Assist steering control method, device, equipment and storage medium

Abstract

The present application relates to the technical field of vehicles and discloses a power-assisted steering control method, device, equipment and storage medium, which comprises the following steps: obtaining driving data of a target vehicle at different times; when it is determined according to the driving data that the target vehicle enters uneven road, determining a basic steering torque and a vibration compensation torque according to the driving data and a target adjustable factor; calculating a target power-assisted steering torque according to the basic steering torque and the vibration compensation torque; and controlling the target vehicle to perform power-assisted steering according to the target power-assisted steering torque. In the foregoing manner, after the driving data of the target vehicle at different times is obtained, it is determined whether the target vehicle enters uneven road, and if so, the basic steering torque and the vibration compensation torque are determined in combination with the target adjustable factor, and the target vehicle is controlled to perform power-assisted steering according to the calculated target power-assisted steering torque, so that the accuracy of controlling power-assisted steering can be effectively improved, the occurrence of steering wheel beating can be inhibited, and the driving experience of a user can be improved.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and more particularly to power steering control methods, devices, equipment, and storage media. Background Technology

[0002] Electric power steering (EPS) systems are developed based on traditional mechanical steering systems. They use the power generated by an electric motor to assist the driver in steering operations. Compared with hydraulic power steering, EPS provides better road feel and can provide optimal torque under various driving conditions, reducing the disturbance of road unevenness to steering. However, when the vehicle is driving on uneven roads, the steering wheel may still kick back. The commonly used power steering control method currently reduces the power assist after detecting kickback, and only has a convergence and suppression effect on the latter half of the kickback. It cannot suppress the first kickback. Therefore, the accuracy of power steering control using the above method is reduced.

[0003] The above content is only used to help understand the technical solution of the present invention and does not represent an admission that the above content is prior art. Summary of the Invention

[0004] The main objective of this invention is to provide a power steering control method, device, equipment, and storage medium, aiming to solve the technical problem of reduced accuracy in power steering control in the prior art.

[0005] To achieve the above objectives, the present invention provides a power steering control method, the power steering control method comprising the following steps:

[0006] Obtain the driving data of the target vehicle at different times;

[0007] When it is determined from the driving data that the target vehicle has entered an uneven road surface, the basic steering torque and vibration compensation torque are determined from the driving data and the target adjustable factor.

[0008] Calculate the target power steering torque based on the basic steering torque and vibration compensation torque;

[0009] The target vehicle is controlled to perform power steering based on the target power steering torque.

[0010] Optionally, when determining that the target vehicle has entered an uneven road surface based on the driving data, determining the basic steering torque and vibration compensation torque based on the driving data and the target adjustable factor includes:

[0011] Based on the driving data, the steering angle, torque, and rotor speed at different times are obtained;

[0012] Calculate the rate of change of the angle between adjacent time periods based on the angles at different times;

[0013] The rate of change of torque between adjacent time periods is calculated based on the torque at different times.

[0014] Calculate the rotor acceleration for adjacent time periods based on the rotor speed at different times;

[0015] Whether the target vehicle has entered an uneven road surface is determined based on the rate of change of the turning angle, the rate of change of the torque, and the rotor acceleration in adjacent time periods.

[0016] When it is determined that the target vehicle has entered an uneven road surface, the basic steering torque and vibration compensation torque are determined based on the driving data and the target adjustable factor.

[0017] Optionally, determining the basic steering torque and vibration compensation torque based on the driving data and the target adjustable factor when the target vehicle enters an uneven road surface includes:

[0018] When the rate of change of steering angle is greater than a preset rate of change of steering angle, the rate of change of torque is greater than a preset rate of change of torque, and the rotor acceleration is greater than a preset acceleration threshold, it is determined that the target vehicle has entered an uneven road surface.

[0019] The basic steering torque and vibration compensation torque are determined based on the rotor acceleration and target adjustable factor in adjacent time periods.

[0020] Optionally, the determination of the basic steering torque and vibration compensation torque based on the rotor acceleration and target adjustable factor in the adjacent time periods, wherein the target adjustable factor includes a steering adjustable factor and a compensation adjustable factor, comprising:

[0021] The vehicle speed and lever torque of the target vehicle are obtained based on the driving data;

[0022] Calculate the actual steering torque required based on the vehicle speed and lever torque;

[0023] Determine the base steering torque based on the actual required steering torque and the steering adjustability factor;

[0024] The target rotor acceleration at the instant the target vehicle enters the uneven road surface is determined based on the rotor acceleration in the adjacent time periods.

