A vehicle steering control method, device, equipment, medium and system

Abstract

The application discloses a kind of vehicle steering control method, device, equipment and medium.Control method, device, equipment and medium are disclosed to vehicle steering.The target adjustment angle for the steering control of target vehicle is detected when the target vehicle is in the active state, and the angle type of target adjustment angle is obtained.The steering wheel angle expected adjustment value matched with target adjustment angle is obtained by using the calculation strategy matched with angle type.The steering wheel angle of target vehicle is adjusted according to the steering wheel angle expected adjustment value, to assist the steering control of target vehicle.The problem that it is laborious and low precision to control the mechanical link in steering wheel is solved.The steering wheel angle expected adjustment value is obtained by adjusting the steering wheel angle and the steering wheel angle, or the steering wheel angle, so as to realize the steering of vehicle according to the steering wheel angle expected adjustment value, improve the safety of vehicle driving and the precision of steering wheel control.

Description

Technical Field

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

[0002] With the increasing prevalence of vehicles in daily life, driving them has become more and more common. During driving, vehicle steering is generally achieved by mechanical linkages connecting the front steering wheels. However, controlling these mechanical linkages through the driver's steering wheel is laborious and lacks precision. Therefore, achieving high-accuracy vehicle steering is crucial.

[0003] In the process of realizing this invention, the inventors discovered the following defects in the prior art: Currently, steering is achieved by connecting the front steering wheel with a mechanical linkage. This method generally requires turning the steering wheel one and a half turns to the left or one and a half turns to the right to achieve vehicle steering. This results in the front steering wheel being difficult to control and not intuitive enough, with poor steering wheel control precision. Furthermore, if the vehicle is traveling at high speed, it is very easy to cause the vehicle to roll over. Summary of the Invention

[0004] This invention provides a vehicle steering control method, device, equipment, medium, and system to reduce the force required to turn the steering wheel, thereby improving the accuracy of steering wheel rotation and the safety of vehicle driving.

[0005] According to one aspect of the present invention, a vehicle steering control method is provided, comprising:

[0006] When the target vehicle is in an active state, and a target adjustment angle for steering control of the target vehicle is detected, the angle type of the target adjustment angle is obtained.

[0007] By employing a calculation strategy that matches the angle type, the desired adjustment value of the steering wheel angle that matches the target adjustment angle is obtained;

[0008] The steering wheel angle of the target vehicle is adjusted according to the desired adjustment value of the steering wheel angle to assist the target vehicle in steering control.

[0009] According to another aspect of the present invention, a vehicle steering control device is provided, comprising:

[0010] An angle type acquisition module is used to acquire the angle type of the target adjustment angle when the vehicle is in an active state and a target adjustment angle for steering control of the target vehicle is detected.

[0011] The steering wheel angle expected adjustment value calculation module is used to obtain the steering wheel angle expected adjustment value that matches the target adjustment angle by adopting a calculation strategy that matches the angle type.

[0012] The steering wheel angle adjustment module is used to adjust the steering wheel angle of the target vehicle according to the desired adjustment value of the steering wheel angle, so as to assist the target vehicle in steering control.

[0013] According to another aspect of the present invention, a vehicle is provided, the vehicle comprising: a steering wheel, steering wheels, and a vehicle steering controller; wherein the vehicle steering controller includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the vehicle steering control method according to any embodiment of the present invention.

[0014] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the vehicle steering control method according to any embodiment of the present invention.

[0015] According to another aspect of the present invention, a vehicle steering control system is provided. The vehicle steering control system includes: a steering wheel closed-loop control module, a steering wheel closed-loop control module, and a vehicle steering control module;

[0016] The vehicle steering control module is used to execute the vehicle steering control method described in any embodiment of the present invention.

[0017] The steering wheel closed-loop control module includes a steering wheel, a steering wheel motor, and a steering wheel sensor. The steering wheel motor receives steering wheel adjustment commands from the vehicle steering control module and adjusts the steering wheel angle. The steering wheel sensor collects the corresponding steering wheel angle and sends the collected steering wheel angle to the vehicle steering control module. The steering wheel is connected to both the steering wheel motor and the steering wheel sensor.

[0018] The steering wheel closed-loop control module includes a steering wheel, a steering wheel motor, and a steering wheel sensor. The steering wheel motor is used to receive steering wheel adjustment commands from the vehicle steering control module and adjust the steering wheel angle of the steering wheel. The steering wheel sensor is used to collect the steering wheel angle corresponding to the steering wheel and send the collected steering wheel angle to the vehicle steering control module. The steering wheel is connected to both the steering wheel motor and the steering wheel sensor.

