Vehicle steering control method and device, vehicle and storage medium

Abstract

The application relates to the technical field of vehicle steering, in particular to a vehicle steering control method and device, a vehicle and a storage medium, wherein the method comprises the following steps: obtaining a target steering angle input by an intelligent driving assistance system; determining a basic steering torque of a steering system according to the target steering angle, and determining a compensation value of the basic steering torque according to a target stroke corresponding to the target steering angle; determining a target steering torque of the steering system according to the basic steering torque and the compensation value, and controlling the steering system to perform a steering action based on the target steering torque. Therefore, the problems that the output torque of the steering system is easily affected by other factors in the related art, the expected steering angle cannot be reached during steering, the steering control precision is reduced and the like are solved.

Description

Technical Field

[0001] This application relates to the field of vehicle steering technology, and in particular to a vehicle steering control method, device, vehicle, and storage medium. Background Technology

[0002] Intelligent driving technology is an innovative technology that utilizes advanced sensors and computer technology to simulate the decision-making and operational behaviors of human drivers, achieving longitudinal and lateral control of the vehicle. Lateral control is a key technology in intelligent driving, achieving more precise and stable driving through comprehensive control of the vehicle's lateral position error and yaw rate error. This control technology requires a high degree of accuracy and reliability to ensure driver safety and comfort.

[0003] Currently, due to limitations in vehicle cost and sensor accuracy, ADAS (Advanced Driver Assistance Systems) typically employs steering torque control for lateral control. This means that the lateral position of the vehicle is adjusted primarily by controlling the torque output of the steering system. However, if the steering system torque is affected by other factors, such as internal friction exceeding the design threshold, it can easily lead to the steering failing to achieve the expected turning angle, thus reducing the accuracy of steering control. Summary of the Invention

[0004] This application provides a vehicle steering control method, device, vehicle, and storage medium to solve the problems in related technologies where the output torque of the steering system is easily affected by other factors, leading to the inability to achieve the expected steering angle and reducing the accuracy of steering control.

[0005] The first aspect of this application provides a vehicle steering control method, comprising the following steps: acquiring a target steering angle input by an intelligent driving assistance system; determining a basic steering torque of the steering system based on the target steering angle, and determining a compensation value of the basic steering torque based on a target travel corresponding to the target steering angle; determining a target steering torque of the steering system based on the basic steering torque and the compensation value, and controlling the steering system to perform a steering action based on the target steering torque.

[0006] Optionally, determining the compensation value of the basic steering torque based on the target travel corresponding to the target steering angle includes: determining a compensation trigger threshold based on the target travel and steering direction; if the basic steering torque is less than the compensation trigger threshold, then the basic steering torque is used as the target steering torque; otherwise, the compensation value of the basic steering torque is determined based on the travel range in which the target travel is located.

[0007] Optionally, determining the compensation value of the basic steering torque based on the travel interval where the target travel is located includes: obtaining a steering torque threshold corresponding to the travel interval where the target travel is located; calculating a compensation coefficient based on the basic steering torque, the steering torque threshold, and the compensation trigger threshold; and calculating the compensation value based on the compensation coefficient and the basic steering torque.

[0008] Optionally, determining the compensation trigger threshold based on the target travel and steering direction includes: determining the corresponding average steering torque based on the target travel; and determining the compensation trigger threshold based on the average steering torque and the steering direction.

[0009] Optionally, before determining the corresponding average steering torque based on the target stroke, the method further includes: testing the average torque of the steering system under different strokes and different steering directions; if the average torque is less than the lower limit threshold of the steering torque, or if the average torque is greater than the upper limit threshold of the steering torque, then generating a prompt that the internal friction of the steering system exceeds the design threshold; otherwise, completing the test.

[0010] Optionally, determining the basic steering torque of the steering system based on the target steering angle includes: detecting the actual vehicle speed; determining the basic steering torque curve based on the actual vehicle speed; and determining the basic steering torque based on the target steering angle and the basic steering torque curve.