[0025] Calculate the actual compensation torque required based on the target rotor acceleration;

[0026] The vibration compensation torque is determined based on the actual compensation required torque and the compensation adjustable factor.

[0027] Optionally, controlling the target vehicle to perform power steering based on the target power steering torque includes:

[0028] Determine the counterclockwise rotation time of the target vehicle's wheels;

[0029] The rotation time of the pinion is obtained from the counterclockwise rotation time of the wheel, wherein the pinion is connected to the vehicle steering.

[0030] The target vehicle is controlled to perform power steering based on the rotation timing of the pinion and the target power steering torque.

[0031] Optionally, controlling the target vehicle to perform power steering based on the rotation timing of the pinion and the target power steering torque includes:

[0032] When the pinion reaches the moment of rotation, the target power steering torque is applied by the electric motor to control the target vehicle to perform power steering.

[0033] Optionally, after controlling the target vehicle to perform power steering based on the target power steering torque, the method further includes:

[0034] Monitor the initial vibration amplitude of the steering wheel when the target vehicle enters an uneven road surface;

[0035] Obtain the second vibration amplitude of the steering wheel when entering the same uneven road surface under conventional power steering control;

[0036] When the first vibration amplitude is less than the second vibration amplitude, detect whether objective hitman data is received from the target terminal.

[0037] If the objective data is not received, continue to control the power steering of the target vehicle under other uneven road conditions.

[0038] Furthermore, to achieve the above objectives, the present invention also proposes a power steering control device, the power steering control device comprising:

[0039] The acquisition module is used to acquire the driving data of the target vehicle at different times;

[0040] The determination module is used to determine the basic steering torque and vibration compensation torque based on the driving data and the target adjustable factor when it is determined from the driving data that the target vehicle has entered an uneven road surface.

[0041] The calculation module is used to calculate the target power steering torque based on the basic steering torque and vibration compensation torque;

[0042] The control module is used to control the target vehicle to perform power steering according to the target power steering torque.

[0043] Furthermore, to achieve the above objectives, the present invention also proposes a power steering control device, the power steering control device comprising: a memory, a processor, and a power steering control program stored in the memory and executable on the processor, the power steering control program being configured to implement the power steering control method as described above.

[0044] In addition, to achieve the above objectives, the present invention also proposes a storage medium storing a power steering control program, which, when executed by a processor, implements the power steering control method as described above.

[0045] The power steering control method proposed in this invention acquires driving data of a target vehicle at different times; when it is determined from the driving data that the target vehicle has entered an uneven road surface, a base steering torque and a vibration compensation torque are determined based on the driving data and a target adjustable factor; a target power steering torque is calculated based on the base steering torque and the vibration compensation torque; and the target vehicle is controlled to perform power steering based on the target power steering torque. Through this method, after acquiring the driving data of the target vehicle at different times, it is determined whether the target vehicle has entered an uneven road surface. If so, the base steering torque and the vibration compensation torque are determined in conjunction with the target adjustable factor, and the target vehicle is controlled to perform power steering based on the calculated target power steering torque. This effectively improves the accuracy of power steering control, thereby suppressing steering wheel kick-in and improving the user's driving experience. Attached Figure Description

[0046] Figure 1 This is a schematic diagram of the structure of the power steering control device in the hardware operating environment involved in the embodiments of the present invention;

[0047] Figure 2 This is a flowchart illustrating the first embodiment of the power steering control method of the present invention;

[0048] Figure 3 This is a flowchart illustrating the second embodiment of the power steering control method of the present invention;

[0049] Figure 4 This is a schematic diagram of the power steering structure according to an embodiment of the power steering control method of the present invention;

[0050] Figure 5 This is a schematic diagram of the overall process of an embodiment of the power steering control method of the present invention;

[0051] Figure 6 This is a schematic diagram of the functional modules of the first embodiment of the power steering control device of the present invention.

[0052] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0053] It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the invention.

[0054] Reference Figure 1 , Figure 1 This is a schematic diagram of the power steering control device structure in the hardware operating environment involved in the embodiments of the present invention.