[0019] The technical solution of this invention involves obtaining the angle type of the target adjustment angle when the target vehicle is in an active state and a target adjustment angle for steering control is detected; using a calculation strategy matching the angle type to obtain a desired steering wheel angle adjustment value matching the target adjustment angle; and adjusting the steering wheel angle of the target vehicle according to the desired steering wheel angle adjustment value to assist in steering control. This invention replaces the use of mechanical linkages for steering operations in the prior art by using a steering wheel motor and steering wheel sensor corresponding to the steering wheel, and a steering wheel motor and steering wheel sensor corresponding to the steering wheels. In the prior art, steering requires mechanical linkages to control the front wheels, typically using one and a half turns to the left and one and a half turns to the right to represent the limits in both directions. However, this invention uses steering wheel sensors and steering wheel sensors to collect data and uses steering wheel motors and steering wheel motors to perform steering operations. This solves the problems of being laborious, not intuitive, and having low precision in controlling the mechanical linkage in the vehicle's steering wheel. It enables the desired adjustment value of the steering wheel angle to be obtained by adjusting the steering wheel angle and the steering wheel angle, or the steering wheel angle. This allows the vehicle to be steered based on the desired steering wheel angle adjustment value, thereby improving the safety of vehicle driving and the accuracy of steering wheel and steering wheel control.

[0020] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a flowchart of a vehicle steering control method according to Embodiment 1 of the present invention;

[0023] Figure 2 This is a schematic diagram of a vehicle steering control device according to Embodiment 2 of the present invention;

[0024] Figure 3 This is a structural schematic diagram of a vehicle according to Embodiment 3 of the present invention;

[0025] Figure 4 This is a schematic diagram of a vehicle steering control system according to Embodiment 5 of the present invention. Detailed Implementation

[0026] 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.

[0027] It should be noted that the terms "target," "current," 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 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.

[0028] Example 1

[0029] Figure 1 The flowchart below shows a vehicle steering control method according to Embodiment 1 of the present invention. This embodiment is applicable to situations where precise vehicle steering is required. The method can be executed by a vehicle steering control device, which can be implemented in hardware and / or software.

[0030] Correspondingly, such as Figure 1 As shown, the method includes:

[0031] S110. When the target vehicle is in an active state, and a target adjustment angle for steering control of the target vehicle is detected, the angle type of the target adjustment angle is obtained.

[0032] The activation state of the target vehicle can be understood as the target vehicle being in a braking state. At this time, the target vehicle can be in a driven state or an undriven state.

[0033] In this embodiment, various indication commands are detected in real time. When a target adjustment angle for steering control of the target vehicle is detected, it indicates that the vehicle angle may need to be adjusted. However, the target adjustment angle can correspond to different angle types, and different angle types correspond to different calculation strategies, that is, different methods are used to calculate the expected adjustment value of the steering wheel angle.

[0034] Specifically, generally speaking, steering control of a target vehicle can be achieved in two ways: the first is through a combination of the steering wheel and steering wheels; the second is through steering wheels alone. It's understandable that different angle types can correspond to different methods.

[0035] S120. Using a calculation strategy that matches the angle type, obtain the desired adjustment value of the steering wheel angle that matches the target adjustment angle.

[0036] In this embodiment, the angle types include steering wheel angle and steering wheel angle. Specifically, when the angle type is steering wheel angle, vehicle steering control can be achieved through the combined use of the steering wheel and steering wheels; when the angle type is steering wheel angle, vehicle steering control can be achieved through the steering wheels.

[0037] Understandably, when the angle type is steering wheel angle, a calculation strategy corresponding to the steering wheel angle can be matched, and thus the expected adjustment value of the steering wheel angle can be obtained based on the calculation strategy. Similarly, when the angle type is steering wheel angle, a calculation strategy corresponding to the steering wheel angle can be matched, and thus the expected adjustment value of the steering wheel angle can be obtained based on the calculation strategy.

[0038] Specifically, a calculation strategy matching the angle type is used to obtain the expected adjustment value of the steering wheel angle that matches the target adjustment angle. This includes: if the angle type is a steering wheel angle, instructing the steering wheel sensor to collect the current steering wheel angle corresponding to the steering wheel; obtaining the target steering wheel angle based on the target adjustment angle and the current steering wheel angle; calculating the standard steering wheel adjustment angle based on the target steering wheel angle; instructing the steering wheel sensor to collect the current steering wheel angle corresponding to the steering wheel, and obtaining the expected adjustment value of the steering wheel angle based on the standard steering wheel adjustment angle and the current steering wheel angle.

[0039] In this embodiment, it needs to be specifically explained that the angle type is the steering wheel angle, and the vehicle's steering can be controlled by the steering wheel and steering wheels in combination.

[0040] The steering wheel sensor can be a sensor capable of acquiring the steering wheel angle. The current steering wheel angle can be the angle acquired by the steering wheel sensor.