[0011] Optionally, determining the basic steering torque curve based on the actual vehicle speed includes: identifying the vehicle speed range in which the actual vehicle speed is located; and determining the basic steering torque curve based on the vehicle speed range, wherein the basic steering torque curves corresponding to different vehicle speed ranges are different.

[0012] A second aspect of this application provides a vehicle steering control device, comprising: an acquisition module for acquiring a target steering angle input by an intelligent driving assistance system; a determination module for determining a basic steering torque of the steering system based on the target steering angle, and determining a compensation value of the basic steering torque based on a target travel corresponding to the target steering angle; and a control module for determining a target steering torque of the steering system based on the basic steering torque and the compensation value, and controlling the steering system to perform steering actions based on the target steering torque.

[0013] A third aspect of this application provides a vehicle, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the vehicle steering control method as described in the above embodiments.

[0014] A fourth aspect of this application provides a computer-readable storage medium having a computer program stored thereon, which is executed by a processor to implement the vehicle steering control method as described in the above embodiments.

[0015] Therefore, this application has at least the following beneficial effects:

[0016] This application's embodiments can compensate the steering system's output torque based on the desired target steering angle travel. By using torque compensation, the influence of other factors on steering control is eliminated, such as the effect of internal friction within the system. This ensures that the steering angle reaches the desired target angle, thereby achieving precise steering control. This results in an optimal steering driving experience and accurate path planning, enhancing the experience and intelligence of intelligent driving. Therefore, it solves the technical problem in related technologies where the steering system's output torque, once affected by other factors, easily leads to the inability to achieve the expected steering angle, reducing the accuracy of steering control.

[0017] 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

[0018] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0019] Figure 1 This is a flowchart of a vehicle steering control method provided according to an embodiment of this application;

[0020] Figure 2 This is a schematic diagram of a vehicle steering control method provided according to an embodiment of this application;

[0021] Figure 3 This is a schematic diagram of the basic steering torque provided according to an embodiment of this application;

[0022] Figure 4 This is a structural diagram of the vehicle steering control method provided according to an embodiment of this application;

[0023] Figure 5 This is a flowchart of a vehicle steering control method according to an embodiment of this application;

[0024] Figure 6 This is an example diagram of a vehicle steering control device according to an embodiment of this application;

[0025] Figure 7 This is a structural schematic diagram of a vehicle according to an embodiment of this application.

[0026] Explanation of reference numerals in the attached diagram: 1-Steering wheel assembly; 2-Steering column assembly; 3-EPS electronic control unit; 4-PEPS pinion power steering assembly. Detailed Implementation

[0027] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0028] Intelligent driving technology utilizes advanced sensors and computer technology to simulate the decision-making and operational behaviors of human drivers. Based on longitudinal and lateral control of the vehicle, effective control technology can provide drivers with a more relaxed driving experience. In particular, lateral control in intelligent driving involves the comprehensive control of the vehicle's lateral position error and yaw rate error. If advanced intelligent driving functions cannot achieve precise control of the lateral steering components, it will affect the user's driving experience and even vehicle safety.

[0029] Currently, due to limitations in vehicle cost and sensor accuracy, ADAS lateral control methods are mostly based on steering torque control. If the internal friction of the system exceeds the design threshold, the torque executed by the EPS will be affected by the internal friction, thus failing to achieve the expected steering angle.

[0030] The vehicle steering control method, apparatus, vehicle, and storage medium of this application are described below with reference to the accompanying drawings. Addressing the issue mentioned in the background art where advanced intelligent driving functions cannot achieve precise control of the lateral steering component, thus affecting the user's driving experience and even vehicle safety, this application provides a vehicle steering control method. In this method, the output torque of the steering system can be compensated according to the desired target steering angle travel. Torque compensation eliminates the influence of other factors on steering control, such as eliminating the influence of internal friction within the system, ensuring that the steering angle reaches the desired target angle. This achieves precise steering control, resulting in an optimal steering driving experience and precise control path planning, improving the experience and intelligence of intelligent driving. Therefore, this solves the problem in related technologies where the output torque of the steering system, once affected by other factors, easily leads to the inability to achieve the expected steering angle, reducing the accuracy of steering control.

