over-temperature protection, overload protection, and over-voltage protection. These multiple functions enable the steering system to have functions such as active return to center, power-on alignment, and feel simulation.
[0093] Optionally, after receiving the vehicle status information sent by the vehicle status observation module 301, the steering wheel feel simulation module 302 determines the target steering torque value of the feel simulation motor based on the vehicle status information and the reference steering torque, and then sends the target steering torque value to the torque closed-loop control 3022. The torque closed-loop control 3022 sends the received target steering torque value to the motor drive control 3023, which drives the motor to rotate. After the drive motor rotates, it drives the feel simulation motor 3024 to rotate. After the feel simulation motor 3024 rotates, it sends feel simulation parameters to the reduction mechanism 3025. After receiving the feel simulation parameters, the reduction mechanism 3025 sends the feel simulation parameters to the steering wheel 3027 through the output torque and angle sensor 3026. At the same time, the steering wheel 3027 interacts with the controller local area network 304 in real time through the output torque and angle sensor 3026.
[0094] Optionally, the steering execution module 303 includes a position tracking control module 3031, a rack force estimation module 3032, a position closed-loop control 3033, a motor drive control 3034, a steering motor 3035, a reduction mechanism 3036, a rack 3037, a wheel 3038, and an output torque and angle sensor 3039. The position tracking control module 3031 can perform rack offset compensation, torque compensation, position drift compensation (PDC), simulated soft stop, start / stop, and other functions. These functions enable wheel position tracking. The rack force estimation module 3032 can perform rack force estimation and compensation.
[0095] Optionally, after receiving the vehicle status information sent by the vehicle status observation module 301, the position tracking control module 3031 determines the target angle of the steering actuator motor based on the vehicle status information and the reference target angle, and then sends the target angle to the position closed-loop control 3033. The position closed-loop control 3033 sends the received target angle to the motor drive control 3034, which drives the motor to rotate. After the drive motor rotates, it drives the steering gear motor 3035 to rotate. After the steering gear motor 3035 rotates, it sends the angle parameters to the reduction mechanism 3036. After receiving the angle parameters, the reduction mechanism 3036 sends them to the rack 3037. The rack 3037 sends the received angle parameters to the wheel 3038 and simultaneously sends them to the rack force estimation module 3032 through the output torque and angle sensor 3039. The wheel 3038 rotates according to the received angle parameters. At the same time, the wheel 3038 interacts in real time with the controller local area network 304 through the rack 3037 and the output torque and angle sensor 3039.
[0096] In this embodiment, the vehicle status observation module monitors and acquires the vehicle's status information in real time, and sends the vehicle's status information to the steering wheel feel simulation module and the steering execution module. The steering wheel feel simulation module determines the target steering torque based on the vehicle's status information and the control unit's predicted value, and then generates a command based on the torque and sends it to the motor. The motor starts driving after receiving the command. The steering execution module determines the target steering angle based on the vehicle's status information and the feedforward predicted value, and then generates a command based on the target steering angle and sends it to the steering execution motor. The steering execution motor starts driving after receiving the command, thereby achieving the purpose of accurately controlling the vehicle to perform steering operations, thus solving the technical problem of low steering accuracy during vehicle driving and achieving the technical effect of improving vehicle steering accuracy.
[0097] Example 3
[0098] According to an embodiment of the present invention, a vehicle steering control device is provided. It should be noted that this vehicle steering control device can be used to execute the vehicle steering control method of Embodiment 1.
[0099] Figure 4 This is a schematic diagram of a vehicle steering control device according to an embodiment of the present invention. As shown in FIG5, the vehicle steering control device 500 may include: an acquisition unit 401, a first determination unit 402, a second determination unit 403, and a control unit 404.
[0100] The acquisition unit 401 is used to acquire the vehicle's state information, wherein the state information is used to at least indicate the rotation state of the vehicle's steering wheel and the rotation state of its wheels.
[0101] The first determining unit 402 is used to determine the predicted steering torque and the predicted steering angle of the vehicle based on the state information.
[0102] The second determining unit 403 is used to determine the target steering torque of the vehicle based on the predicted steering torque and the reference steering torque, and to determine the target steering angle of the vehicle based on the predicted steering angle and the reference steering angle.
[0103] Control unit 404 is used to control the vehicle to perform steering operations based on the target steering torque and the target steering angle.
[0104] Optionally, the first determining unit 402 may include: a first determining module, used to input the steering wheel rotation parameters and wheel rotation parameters in the state information into the dynamic calculation model to determine the predicted steering torque and predicted steering angle, wherein the dynamic calculation model is a pre-trained model that predicts the vehicle's steering torque and vehicle steering angle based on the steering wheel rotation parameters and wheel rotation parameters.
[0105] Optionally, the second determining unit 403 may include: a first acquiring module, configured to acquire a first weight corresponding to the predicted steering torque and a second weight corresponding to the reference steering torque in response to the difference between the predicted steering torque and the reference steering torque being less than a first threshold; and a second determining module, configured to determine the target steering torque as the sum of the product of the predicted steering torque and the first weight and the product of the reference steering torque and the second weight.
[0106] Optionally, the second determining unit 403 further includes: a third determining module, used to determine the reference steering torque as the target steering torque in response to the difference between the predicted steering torque and the reference steering torque being not less than a first threshold.
[0107] Optionally, the second determining unit 403 further includes: a second obtaining module, used to obtain a third weight corresponding to the predicted turning angle and a fourth weight corresponding to the reference turning angle in response to the difference between the predicted turning angle and the reference turning angle being less than a second threshold; and a fourth determining module, used to determine the target turning angle as the sum of the product of the predicted turning angle and the third weight and the product of the reference turning angle and the fourth weight.