[0041] In this embodiment, the host computer software of the target vehicle sends the target adjustment angle. This target adjustment angle can be a command sent via a remote terminal, or a pre-set angle sent via command. Alternatively, the vehicle steering control module can instruct the steering wheel sensor to collect the steering wheel angle. The host computer software of the target vehicle is mainly used to send the standard steering wheel adjustment angle to the target vehicle. The target vehicle can be a tricycle or a four-wheeled vehicle, specifically a washing machine, but this is not specifically limited.

[0042] Furthermore, the target adjustment angle needs to be compared with the current steering wheel angle. Based on the comparison result, the current steering wheel angle may or may not be adjusted to obtain the target steering wheel angle. Specifically, it is necessary to first determine the relationship between the target adjustment angle and the current steering wheel angle. If the two angles are the same, it means that the current steering wheel angle does not need to be adjusted; that is, the current steering wheel angle is the target steering wheel angle. Alternatively, if the two angles are different, the current steering wheel angle needs to be adjusted according to the target adjustment angle to obtain the target steering wheel angle.

[0043] Accordingly, the standard steering wheel adjustment angle can be calculated based on the target steering wheel angle. Furthermore, the steering wheel sensor can be instructed to collect the current steering wheel angle, and the desired steering wheel angle adjustment value can be obtained based on the standard steering wheel adjustment angle and the current steering wheel angle.

[0044] In one embodiment, obtaining the desired steering wheel angle adjustment value based on the standard steering wheel adjustment angle and the current steering wheel angle includes: if the standard steering wheel adjustment angle and the current steering wheel angle are the same in magnitude, then the current steering wheel angle is determined as the desired steering wheel angle adjustment value; if the standard steering wheel adjustment angle and the current steering wheel angle are not the same in magnitude, then the standard steering wheel adjustment angle is determined as the desired steering wheel angle adjustment value.

[0045] In this embodiment, the current steering wheel angle is adjusted using the standard steering wheel adjustment angle. If the two are the same, no adjustment of the current steering wheel angle is required; otherwise, the current steering wheel angle needs to be adjusted to determine the desired adjustment value of the steering wheel angle.

[0046] In one embodiment, calculating the standard steering wheel adjustment angle based on the target steering wheel angle includes: obtaining the current vehicle speed and the maximum vehicle speed corresponding to the target vehicle; calculating a steering correlation coefficient based on the current vehicle speed and the maximum vehicle speed; and multiplying the steering correlation coefficient and the target steering wheel angle to obtain the standard steering wheel adjustment angle.

[0047] The steering correlation coefficient can be a weighted coefficient based on the steering wheel angle.

[0048] Specifically, generally speaking, the steering correlation coefficient is related to the vehicle's speed. The higher the vehicle speed, the lower the steering correlation coefficient; the lower the vehicle speed, the higher the steering correlation coefficient.

[0049] The standard steering wheel adjustment angle can be the target angle that the steering wheel needs to be adjusted to, which can be calculated using the steering correlation coefficient and the adjusted steering wheel angle.

[0050] In this embodiment, the standard steering wheel adjustment angle needs to be calculated based on the obtained steering correlation coefficient and steering wheel angle. After calculating the standard steering wheel adjustment angle, the steering wheel angle needs to be adjusted accordingly.

[0051] Specifically, it is necessary to obtain the target vehicle's current speed and maximum drivable speed in real time, which can then be used to calculate the steering correlation coefficient. After calculating the steering correlation coefficient, the adjusted steering wheel angle is weighted using the steering correlation coefficient to further calculate the standard steering wheel adjustment angle.

[0052] Since vehicle speed affects the steering correlation coefficient, it's understandable that steering at the same angle as at low speeds when the vehicle is traveling at high speed would inevitably lead to an accident. Therefore, it's necessary to calculate a steering correlation coefficient that is related to vehicle speed to weight the adjusted steering wheel angle.

[0053] Specifically, calculating the steering correlation coefficient based on the current vehicle speed and the vehicle's maximum speed includes: according to the formula The steering correlation coefficient K is calculated; where W1 represents a preset constant; V0 represents the current vehicle speed; V max This indicates the vehicle's maximum speed.

[0054] For example, assuming the target vehicle's current speed is 100 km / h, its maximum speed is 200 km / h, and W1 is 0.4, it can be further calculated that... That is, the magnitude of the reversal correlation coefficient is 0.7.

[0055] Preferably, in the above technical solution, the target vehicle's host computer software sends a target adjustment angle to the target vehicle, and then the adjusted steering wheel angle is obtained based on the target adjustment angle and the current steering wheel angle. Correspondingly, the steering wheel angle is adjusted according to the adjusted steering wheel angle, thereby assisting the vehicle in steering by adjusting the steering wheel angle and the steering wheel angle.

[0056] In one embodiment, a calculation strategy matching the angle type is used to obtain a desired adjustment value for the steering wheel angle that matches the target adjustment angle. This includes: if the angle type is a steering wheel angle, instructing the steering wheel sensor to collect the current steering wheel angle corresponding to the steering wheel; and obtaining the desired adjustment value for the steering wheel angle based on the target adjustment angle and the current steering wheel angle.