[0031] Specifically, Figure 1 This is a schematic flowchart of a vehicle steering control method provided in an embodiment of this application.

[0032] like Figure 1 As shown, the vehicle steering control method includes the following steps:

[0033] In step S101, the target turning angle input by the intelligent driving assistance system is obtained.

[0034] It is understood that the embodiments of this application can obtain the target turning angle through sensors such as radar, lidar, and cameras, and the target turning angle can provide the angle information required for vehicle steering.

[0035] In step S102, the basic steering torque of the steering system is determined based on the target steering angle, and the compensation value of the basic steering torque is determined based on the target stroke corresponding to the target steering angle.

[0036] The formula for calculating the target distance is L. m =θ*L / θ max Where L is the maximum travel of the steering gear, θ is the target steering angle, and θ max This is the maximum steering wheel angle.

[0037] It is understood that the embodiments of this application can determine the basic steering torque by the target steering angle, and determine the compensation value of the basic steering torque according to the target stroke corresponding to the target steering angle. The basic steering torque can be the minimum torque required by the vehicle when steering, that is, the torque required for the vehicle to start steering. By determining the basic steering torque and its compensation value by the target steering angle and the target stroke, the steering needs of the vehicle under different driving conditions can be better met, and the driving safety and comfort of the vehicle can be improved.

[0038] Specifically, when the vehicle needs to turn, the system calculates the target turning angle based on the current driving conditions and target position, and then calculates the required basic steering torque based on the target turning angle and target travel distance. Simultaneously, the system also compensates for the basic steering torque based on the length of the target travel distance to ensure that the vehicle maintains good steering performance and handling stability under different driving conditions.

[0039] In this embodiment of the application, determining the compensation value of the basic steering torque based on the target stroke corresponding to the target steering angle includes: determining a compensation trigger threshold based on the target stroke and steering direction; if the basic steering torque is less than the compensation trigger threshold, then the basic steering torque is used as the target steering torque; otherwise, the compensation value of the basic steering torque is determined based on the stroke range in which the target stroke is located.

[0040] The compensation trigger threshold can be the condition required to trigger the compensation mechanism, and it depends on the actual situation.

[0041] It is understood that the embodiments of this application can determine the compensation trigger threshold based on the target stroke and steering direction. When the basic steering torque is less than the compensation trigger threshold, the basic steering torque is directly used as the target steering torque. Otherwise, the compensation value of the basic steering torque is determined based on the stroke range in which the target stroke is located. The embodiments of this application can be used to determine whether the compensation mechanism needs to be activated to adjust the basic steering torque and improve the driving stability and handling of the vehicle.

[0042] In this embodiment of the application, determining the compensation value of the basic steering torque based on the travel interval where the target travel is located includes: obtaining the steering torque threshold corresponding to the travel interval where the target travel is located; calculating the compensation coefficient based on the basic steering torque, the steering torque threshold and the compensation trigger threshold; and calculating the compensation value based on the compensation coefficient and the basic steering torque.

[0043] The target travel range can be 0%L to 80%L, or 80%L to 100%L.

[0044] It is understood that the embodiments of this application can calculate the compensation coefficient based on the basic steering torque, the steering torque threshold, and the compensation trigger threshold, and calculate the compensation value based on the compensation coefficient and the basic steering torque. The compensation value is a correction to the basic steering torque to ensure that the steering system can execute the target steering torque more accurately and improve the stability and accuracy of steering.