[0055] like Figure 1 As shown, the power steering control device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen or an input unit such as a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wireless-Fidelity (Wi-Fi) interface). The memory 1005 may be high-speed random access memory (RAM) or stable non-volatile memory (NVM), such as a disk storage device. The memory 1005 may also optionally be a storage device independent of the aforementioned processor 1001.

[0056] Those skilled in the art will understand that Figure 1 The structure shown does not constitute a limitation on the power steering control device and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0057] like Figure 1 As shown, the memory 1005, which serves as a storage medium, may include an operating system, a network communication module, a user interface module, and a power steering control program.

[0058] exist Figure 1In the power steering control device shown, the network interface 1004 is mainly used for data communication with the network integrated platform workstation; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the power steering control device of the present invention can be set in the power steering control device, and the power steering control device calls the power steering control program stored in the memory 1005 through the processor 1001 and executes the power steering control method provided in the embodiment of the present invention.

[0059] Based on the above hardware structure, an embodiment of the power steering control method of the present invention is proposed.

[0060] Reference Figure 2 , Figure 2 This is a flowchart illustrating the first embodiment of the power steering control method of the present invention.

[0061] In a first embodiment, the power steering control method includes the following steps:

[0062] Step S10: Obtain the driving data of the target vehicle at different times.

[0063] It should be noted that the execution subject in this embodiment is the power steering control device, but it can also be other devices that can achieve the same or similar functions, such as an electric power steering system. This embodiment does not limit this, and in this embodiment, an electric power steering system is used as an example for explanation.

[0064] It should be understood that driving data refers to data from different times and dimensions during the driving process of the target vehicle. This driving data includes, but is not limited to, steering angle, torque, rotor speed, vehicle speed, and lever torque. This driving data can be detected by signal sensor devices, including, but not limited to, torque sensors, steering wheel angle sensors, and vehicle speed sensors. In addition, the electric power steering system consists of signal sensor devices, electronic control units, and steering assist mechanisms.

[0065] Step S20: When it is determined from the driving data that the target vehicle has entered an uneven road surface, the basic steering torque and vibration compensation torque are determined from the driving data and the target adjustable factor.

[0066] It is understandable that uneven road surface refers to a road surface with inconsistent height and smoothness, that is, uneven road surface has various irregularities such as potholes, cracks, waves, etc. The target adjustable factor refers to the factor that can be adjusted according to the actual condition of the target vehicle. The target adjustable factor includes steering adjustable factor and compensation adjustable factor. The steering adjustable factor is used to calculate the basic steering torque, and the compensation adjustable factor is used to calculate the vibration compensation torque.

[0067] Further, step S20 includes: obtaining the steering angle, torque, and rotor speed at different times based on the driving data; calculating the rate of change of steering angle in adjacent time periods based on the steering angle at different times; calculating the rate of change of torque in adjacent time periods based on the torque at different times; calculating the rotor acceleration in adjacent time periods based on the rotor speed at different times; determining whether the target vehicle has entered an uneven road surface based on the rate of change of steering angle, the rate of change of torque, and the rotor acceleration in adjacent time periods; and determining the basic steering torque and vibration compensation torque based on the driving data and the target adjustable factor when it is determined that the target vehicle has entered an uneven road surface.

[0068] It should be understood that the signal sensor device collects driving data in real time during vehicle operation, including driving data at different times. Among these data, steering angle can be collected by the steering wheel angle sensor, torque can be collected by the torque sensor, steering angle change rate refers to the change in steering angle within adjacent time periods, torque change rate refers to the change in torque within adjacent time periods, and rotor acceleration refers to the change in speed within adjacent time periods. After calculating the parameters of the above three dimensions, the steering angle change rate, torque change rate, and rotor acceleration are used to comprehensively determine whether the target vehicle has entered an uneven road surface. If so, the basic steering torque and vibration compensation torque are determined in combination with the target adjustable factor.

[0069] Furthermore, when determining that the target vehicle has entered an uneven road surface, determining the basic steering torque and vibration compensation torque based on the driving data and the target adjustable factor includes: determining that the target vehicle has entered an uneven road surface when the rate of change of steering angle is greater than a preset rate of change of steering angle threshold, the rate of change of torque is greater than a preset rate of change of torque threshold, and the rotor acceleration is greater than a preset acceleration threshold; and determining the basic steering torque and vibration compensation torque based on the rotor acceleration and the target adjustable factor in adjacent time periods.