[0057] The steering wheel sensor can be a sensor that collects the angle of the steering wheel. The steering wheel motor can be a motor that can rotate the steering wheel.

[0058] In this embodiment, it needs to be specifically explained that the angle type is the steering wheel angle, which can be used to control the steering of the vehicle.

[0059] In this embodiment, since the angle type is the steering wheel angle, the steering wheel needs to be adjusted directly according to the steering wheel angle to achieve vehicle steering control.

[0060] Specifically, obtaining the desired adjustment value of the steering wheel angle based on the target adjustment angle and the current steering wheel angle includes: if the target adjustment angle and the current steering wheel angle are the same in magnitude, then the current steering wheel angle is determined to be the desired adjustment value of the steering wheel angle; if the target adjustment angle and the current steering wheel angle are not the same in magnitude, then the target adjustment angle is determined to be the desired adjustment value of the steering wheel angle.

[0061] In this embodiment, the collected target adjustment angle and the current steering wheel angle need to be compared. Based on the comparison result, the current steering wheel angle is adjusted or not adjusted to obtain the expected adjustment value of the steering wheel angle. Specifically, it is necessary to first determine the relationship between the target adjustment angle and the current steering wheel angle. If the two angles are the same, it means that the current steering wheel angle does not need to be adjusted, that is, the current steering wheel angle is the expected adjustment value of the steering wheel angle. Alternatively, if the two angles are different, the current steering wheel angle needs to be adjusted according to the target adjustment angle to obtain the expected adjustment value of the steering wheel angle.

[0062] In this embodiment, the steering wheels can be directly controlled via the vehicle steering control module of the target vehicle to achieve vehicle control operations. That is, vehicle steering can be achieved through host computer software and the steering wheels.

[0063] Specifically, vehicle steering via host computer software and steering wheels can include: assuming the vehicle steering control module is the terminal controller of the target vehicle, after the terminal controller receives the steering wheel angle from the host computer software, it can send a command to rotate the steering gear, while the steering wheel remains stationary.

[0064] For example, when the vehicle is in autonomous driving mode, the terminal controller can control only the steering wheel motor to turn the steering wheel, and the steering wheel is at 0 degrees (the original steering wheel angle is 0 degrees). If the steering wheel is detected to be not at 0 degrees, it can be determined whether someone has intervened. This can effectively determine whether someone has intervened, and thus make timely adjustments to the vehicle strategy.

[0065] The advantage of this setup is that it directly controls the steering wheels through the vehicle steering control module, which can effectively ensure the driving safety of the vehicle and detect the presence of a driver in a timely manner, thus enabling more intelligent autonomous driving.

[0066] In another preferred embodiment of this invention, when the vehicle is powered off, the terminal controller can instruct the steering wheel motor to automatically return the steering wheels to the center position without moving the steering wheel. This method directly controls the steering wheels through the vehicle steering control module. This approach can be applied to autonomous driving, where the terminal controller can instruct the steering wheels to return to the center position when the vehicle stops driving.

[0067] One concrete example is direct control of the steering wheels via the vehicle steering control module. Specifically, when the steering wheel is at 0 degrees, the vehicle enters the straight-line assist mode. Due to uneven ground conditions, the terminal controller controls the steering wheel motor to make minor adjustments to the steering wheels, thus bringing the car back to a straight line, even though the steering wheel is always at 0 degrees. This method uses steering wheel sensors to collect the steering wheel angle in real time and transmits this angle to the vehicle steering control module. When the steering wheel angle is not satisfactory, the vehicle steering control module directly controls the steering wheels to make minor adjustments and bring the car back to a straight line. This ensures the safety and flexibility of the vehicle in autonomous driving mode.

[0068] S130. Adjust the steering wheel angle of the target vehicle according to the desired adjustment value of the steering wheel angle to assist the target vehicle in steering control.

[0069] In this embodiment, after calculating the desired adjustment value of the steering wheel angle, the steering wheel angle of the target vehicle can be adjusted according to the desired adjustment value, thereby realizing the steering control operation of the target vehicle. This is applicable to the field of autonomous driving of target vehicles, enabling automatic steering of the vehicle, thus achieving automatic steering operation while ensuring safe driving. It can also assist the driver in driving the vehicle.

[0070] Optionally, it further includes: when the target vehicle is in an active state, upon receiving a steering wheel torque adjustment command, parsing the steering wheel torque adjustment command and determining the desired motor current value of the target steering wheel based on the command parsing result; controlling the output current value of the steering wheel motor of the target vehicle according to the desired motor current value until the steering wheel motor of the target vehicle outputs the desired motor current value; wherein, different output current values ​​of the steering wheel motor of the target vehicle correspond to different steering wheel torques.