[0045] Specifically, when the target rotation angle θ corresponds to the target travel distance L m Within the range of 0%L to 80%L, the logic judgment submodule in the EPS lateral control balance compensation module retrieves the standard average torque threshold M calibrated for the entire vehicle within the range of 0%L to 80%L. b Average torque threshold tolerance setting M b ±0.1 (Nm):

[0046] a. When │M 1右 │or│M 1左 │In the set M b Within ±0.1 (Nm), the system does not perform torque compensation.

[0047] b. When |M 1右 │≥M b When +0.1 (Nm), the EPS lateral control balance compensation module operates according to K = [(│M 1右

[0048] │-(M b +0.1)] / [M 1MAX -(M b +0.1)],M k =k*M θ Perform right-side control torque compensation. K is the mid-position compensation coefficient, M... kThis is the mid-range compensation torque.

[0049] It should be noted that the neutral compensation torque is an additional torque value calculated when the steering system is in the neutral position. This torque compensates for internal and external disturbances within the steering system, thereby ensuring steering accuracy and reliability. The neutral position of the steering system can be defined as the position of the steering wheel when driving straight, i.e., the steering angle is zero. At this point, the steering system is not subjected to any steering torque in any direction, and the vehicle maintains straight-line travel.

[0050] c. When |M 1右 │≤M b When the value is -0.1 (Nm), the EPS lateral control balance compensation module operates according to K = [((M b -0.1)-│M 1右

[0051] │] / [(M b -0.1)-M 1MIN ], M k =-k*M θ Perform right-side control torque compensation.

[0052] d. When |M 1左 │≥M b When +0.1 (Nm), the EPS lateral control balance compensation module is activated.

[0053] K = [(|M 1左 │-(M b +0.1)] / [M 1MAX -(M b +0.1)],M k =k*M θ Perform left-side control torque compensation.

[0054] e. When│M 1左 │≤M b When the value is -0.1 (Nm), the EPS lateral control balance compensation module operates according to K = [((M b -0.1)-│M 1左

[0055] │] / [(M b -0.1)-M 1MIN ], M k =-k*M θ Perform left-side control torque compensation.

[0056] When the target rotation angle θ corresponds to the target travel distance L mWithin the range of 80%L to 100%L, the logic judgment submodule in the EPS lateral control balance compensation module retrieves the standard average torque threshold M calibrated for the entire vehicle within the range of 80%L to 100%L. A Average torque threshold tolerance setting M A ±0.3 (Nm):

[0057] a. When │M 2右 │or│M 2左 │In the set M A Within ±0.3 (Nm), the system does not perform torque compensation.

[0058] b. When |M 2右 │≥M A When +0.3 (Nm), the EPS lateral control balance compensation module operates according to W = [(│M 2右

[0059] │-(M A +0.3)] / [M 2MAX -(M A +0.3)],M W =W*M θ Perform right-side control torque compensation. W is the end-of-line compensation coefficient, M... W This is for end-compensation torque.

[0060] It should be noted that the end-compensation torque can be an additional torque value calculated when the steering system is at its maximum steering angle or maximum steering torque state, in order to compensate for internal and external interference factors of the steering system, thereby ensuring the accuracy and reliability of steering.

[0061] c. When |M 2右 │≤M A When the value is -0.3 (Nm), the EPS lateral control balance compensation module operates according to K = [((M)]. A -0.3)-│M 2右

[0062] │] / [(M A -0.3)-M 2MIN ], M k =-W*M θ Perform right-side control torque compensation.

[0063] d. When |M 2左 │≥M A When +0.3 (Nm), the EPS lateral control balance compensation module operates according to K = [(│M 2左

[0064] │-(M A +0.3)] / [M 2MAX -(MA +0.3)],M W =W*M θ Perform left-side control torque compensation.

[0065] e. When│M 2左 │≤M A When the value is -0.3 (Nm), the EPS lateral control balance compensation module operates according to K = [((M)]. A -0.3)-│M 2左

[0066] │] / [(M A -0.3)-M 2MIN ], M W =-W*M θ Perform left-side control torque compensation.