[0070] Understandably, after obtaining the rate of change of steering angle, the rate of change of torque, and the rotor acceleration, it is necessary to determine whether the above parameters are greater than their respective thresholds, that is, whether the rate of change of steering angle is greater than the preset rate of change of steering angle threshold, the rate of change of torque is greater than the preset rate of change of torque threshold, and the rotor acceleration is greater than the preset acceleration threshold. If all the above conditions are met, it is determined that the target vehicle has entered an uneven road surface. At this time, the wheels of the target vehicle will be subjected to external forces. Then, the basic steering torque and vibration compensation torque are determined based on the rotor acceleration and the target adjustable factor.

[0071] Further, the determination of the basic steering torque and vibration compensation torque based on the rotor acceleration and target adjustable factor in the adjacent time periods, wherein the target adjustable factor includes a steering adjustable factor and a compensation adjustable factor, includes: obtaining the vehicle speed and lever torque of the target vehicle based on driving data; calculating the actual steering torque required based on the vehicle speed and lever torque; determining the basic steering torque based on the actual required steering torque and the steering adjustable factor; determining the target rotor acceleration of the target vehicle at the moment of entering the uneven road surface based on the rotor acceleration in the adjacent time periods; calculating the actual compensation torque required based on the target rotor acceleration; and determining the vibration compensation torque based on the actual compensation torque required and the compensation adjustable factor.

[0072] It should be understood that the lever torque can be obtained through a torque sensor, and the rotor target acceleration refers to the rotor acceleration at the instant the target vehicle enters the uneven road surface. The target adjustable factor is different for different states of the target vehicle. After obtaining the lever torque, the actual steering torque required is calculated by combining it with the vehicle speed of the target vehicle, and then multiplied by the steering adjustable factor to obtain the basic steering torque. Similarly, after using the rotor target acceleration at the instant the target vehicle enters the uneven road surface, the actual compensation torque required is calculated based on the rotor target acceleration, and then multiplied by the compensation adjustable factor to obtain the vibration compensation torque.

[0073] Step S30: Calculate the target power steering torque based on the basic steering torque and vibration compensation torque.

[0074] It should be understood that the target power steering torque refers to the torque that prevents impact. After obtaining the basic steering torque and the vibration compensation torque, the target power steering torque is calculated. For example, if the vibration compensation torque is S1 and the basic steering torque is S2, then the target power steering torque S3 = S1 + S2.

[0075] Step S40: Control the target vehicle to perform power steering according to the target power steering torque.

[0076] Understandably, after obtaining the target power steering torque, the target vehicle is controlled to perform power steering based on the target power steering torque. At this time, it will have a restraining effect on the first half of the steering wheel kicking, so as to prevent the steering wheel from kicking due to external forces on the wheels.

[0077] Furthermore, after step S40, the method further includes: monitoring the first vibration amplitude of the steering wheel when the target vehicle enters an uneven road surface; acquiring the second vibration amplitude of the steering wheel when entering the same uneven road surface under normal power steering control; detecting whether objective steering data is received from the target terminal when the first vibration amplitude is less than the second vibration amplitude; and continuing to control the power steering of the target vehicle under other uneven road surface conditions when the objective steering data is not received.

[0078] It should be understood that the first vibration amplitude refers to the vibration amplitude of the steering wheel after control using this embodiment, and the second vibration amplitude refers to the vibration amplitude of the steering wheel after control using conventional power steering. The first and second vibration amplitudes are acquired during the first half of the journey, i.e., the period when the target vehicle enters an uneven road surface. When the first vibration amplitude is determined to be less than the second vibration amplitude, it indicates that the steering wheel kicking in the first half of the journey has a convergent and suppressive effect. In addition, the existence of the above effect will be further confirmed from the data fed back by the driver, i.e., whether objective steering wheel kicking data fed back by the target terminal is received. If so, the vibration compensation torque needs to be increased. If not, it indicates that the driver does not feel the vibration of the steering wheel and there is no steering wheel kicking. At this time, the control method of this embodiment can be used to control the power steering of the target vehicle under other uneven road surface conditions.