[0071] In this embodiment, when the target vehicle is in an active state, and during or after the target vehicle steering control is completed, the driver can adjust the steering wheel weight according to their needs.

[0072] Specifically, when the vehicle steering control module receives a steering wheel torque adjustment command, it needs to parse and process the command to obtain the desired motor current value. Further, it can control the current value based on this desired motor current value until the steering wheel motor is adjusted to the desired current value. Since different output current values ​​of the target vehicle's steering wheel motor correspond to different steering wheel torques, the steering wheel torque can be adjusted, i.e., the steering wheel weight can be adjusted.

[0073] The advantage of this setup is that it allows the driver to adjust the steering wheel weight according to their own needs, resulting in more flexible vehicle driving and reducing the driver's workload.

[0074] Optionally, it also includes: when the target vehicle is in an active state, upon receiving an automatic steering wheel centering command, controlling the steering wheel motor to adjust the steering wheel angle of the target vehicle, and instructing the steering wheel sensor to collect the real-time steering wheel angle; when it is determined that the real-time steering wheel angle is the preset target steering wheel centering angle, then it is determined that the steering wheel has completed the automatic centering operation.

[0075] In this embodiment, when the target vehicle is in an active state and after the target vehicle's steering control is completed, the automatic centering of the steering wheel can also be achieved.

[0076] Furthermore, after the vehicle steering control module receives the automatic steering wheel return command, it needs to instruct the steering wheel motor to adjust the steering wheel angle until the steering wheel angle reaches the target steering wheel return angle, for example, when the target steering wheel return angle is 0 degrees, then the automatic return operation can be determined to be completed.

[0077] Correspondingly, during the automatic centering process of the steering wheel, it is necessary to collect the steering wheel angle in real time and provide real-time feedback on the collected angle.

[0078] In addition, in this embodiment, the steering wheel and steering wheels are connected in a non-mechanical manner (generally, the steering wheel and steering wheels in the prior art are connected mechanically).

[0079] For vehicles without a mechanical connection, active rollover prevention can be achieved through the vehicle steering control module. Specifically, when the driver turns the steering wheel, the vehicle can first decelerate the target vehicle, and then the vehicle steering control module controls the steering wheel motor to rotate the steering wheels. Because when the vehicle is traveling at high speed, if the steering wheel is turned rapidly, assuming a mechanical connection between the steering wheel and the steering wheels, the steering wheels will also rotate, easily causing the vehicle to roll over. However, because the steering wheel and steering wheels are not mechanically connected, once the vehicle speed is detected to have decreased to a certain level, the steering wheel motor is instructed to rotate the steering wheels, thus enabling safer driving and improving the driver's experience. Understandably, this offers significant advantages in autonomous driving mode.

[0080] Furthermore, the non-mechanical connection allows for arbitrary ratio transmission between the steering wheel and steering wheels, enabling easy steering even with only half a turn to the left or right. Moreover, within the motor's operating range, it is unaffected by ground conditions. This enhances vehicle control flexibility and improves the driving experience.

[0081] Example 2

[0082] Figure 2 This is a schematic diagram of a vehicle steering control device provided in Embodiment 2 of the present invention. The vehicle steering control device provided in this embodiment can be implemented by software and / or hardware, and can be configured in a terminal device or server to implement a vehicle steering control method according to an embodiment of the present invention. Figure 2 As shown, the device includes: an angle type acquisition module 210, a steering wheel angle expected adjustment value calculation module 220, and a steering wheel angle adjustment module 230.

[0083] The angle type acquisition module 210 is used to acquire the angle type of the target adjustment angle when the vehicle is in an active state and a target adjustment angle for steering control of the target vehicle is detected.

[0084] The steering wheel angle expected adjustment value calculation module 220 is used to obtain the steering wheel angle expected adjustment value that matches the target adjustment angle by adopting a calculation strategy that matches the angle type.

[0085] The steering wheel angle adjustment module 230 is used to adjust the steering wheel angle of the target vehicle according to the desired steering wheel angle adjustment value, so as to assist the target vehicle in steering control.

[0086] The technical solution of this invention involves obtaining the angle type of the target adjustment angle when the target vehicle is in an active state and a target adjustment angle for steering control is detected; using a calculation strategy matching the angle type to obtain a desired steering wheel angle adjustment value matching the target adjustment angle; and adjusting the steering wheel angle of the target vehicle according to the desired steering wheel angle adjustment value to assist in steering control. This invention replaces the use of mechanical linkages for steering operations in the prior art by using a steering wheel motor and steering wheel sensor corresponding to the steering wheel, and a steering wheel motor and steering wheel sensor corresponding to the steering wheels. In the prior art, steering requires mechanical linkages to control the front wheels, typically using one and a half turns to the left and one and a half turns to the right to represent the limits in both directions. However, this invention uses steering wheel sensors and steering wheel sensors to collect data and uses steering wheel motors and steering wheel motors to perform steering operations. This solves the problems of being laborious, not intuitive, and having low precision in controlling the mechanical linkage in the vehicle's steering wheel. It enables the desired adjustment value of the steering wheel angle to be obtained by adjusting the steering wheel angle and the steering wheel angle, or the steering wheel angle. This allows the vehicle to be steered based on the desired steering wheel angle adjustment value, thereby improving the safety of vehicle driving and the accuracy of steering wheel and steering wheel control.