[0067] In this embodiment of the application, determining the compensation trigger threshold based on the target travel and steering direction includes: determining the corresponding average steering torque based on the target travel; and determining the compensation trigger threshold based on the average steering torque and steering direction.

[0068] It is understood that the embodiments of this application can determine the average steering torque based on the target stroke, and determine the compensation trigger threshold based on the average steering torque and steering direction. The average steering torque reflects the average torque value that the steering system needs to output under the target stroke. By obtaining the average steering torque, the load of the steering system under different strokes can be understood, providing a basis for calculating the compensation trigger threshold. Determining the compensation trigger threshold can avoid false triggering or missed triggering.

[0069] In this embodiment of the application, before determining the corresponding average steering torque based on the target stroke, the method further includes: testing the average torque of the steering system under different strokes and different steering directions; if the average torque is less than the lower limit threshold of the steering torque, or if the average torque is greater than the upper limit threshold of the steering torque, a prompt is generated indicating that the internal friction of the steering system exceeds the design threshold; otherwise, the test is completed.

[0070] It is understood that the embodiments of this application can test the average torque of the steering system under different strokes and different steering directions. When the average torque is less than the lower limit threshold of steering torque or greater than the upper limit threshold of steering torque, an alarm is generated; otherwise, the test continues. The embodiments of this application can understand the internal friction of the steering system by testing the average torque under different strokes and steering directions and provide timely alarm prompts.

[0071] For example, such as Figure 2 As shown, the lateral control balance compensation module in the EPS system's electronic control unit records the steering torque parameters in segments, with the steering gear travel input as L (mm). The average torque for a right turn from 0%L to 80%L is set to M.1右 (Nm), the average torque during a right turn from 80%L to 100%L is measured in M. 2右 (Nm). The average torque during left turns from 0%L to 80%L was measured in M. 1左 (Nm), the average torque during left turns from 80%L to 100%L is M. 2左 (Nm).

[0072] When |M 1右 │or│M 1左 │>M 1MAX At that time, the EPS alarm indicates that the internal friction of the intelligent driving lateral control balance compensation system has exceeded the limit threshold. Among them, M 1MAX Set the upper limit threshold for the average torque of the system from 0%L to 80%L.

[0073] When |M 1右 │or│M 1左 │<M 1MIN At that time, the EPS alarm indicates that the internal friction of the intelligent driving lateral control balance compensation system has exceeded the limit threshold. Among them, M 1MIN Set the lower limit threshold for the average torque of the system from 0%L to 80%L.

[0074] When |M 2右 │or│M 2左 │>M 2MAX At that time, the EPS alarm indicates that the internal friction of the intelligent driving lateral control balance compensation system has exceeded the limit threshold. Among them, M 2MAX Set an upper limit threshold for the average torque of the system from 80%L to 100%L.

[0075] When |M 2右 │or│M 2左 │Down M 2MIN At that time, the EPS alarm indicates that the internal friction of the intelligent driving lateral control balance compensation system has exceeded the limit threshold. Among them, M 2MIN Set a lower limit threshold for the average torque of the system from 80%L to 100%L.

[0076] In this embodiment of the application, determining the basic steering torque of the steering system based on the target steering angle includes: detecting the actual vehicle speed; determining the basic steering torque curve based on the actual vehicle speed; and determining the basic steering torque based on the target steering angle and the basic steering torque curve.

[0077] The actual vehicle speed can be determined according to the actual situation, such as 100km / h.

[0078] It is understood that the embodiments of this application can determine the basic steering torque curve based on the actual vehicle speed and the basic steering torque based on the target steering angle. The basic steering torque curve reflects the basic torque value that the steering system needs to output at different vehicle speeds. By considering the influence of vehicle speed on the steering system and the interaction between the steering system and vehicle dynamics, the accuracy and stability of the basic steering torque are ensured.