[0079] This embodiment acquires the driving data of the target vehicle at different times; when it is determined from the driving data that the target vehicle has entered an uneven road surface, a basic steering torque and a vibration compensation torque are determined based on the driving data and a target adjustable factor; a target power steering torque is calculated based on the basic steering torque and the vibration compensation torque; and the target vehicle is controlled to perform power steering based on the target power steering torque. Through this method, after acquiring the driving data of the target vehicle at different times, it is determined whether the target vehicle has entered an uneven road surface. If so, the basic steering torque and the vibration compensation torque are determined in conjunction with the target adjustable factor, and the target vehicle is controlled to perform power steering based on the calculated target power steering torque. This effectively improves the accuracy of power steering control, thereby suppressing steering wheel kick-out and improving the user's driving experience.

[0080] In one embodiment, such as Figure 3 The second embodiment of the power steering control method of the present invention, based on the first embodiment, includes step S40, which includes:

[0081] Step S401: Determine the counterclockwise rotation time of the target vehicle's wheels.

[0082] It should be understood that the counterclockwise rotation moment refers to the moment when the target vehicle's wheel rotates counterclockwise when it is impacted by the ground. This wheel can be the front wheel of the target vehicle, and the counterclockwise rotation moment can be the instant when the target vehicle enters the uneven road surface and is impacted by the ground.

[0083] It should be noted that the reference Figure 4 , Figure 4The diagram illustrates the power steering mechanism as follows: When the wheels of the target vehicle are impacted by the ground, the wheels rotate counterclockwise, the rack moves to the right, driving the pinion to rotate counterclockwise, which is transmitted to the steering wheel. At the instant the pinion begins to rotate, the steering wheel rotates after the pinion, creating a steering angle difference. The steering angle sensor measures the direction as positive, and the electric power steering system provides assistance in the positive direction.

[0084] Step S402: Obtain the rotation time of the pinion based on the counterclockwise rotation time of the wheel, wherein the pinion is connected to the vehicle steering.

[0085] It is understandable that since the counterclockwise rotation of the wheel drives the rotation of the pinion, after obtaining the time of the wheel's counterclockwise rotation, the rotation time of the pinion can be derived from this time. In reality, the rotation time of the pinion is greater than the counterclockwise rotation time of the wheel. Figure 4 As can be seen, the pinion is connected to the vehicle's steering mechanism, and it is based on this structure that the pinion is driven to rotate.

[0086] Step S403: Control the target vehicle to perform power steering according to the rotation time of the pinion and the target power steering torque.

[0087] It should be understood that after obtaining the rotation time of the pinion, the target vehicle is controlled to perform power steering in conjunction with the determined rotation time of the pinion.

[0088] Further, step S403 includes: when the pinion reaches the moment of rotation, controlling the target vehicle to perform power steering by executing the target power steering torque through the electric motor.

[0089] It is understandable that when the pinion reaches the moment of rotation, it indicates that the steering wheel kickback needs to be suppressed. That is, the target power steering torque is executed by the electric motor to control the target vehicle to provide power steering and improve the driver's feel. If the suppression is delayed or not suppressed, the kickback will occur. The above power steering control is an improvement on the power steering control logic. It can be completed without the need for additional parts and equipment, and does not cause vehicle assembly problems or increase BOM costs.

[0090] Specifically, refer to Figure 5 , Figure 5The overall process diagram is as follows: After collecting driving data such as steering angle, torque, rotor speed, and vehicle speed using signal sensor devices, it is determined whether the target vehicle has entered an uneven road surface. If so, the actual steering torque required is calculated based on the vehicle speed and lever torque. The base steering torque is determined based on the actual required steering torque and the steering adjustment factor. The actual compensation torque required is calculated based on the rotor target acceleration. The vibration compensation torque is determined based on the actual compensation torque required and the compensation adjustment factor. Then, the target power steering torque is calculated based on the base steering torque and the vibration compensation torque. The target power steering torque is then executed by the electric motor to control the target vehicle to provide power steering, thereby suppressing the occurrence of steering wheel kick-out.

[0091] This embodiment determines the counterclockwise rotation time of the target vehicle's wheels; obtains the rotation time of the pinion gear based on the counterclockwise rotation time of the wheels, wherein the pinion gear is connected to the vehicle's steering; and controls the target vehicle to perform power steering based on the rotation time of the pinion gear and the target power steering torque. Through this method, after determining the counterclockwise rotation time of the target vehicle's wheels, the rotation time of the pinion gear is obtained, and then, upon reaching the pinion gear's rotation time, the target power steering torque is applied via an electric motor to control the target vehicle to perform power steering, thereby effectively improving the accuracy of power steering control.

[0092] Furthermore, this embodiment of the invention also proposes a storage medium storing a power steering control program, which, when executed by a processor, implements the steps of the power steering control method described above.