[0087] Optionally, the steering wheel angle expected adjustment value calculation module 220 can be specifically used to: if the angle type is steering wheel angle, instruct the steering wheel sensor to collect the current steering wheel angle corresponding to the steering wheel; obtain the target steering wheel angle based on the target adjustment angle and the current steering wheel angle; calculate the standard steering wheel adjustment angle based on the target steering wheel angle; instruct the steering wheel sensor to collect the current steering wheel angle corresponding to the steering wheel, and obtain the expected adjustment value of the steering wheel angle based on the standard steering wheel adjustment angle and the current steering wheel angle.

[0088] Optionally, the steering wheel angle expected adjustment value calculation module 220 can also be specifically used to: if the standard steering wheel adjustment angle and the current steering wheel angle are the same, then the current steering wheel angle is determined as the steering wheel angle expected adjustment value; if the standard steering wheel adjustment angle and the current steering wheel angle are not the same, then the standard steering wheel adjustment angle is determined as the steering wheel angle expected adjustment value.

[0089] Optionally, the steering wheel angle expected adjustment value calculation module 220 can also be specifically used to: obtain the current vehicle speed and the maximum vehicle speed corresponding to the target vehicle; calculate the steering correlation coefficient based on the current vehicle speed and the maximum vehicle speed; and multiply the steering correlation coefficient and the target steering wheel angle to obtain the standard steering wheel adjustment angle.

[0090] Optionally, the steering wheel angle expected adjustment value calculation module 220 can also be specifically used to: if the angle type is steering wheel angle, instruct the steering wheel sensor to collect the current steering wheel angle corresponding to the steering wheel; and obtain the steering wheel angle expected adjustment value based on the target adjustment angle and the current steering wheel angle.

[0091] Optionally, the steering wheel angle expected adjustment value calculation module 220 can also be specifically used to: if the target adjustment angle and the current steering wheel angle are the same, then determine the current steering wheel angle as the steering wheel angle expected adjustment value; if the target adjustment angle and the current steering wheel angle are not the same, then determine the target adjustment angle as the steering wheel angle expected adjustment value.

[0092] Optionally, it can also be specifically used for: when the target vehicle is in an active state, upon receiving a steering wheel torque adjustment command, parsing the steering wheel torque adjustment command, and determining the desired motor current value of the target steering wheel based on the command parsing result; controlling the output current value of the steering wheel motor of the target vehicle according to the desired motor current value, until the steering wheel motor of the target vehicle outputs the desired motor current value; wherein, different output current values ​​of the steering wheel motor of the target vehicle correspond to different steering wheel torques.

[0093] Optionally, it can also be specifically used for: when the target vehicle is in an active state, upon receiving an automatic steering wheel centering command, controlling the steering wheel motor to adjust the steering wheel angle of the target vehicle, and instructing the steering wheel sensor to collect the real-time steering wheel angle; when it is determined that the real-time steering wheel angle is the preset target steering wheel centering angle, then it is determined that the steering wheel has completed the automatic centering operation.

[0094] The vehicle steering control device provided in the embodiments of the present invention can execute the vehicle steering control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the method.

[0095] Example 3

[0096] Figure 3 A schematic diagram of a vehicle that can be used to implement Embodiment 3 of the present invention is shown. The vehicle includes a steering wheel 310, steering wheels 320, and a vehicle steering controller 330, which is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0097] like Figure 3 As shown, the vehicle steering controller 330 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 can also store various programs and data required for the operation of the vehicle steering controller 330. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0098] Multiple components in the vehicle steering controller 330 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, optical disk, etc.; and a communication unit 19, such as a network card, modem, wireless transceiver, etc. The communication unit 19 allows the vehicle steering controller 330 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0099] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as vehicle steering control methods.

[0100] In some embodiments, the vehicle steering control method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the vehicle steering controller 330 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the vehicle steering control method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the vehicle steering control method by any other suitable means (e.g., by means of firmware).

[0101] The method includes: when the target vehicle is in an active state, when a target adjustment angle for steering control of the target vehicle is detected, obtaining the angle type of the target adjustment angle; using a calculation strategy matching the angle type to obtain a desired adjustment value of the steering wheel angle matching the target adjustment angle; and adjusting the steering wheel angle of the target vehicle according to the desired adjustment value of the steering wheel angle to assist the target vehicle in steering control.