[0079] In this embodiment of the application, determining the basic steering torque curve based on the actual vehicle speed includes: identifying the vehicle speed range in which the actual vehicle speed is located; and determining the basic steering torque curve based on the vehicle speed range, wherein the basic steering torque curves corresponding to different vehicle speed ranges are different.

[0080] The speed range can be [0, 10 km / h], [10 km / h, 100 km / h], etc.

[0081] Specifically, the embodiments of this application can identify the vehicle speed range of the actual vehicle speed and determine the basic steering torque curve. The basic steering torque curves corresponding to different vehicle speed ranges are different, such as... Figure 3 As shown, the vehicle speed range can be divided into v≥100km / h, 100km / h>v≥10km / h, and 10km / h>v≥0km / h. The vertical axis represents the basic steering torque, and the horizontal axis represents the steering gear travel (converted from the steering wheel angle). Details are as follows:

[0082] Straight segments a, b, and c represent the basic control torque compensation segment for 80%–100% of the steering gear travel (L). Straight segments ①, ②, and ③ represent the basic control torque compensation segment for 0%–80% of the steering gear travel (L). Segments ① and c represent the basic control torque compensation curve within the speed range of vehicle speed v ≥ 100 km / h. Segment ② and b represent the basic control torque compensation curve within the speed range of vehicle speed 100 km / h > v ≥ 10 km / h. Segment ③ and a represent the basic control torque compensation curve within the speed range of vehicle speed 10 km / h > v ≥ 0 km / h. The speed-level classification of the segmented lines increases the accuracy of compensation; there are three basic compensation segments. ④, ⑤, and ⑥ represent the segment angles: ④ ranges from 120° to 135°, ⑤ from 135° to 150°, and ⑥ from 150° to 180°.

[0083] In step S103, the target steering torque of the steering system is determined based on the basic steering torque and the compensation value, and the steering system is controlled to perform steering actions based on the target steering torque.

[0084] It is understood that the embodiments of this application can determine the target steering torque based on the basic steering torque and the compensation value, and control the steering system to perform steering actions. By adjusting the basic steering torque and the compensation value, it can adapt to different driving environments and driver needs, so that the vehicle can maintain a stable and safe driving experience under various driving conditions. By controlling the steering system to perform steering actions according to the target steering torque, the vehicle can achieve autonomous steering according to the preset path or navigation information, thereby improving the safety and stability of autonomous driving.

[0085] It should be noted that the embodiments of this application can also perform real-time monitoring and feedback control of the steering system to ensure the stability and reliability of the steering system.

[0086] The vehicle steering control method proposed in this application can compensate the output torque of the steering system according to the desired target steering angle travel. This torque compensation eliminates the influence of other factors on steering control, such as the influence of internal friction within the system, ensuring that the steering angle reaches the desired target angle. This achieves precise steering control, resulting in an optimal steering driving experience and accurate path planning, thus enhancing the experience and intelligence of intelligent driving. Therefore, it solves the problem in related technologies where the output torque of the steering system is easily affected by other factors, leading to the inability to achieve the expected steering angle and reduced steering control accuracy.

[0087] The vehicle steering control method of this application is illustrated below through a specific embodiment, such as... Figure 4 As shown, the embodiment of this application consists of a steering wheel assembly 1, a steering column assembly 2, an EPS electronic control unit 3, a PEPS pinion power steering assembly 4 (including a steering angle torque sensor, a motor, and a worm gear reduction mechanism), an ADAS system, etc. Figure 5 As shown, the vehicle steering control method includes the following:

[0088] S1. The ADAS system outputs the target lateral control angle θ. The lateral control balance compensation module in the EPS system's electronic control unit converts the target angle θ into a basic control torque M. θ .

[0089] S2, the target travel distance L corresponding to the target rotation angle θ m Within the range of 0%L to 80%L, the logic judgment submodule in the EPS lateral control balance compensation module retrieves the standard average torque threshold M calibrated for the entire vehicle within the range of 0%L to 80%L. b Average torque threshold tolerance setting M b ±0.1 (Nm) is used for intermediate value assistance compensation.