[0108] Optionally, the second determining unit 403 further includes: a fifth determining module, used to determine the reference angle as the target angle in response to the difference between the predicted angle and the reference angle being not less than a second threshold.
[0109] Optionally, the vehicle steering control device 500 further includes: a first acquisition unit for acquiring target state parameters after the vehicle performs a steering operation; and a first transmission unit for transmitting the target state parameters to the vehicle's controller area network.
[0110] In this embodiment, by acquiring the vehicle's state information and using a dynamic model to determine the predicted steering torque and predicted steering angle, the predicted reference steering torque and reference steering angle are compared with the reference steering torque and reference steering angle obtained from pre-simulation of the corresponding vehicle state to determine the target steering torque and target steering angle. The vehicle is then controlled to perform steering operations based on these target steering torque and target steering angle. Since the target steering torque and target steering angle are determined with reference to the pre-simulated reference steering torque and reference steering angle, the determined target steering torque and target steering angle are more accurate. This allows the vehicle to be controlled to perform steering operations based on the target steering torque and target steering angle, achieving the goal of accurately controlling the vehicle to perform steering operations. This solves the technical problem of low steering accuracy during vehicle operation and achieves the technical effect of improving vehicle steering accuracy.
[0111] Example 4
[0112] According to an embodiment of the present invention, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored program, wherein, when the program is run by a processor, it controls the device where the readable storage medium is located to execute a vehicle steering control method as described in Embodiment 1.
[0113] Example 5
[0114] According to an embodiment of the present invention, a processor is also provided for running a program, wherein the program executes a vehicle steering control method of Embodiment 1 during runtime.
[0115] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.
[0116] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.
[0117] In the several embodiments provided by this invention, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed can be through some interfaces; the indirect coupling or communication connection of units or modules can be electrical or other forms.
[0118] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.
[0119] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.
[0120] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.
[0121] The above are merely preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.
Claims
1. A steering control method of a vehicle, characterized by, include: Obtain vehicle status information, wherein the status information is used to at least indicate the rotation state of the vehicle's steering wheel and the rotation state of its wheels; Based on the state information, the predicted steering torque and the predicted steering angle of the vehicle are determined. Based on the predicted steering torque and the reference steering torque, the target steering torque of the vehicle is determined, and based on the predicted steering angle and the reference steering angle, the target steering angle of the vehicle is determined. Based on the target steering torque and the target steering angle, control the vehicle to perform a steering operation; The method of determining the target turning angle of the vehicle based on the predicted turning angle and the reference turning angle includes: in response to the difference between the predicted turning angle and the reference turning angle being less than a second threshold, obtaining a third weight corresponding to the predicted turning angle and a fourth weight corresponding to the reference turning angle; and determining the target turning angle as the sum of the product of the predicted turning angle and the third weight and the product of the reference turning angle and the fourth weight.
2. The method of claim 1, wherein, Based on the state information, determining the predicted steering torque and predicted steering angle of the vehicle includes: The steering wheel rotation parameters and wheel rotation parameters in the state information are input into the dynamic calculation model to determine the predicted steering torque and the predicted steering angle. The dynamic calculation model is a pre-trained model that predicts the steering torque and the steering angle of the vehicle based on the steering wheel rotation parameters and the wheel rotation parameters.
3. The method of claim 1, wherein, Based on the predicted steering torque and the reference steering torque, the target steering torque of the vehicle is determined, including: In response to the difference between the predicted steering torque and the reference steering torque being less than a first threshold, a first weight corresponding to the predicted steering torque and a second weight corresponding to the reference steering torque are obtained. The target steering torque is determined by summing the product of the predicted steering torque and the first weight, and the product of the reference steering torque and the second weight.
4. The method of claim 3, wherein, The method further includes: In response to the difference between the predicted steering torque and the reference steering torque being not less than the first threshold, the reference steering torque is determined as the target steering torque.
5. The method of claim 1, wherein, The method further includes: In response to the difference between the predicted turning angle and the reference turning angle being not less than the second threshold, the reference turning angle is determined as the target turning angle.
6. The method according to any one of claims 1 to 5, characterized in that, After controlling the vehicle to perform a steering operation, the method further includes: Obtain the target state parameters of the vehicle after it performs the steering operation; The target status parameters are sent to the vehicle's controller area network.
7. A vehicle steering control device, characterized in that, include: An acquisition unit is used to acquire vehicle status information, wherein the status information is used to at least indicate the rotation state of the vehicle's steering wheel and the rotation state of its wheels. The first determining unit is used to determine the predicted steering torque and the predicted steering angle of the vehicle based on the state information. The second determining unit is used to determine the target steering torque of the vehicle based on the predicted steering torque and the reference steering torque, and to determine the target steering angle of the vehicle based on the predicted steering angle and the reference steering angle. A control unit is configured to control the vehicle to perform a steering operation based on the target steering torque and the target steering angle; The second determining unit is further configured to, in response to the difference between the predicted turning angle and the reference turning angle being less than a second threshold, obtain a third weight corresponding to the predicted turning angle and a fourth weight corresponding to the reference turning angle; and determine the target turning angle as the sum of the product of the predicted turning angle and the third weight and the product of the reference turning angle and the fourth weight.
8. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein when the program is run by a processor, it controls the device in which the storage medium is located to perform the method of any one of claims 1 to 6.
9. A processor, characterized in that, The processor is used to run a program, wherein the program executes the method according to any one of claims 1 to 6 when it runs.