[0102] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0103] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0104] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0105] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0106] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0107] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0108] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0109] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

[0110] Example 4

[0111] Embodiment 4 of the present invention also provides a computer-readable storage medium, wherein the computer-readable instructions, when executed by a computer processor, are used to perform a vehicle steering control method. The method includes: when a target vehicle is in an active state, and when a target adjustment angle for steering control of the target vehicle is detected, obtaining the angle type of the target adjustment angle; using a calculation strategy matching the angle type to obtain a desired adjustment value of the steering wheel angle matching the target adjustment angle; and adjusting the steering wheel angle of the target vehicle according to the desired adjustment value of the steering wheel angle to assist the target vehicle in steering control.

[0112] Of course, the computer-executable instructions provided in the embodiments of the present invention, which include a computer-readable storage medium, are not limited to the method operations described above, but can also perform related operations in the vehicle steering control method provided in any embodiment of the present invention.

[0113] Based on the above description of the implementation methods, those skilled in the art can clearly understand that the present invention can be implemented using software and necessary general-purpose hardware, and of course, it can also be implemented using hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk, or optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0114] It is worth noting that in the above embodiments of the vehicle steering control device, the various units and modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be achieved; in addition, the specific names of each functional unit are only for easy differentiation and are not used to limit the scope of protection of the present invention.

[0115] Example 5

[0116] Figure 4 This is a schematic diagram of a vehicle steering control system according to Embodiment 5 of the present invention. The vehicle steering control system includes: a steering wheel closed-loop control module 410, a steering wheel closed-loop control module 420, and a vehicle steering control module 430;

[0117] The vehicle steering control module 430 is used to execute the vehicle steering control method as described in any embodiment of the present invention;

[0118] The steering wheel closed-loop control module 410 includes a steering wheel 411, a steering wheel motor 412, and a steering wheel sensor 413. The steering wheel motor 412 is used to receive steering wheel adjustment commands from the angle adjustment control module and adjust the steering wheel angle of the steering wheel 411. The steering wheel sensor is used to collect the corresponding steering wheel angle and send the collected steering wheel angle to the angle adjustment control module. The steering wheel 411 is connected to both the steering wheel motor 412 and the steering wheel sensor 413.

[0119] The steering wheel closed-loop control module 420 includes a steering wheel 421, a steering wheel motor 422, and a steering wheel sensor 423. The steering wheel motor 422 is used to receive steering wheel adjustment commands from the angle adjustment control module and adjust the steering wheel angle of the steering wheel 421. The steering wheel sensor 423 is used to collect the steering wheel angle corresponding to the steering wheel and send the collected steering wheel angle to the angle adjustment control module. The steering wheel 421 is connected to both the steering wheel motor 422 and the steering wheel sensor 423.

[0120] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A vehicle steering control method, characterized in that, include: When the target vehicle is in an active state, and a target adjustment angle for steering control of the target vehicle is detected, the angle type of the target adjustment angle is obtained. By employing a calculation strategy that matches the angle type, the desired adjustment value of the steering wheel angle that matches the target adjustment angle is obtained; Based on the desired adjustment value of the steering wheel angle, the steering wheel angle of the target vehicle is adjusted to assist the target vehicle in steering control; The method of obtaining the desired steering wheel angle adjustment value that matches the target adjustment angle by employing a calculation strategy that matches the angle type includes: If the angle type is steering wheel angle, then the steering wheel sensor is instructed to collect the current steering wheel angle corresponding to the steering wheel. The target steering wheel angle is obtained based on the target adjustment angle and the current steering wheel angle; Calculate the standard steering wheel adjustment angle based on the target steering wheel angle; The steering wheel sensor collects the current steering wheel angle corresponding to the steering wheel, and obtains the desired steering wheel angle adjustment value based on the standard steering wheel adjustment angle and the current steering wheel angle; The step of obtaining the desired adjustment value of the steering wheel angle based on the standard steering wheel adjustment angle and the current steering wheel angle includes: If the standard steering wheel adjustment angle and the current steering wheel angle are the same, then the current steering wheel angle is determined as the desired steering wheel angle adjustment value; If the standard steering wheel adjustment angle and the current steering wheel angle are not the same, then the standard steering wheel adjustment angle is determined as the expected adjustment value of the steering wheel angle; The steering wheel and steering wheels are connected in a non-mechanical manner; for the non-mechanical connection, the active anti-rollover function is controlled by the vehicle steering control module; for the non-mechanical connection, the steering wheel and steering wheels can be driven in any ratio.

2. The method according to claim 1, characterized in that, The calculation of the standard steering wheel adjustment angle based on the target steering wheel angle includes: Obtain the current vehicle speed and maximum vehicle speed of the target vehicle; The steering correlation coefficient is calculated based on the current vehicle speed and the vehicle's maximum speed. The standard steering wheel adjustment angle is obtained by multiplying the steering correlation coefficient and the target steering wheel angle.