[0090] S3, when the target rotation angle θ corresponds to the target travel distance L mWithin the range of 80%L to 100%L, the logic judgment submodule in the EPS lateral control balance compensation module retrieves the standard average torque threshold M calibrated for the entire vehicle within the range of 80%L to 100%L. A Average torque threshold tolerance setting M A ±0.3 (Nm) is used for end-effector compensation.

[0091] S4. Achieve the target turning angle through intermediate value assistance compensation, end-point assistance compensation, or standard value compensation.

[0092] In summary, the embodiments of this application, based on the factors affecting the lateral performance of the torque control of the ADAS input EPS system, output a basic torque within a threshold range, compensate for torque exceeding the threshold range, and simultaneously compensate for asymmetrical influencing factors to eliminate the influence of system friction. The influencing factors of the torque control of the ADAS input EPS system are parameterized, and the goal of achieving optimal steering driving experience and precise control of the planned path is achieved through precise control of the output torque.

[0093] Next, the vehicle steering control device according to the embodiments of this application is described with reference to the accompanying drawings.

[0094] Figure 6 This is a block diagram of a vehicle steering control device according to an embodiment of this application.

[0095] like Figure 6 As shown, the vehicle steering control device 10 includes: an acquisition module 100, a determination module 200, and a control module 300.

[0096] The acquisition module 100 is used to acquire the target steering angle input by the intelligent driving assistance system; the determination module 200 is used to determine the basic steering torque of the steering system based on the target steering angle, and to determine the compensation value of the basic steering torque based on the target stroke corresponding to the target steering angle; the control module 300 is used to determine the target steering torque of the steering system based on the basic steering torque and the compensation value, and to control the steering system to perform steering actions based on the target steering torque.

[0097] It should be noted that the foregoing explanation of the vehicle steering control method embodiment also applies to the vehicle steering control device of this embodiment, and will not be repeated here.

[0098] The vehicle steering control device proposed in this application can compensate the output torque of the steering system according to the desired target steering angle travel. By compensating for torque, it eliminates the influence of other factors on steering control, such as the influence of internal friction within the system, ensuring that the steering angle reaches the desired target angle. This achieves precise steering control, resulting in an optimal steering driving experience and accurate path planning, thus enhancing the experience and intelligence of intelligent driving. Therefore, it solves the problem in related technologies where the output torque of the steering system is easily affected by other factors, leading to the inability to achieve the expected steering angle and reduced steering control accuracy.

[0099] Figure 7 A schematic diagram of the structure of a vehicle provided in an embodiment of this application. The vehicle may include:

[0100] The memory 701, the processor 702, and the computer program stored on the memory 701 and executable on the processor 702.

[0101] When the processor 702 executes the program, it implements the vehicle steering control method provided in the above embodiments.

[0102] Furthermore, the vehicle also includes:

[0103] Communication interface 703 is used for communication between memory 701 and processor 702.

[0104] The memory 701 is used to store computer programs that can run on the processor 702.

[0105] The memory 701 may include high-speed RAM (Random Access Memory) memory, and may also include non-volatile memory, such as at least one disk storage.

[0106] If the memory 701, processor 702, and communication interface 703 are implemented independently, then the communication interface 703, memory 701, and processor 702 can be interconnected via a bus to complete communication between them. The bus can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 7 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0107] Optionally, in a specific implementation, if the memory 701, processor 702, and communication interface 703 are integrated on a single chip, then the memory 701, processor 702, and communication interface 703 can communicate with each other through an internal interface.

[0108] The processor 702 may be a CPU (Central Processing Unit), an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of this application.

[0109] This application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the vehicle steering control method described above.

[0110] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "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. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0111] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0112] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0113] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (FPGAs), field-programmable gate arrays (FPGAs), etc.