3. The method according to claim 1, characterized in that, Using a calculation strategy that matches the angle type, the desired adjustment value of the steering wheel angle that matches the target adjustment angle is obtained, including: If the angle type is steering wheel angle, then the steering wheel sensor is instructed to collect the current steering wheel angle corresponding to the steering wheel; Based on the target adjustment angle and the current steering wheel angle, the desired adjustment value of the steering wheel angle is obtained.

4. The method according to claim 3, characterized in that, The step of obtaining the desired adjustment value of the steering wheel angle based on the target adjustment angle and the current steering wheel angle includes: If the target adjustment angle and the current steering wheel angle are the same, then the current steering wheel angle is determined to be the desired adjustment value of the steering wheel angle; If the target adjustment angle and the current steering wheel angle are not the same, then the target adjustment angle is determined to be the expected adjustment value of the steering wheel angle.

5. The method according to claim 1, characterized in that, Also includes: When the target vehicle is in an active state, upon receiving a steering wheel torque adjustment command, the steering wheel torque adjustment command is parsed, and the desired motor current value of the target steering wheel is determined based on the command parsing result. According to the desired motor current value, the output current value of the steering wheel motor of the target vehicle is controlled until the steering wheel motor of the target vehicle outputs the desired motor current value; Different output current values ​​of the steering wheel motor of the target vehicle correspond to different steering wheel torques.

6. The method according to claim 1, characterized in that, Also includes: When the target vehicle is in an active state, upon receiving an automatic steering wheel return command, the steering wheel motor is controlled to adjust the steering wheel angle of the target vehicle, and the steering wheel sensor is instructed to collect the real-time steering wheel angle. When the real-time angle of the steering wheel is determined to be the preset target steering wheel centering angle, it is determined that the steering wheel has completed the automatic centering operation.

7. A vehicle steering control device, characterized in that, include: An angle type acquisition module is used to acquire the angle type of the target adjustment angle when the vehicle is in an active state and a target adjustment angle for steering control of the target vehicle is detected. The steering wheel angle expected adjustment value calculation module is used to obtain the steering wheel angle expected adjustment value that matches the target adjustment angle by adopting a calculation strategy that matches the angle type. The steering wheel angle adjustment module is used to adjust the steering wheel angle of the target vehicle according to the desired adjustment value of the steering wheel angle, so as to assist the target vehicle in steering control; Specifically, the steering wheel angle expected adjustment value calculation module is used to: if the angle type is steering wheel angle, instruct the steering wheel sensor to collect the current steering wheel angle corresponding to the steering wheel; obtain the target steering wheel angle based on the target adjustment angle and the current steering wheel angle; calculate the standard steering wheel adjustment angle based on the target steering wheel angle; instruct the steering wheel sensor to collect the current steering wheel angle corresponding to the steering wheel, and obtain the expected adjustment value of the steering wheel angle based on the standard steering wheel adjustment angle and the current steering wheel angle; Specifically, the steering wheel angle expected adjustment value calculation module is used to: if the standard steering wheel adjustment angle and the current steering wheel angle are the same, then determine the current steering wheel angle as the steering wheel angle expected adjustment value; if the standard steering wheel adjustment angle and the current steering wheel angle are not the same, then determine the standard steering wheel adjustment angle as the steering wheel angle expected adjustment value. The steering wheel and steering wheels are connected in a non-mechanical manner; for the non-mechanical connection, the active anti-rollover function is controlled by the vehicle steering control module; for the non-mechanical connection, the steering wheel and steering wheels can be driven in any ratio.

8. A vehicle, characterized in that, The vehicle includes: a steering wheel, steering wheels, and a vehicle steering controller; wherein... The vehicle steering controller includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the vehicle steering control method as described in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the vehicle steering control method as described in any one of claims 1-6.

10. A vehicle steering control system, characterized in that, The vehicle steering control system includes: a steering wheel closed-loop control module, a steering wheel closed-loop control module, and a vehicle steering control module; The vehicle steering control module is used to execute the vehicle steering control method as described in any one of claims 1-6; The steering wheel closed-loop control module includes a steering wheel, a steering wheel motor, and a steering wheel sensor. The steering wheel motor receives steering wheel adjustment commands from the vehicle steering control module and adjusts the steering wheel angle. The steering wheel sensor collects the corresponding steering wheel angle and sends the collected steering wheel angle to the vehicle steering control module. The steering wheel is connected to both the steering wheel motor and the steering wheel sensor. The steering wheel closed-loop control module includes a steering wheel, a steering wheel motor, and a steering wheel sensor. The steering wheel motor is used to receive steering wheel adjustment commands from the vehicle steering control module and adjust the steering wheel angle of the steering wheel. The steering wheel sensor is used to collect the steering wheel angle corresponding to the steering wheel and send the collected steering wheel angle to the vehicle steering control module. The steering wheel is connected to both the steering wheel motor and the steering wheel sensor.

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