[0114] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0115] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A vehicle steering control method, characterized in that, Includes the following steps: Obtain the target steering angle input by the intelligent driving assistance system; The basic steering torque of the steering system is determined based on the target steering angle, and the compensation value of the basic steering torque is determined based on the target travel corresponding to the target steering angle. The target steering torque of the steering system is determined based on the base steering torque and the compensation value, and the steering system is controlled to perform steering actions based on the target steering torque; The step of determining the compensation value of the basic steering torque based on the target stroke corresponding to the target steering angle includes: The compensation trigger threshold is determined based on the target travel distance and steering direction; If the base steering torque is less than the compensation trigger threshold, then the base steering torque is used as the target steering torque; otherwise, the compensation value of the base steering torque is determined according to the travel range in which the target travel is located. The step of determining the compensation value of the basic steering torque based on the travel range in which the target travel is located includes a first travel range and a second travel range, and different standard average torque thresholds and / or different torque tolerances are set for different travel ranges. Furthermore, determining the compensation value of the basic steering torque based on the travel range in which the target travel is located includes: Obtain the steering torque threshold corresponding to the travel interval where the target travel is located; The compensation coefficient is calculated based on the base steering torque, the steering torque threshold, and the compensation trigger threshold, and the compensation value is calculated based on the compensation coefficient and the base steering torque.

2. The vehicle steering control method according to claim 1, characterized in that, The step of determining the compensation trigger threshold based on the target travel and steering direction includes: The corresponding average steering torque is determined based on the target stroke. The compensation trigger threshold is determined based on the average steering torque and the steering direction.

3. The vehicle steering control method according to claim 2, characterized in that, Before determining the corresponding average steering torque based on the target stroke, the method further includes: The average torque of the steering system was tested under different travel and different steering directions; If the average torque is less than the lower limit threshold of steering torque, or if the average torque is greater than the upper limit threshold of steering torque, a prompt is generated indicating that the internal friction of the steering system exceeds the design threshold; otherwise, the test is completed.

4. The vehicle steering control method according to claim 1, characterized in that, Determining the basic steering torque of the steering system based on the target steering angle includes: Detect the actual speed of the vehicle; The basic steering torque curve is determined based on the actual vehicle speed; The base steering torque is determined based on the target steering angle and the base steering torque curve.

5. The vehicle steering control method according to claim 4, characterized in that, Determining the basic steering torque curve based on the actual vehicle speed includes: Identify the speed range in which the actual vehicle speed is located; The basic steering torque curve is determined based on the vehicle speed range, wherein the basic steering torque curve is different for different vehicle speed ranges.

6. A vehicle steering control device, characterized in that, The device includes: The acquisition module is used to acquire the target steering angle input by the intelligent driving assistance system; The determining module is used to determine the basic steering torque of the steering system based on the target steering angle, and to determine the compensation value of the basic steering torque based on the target stroke corresponding to the target steering angle; The control module is used to determine the target steering torque of the steering system based on the base steering torque and the compensation value, and to control the steering system to perform steering actions based on the target steering torque; The step of determining the compensation value of the basic steering torque based on the target stroke corresponding to the target steering angle includes: The compensation trigger threshold is determined based on the target travel distance and steering direction; If the base steering torque is less than the compensation trigger threshold, then the base steering torque is used as the target steering torque; otherwise, the compensation value of the base steering torque is determined according to the travel range in which the target travel is located. The step of determining the compensation value of the basic steering torque based on the travel range in which the target travel is located includes a first travel range and a second travel range, and different standard average torque thresholds and / or different torque tolerances are set for different travel ranges. Furthermore, determining the compensation value of the basic steering torque based on the travel range in which the target travel is located includes: Obtain the steering torque threshold corresponding to the travel interval where the target travel is located; The compensation coefficient is calculated based on the base steering torque, the steering torque threshold, and the compensation trigger threshold, and the compensation value is calculated based on the compensation coefficient and the base steering torque.

7. A vehicle, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the program to implement the vehicle steering control method as described in any one of claims 1-5.

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

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