[0093] Since this storage medium adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be repeated here.

[0094] In addition, refer to Figure 6 The present invention also proposes a power steering control device, the power steering control device comprising:

[0095] The acquisition module 10 is used to acquire the driving data of the target vehicle at different times.

[0096] The determination module 20 is used to determine the basic steering torque and vibration compensation torque based on the driving data and the target adjustable factor when it is determined that the target vehicle has entered an uneven road surface based on the driving data.

[0097] The calculation module 30 is used to calculate the target power steering torque based on the basic steering torque and the vibration compensation torque.

[0098] The control module 40 is used to control the target vehicle to perform power steering according to the target power steering torque.

[0099] This embodiment acquires the driving data of the target vehicle at different times; when it is determined from the driving data that the target vehicle has entered an uneven road surface, a basic steering torque and a vibration compensation torque are determined based on the driving data and a target adjustable factor; a target power steering torque is calculated based on the basic steering torque and the vibration compensation torque; and the target vehicle is controlled to perform power steering based on the target power steering torque. Through this method, after acquiring the driving data of the target vehicle at different times, it is determined whether the target vehicle has entered an uneven road surface. If so, the basic steering torque and the vibration compensation torque are determined in conjunction with the target adjustable factor, and the target vehicle is controlled to perform power steering based on the calculated target power steering torque. This effectively improves the accuracy of power steering control, thereby suppressing steering wheel kick-out and improving the user's driving experience.

[0100] It should be noted that the workflow described above is merely illustrative and does not limit the scope of protection of this invention. In practical applications, those skilled in the art can select some or all of the workflow to achieve the purpose of this embodiment according to actual needs, and no restrictions are imposed here.

[0101] In addition, for technical details not described in detail in this embodiment, please refer to the power steering control method provided in any embodiment of the present invention, which will not be repeated here.

[0102] In one embodiment, the determining module 20 is further configured to obtain the steering angle, torque, and rotor speed at different times based on the driving data; calculate the rate of change of steering angle in adjacent time periods based on the steering angle at different times; calculate the rate of change of torque in adjacent time periods based on the torque at different times; calculate the rotor acceleration in adjacent time periods based on the rotor speed at different times; determine whether the target vehicle has entered an uneven road surface based on the rate of change of steering angle, the rate of change of torque, and the rotor acceleration in adjacent time periods; and when it is determined that the target vehicle has entered an uneven road surface, determine the basic steering torque and vibration compensation torque based on the driving data and the target adjustable factor.

[0103] In one embodiment, the determining module 20 is further configured to determine that the target vehicle has entered an uneven road surface when the rate of change of the steering angle is greater than a preset rate of change of the steering angle, the rate of change of the torque is greater than a preset rate of change of the torque, and the rotor acceleration is greater than a preset acceleration threshold; and to determine the basic steering torque and vibration compensation torque based on the rotor acceleration and target adjustable factor in adjacent time periods.

[0104] In one embodiment, the determining module 20 is further configured to obtain the vehicle speed and lever torque of the target vehicle based on driving data; calculate the actual steering torque required based on the vehicle speed and lever torque; determine the basic steering torque based on the actual steering torque required and the steering adjustable factor; determine the target rotor acceleration of the target vehicle at the moment of entering the uneven road surface based on the rotor acceleration of the adjacent time periods; calculate the actual compensation torque required based on the target rotor acceleration; and determine the vibration compensation torque based on the actual compensation torque required and the compensation adjustable factor.

[0105] In one embodiment, the control module 40 is further configured to determine the counterclockwise rotation time of the wheels of the target vehicle; obtain the rotation time of the pinion gear based on the counterclockwise rotation time of the wheels, wherein the pinion gear is connected to the vehicle steering; and control the target vehicle to perform power steering based on the rotation time of the pinion gear and the target power steering torque.

[0106] In one embodiment, the control module 40 is further configured to control the target vehicle to perform power steering by executing the target power steering torque through the electric motor when the pinion reaches the rotation moment.

[0107] In one embodiment, the control module 40 is further configured to monitor the first vibration amplitude of the steering wheel when the target vehicle enters an uneven road surface; acquire the second vibration amplitude of the steering wheel when entering the same uneven road surface under normal power steering control; detect whether objective steering data is received from the target terminal when the first vibration amplitude is less than the second vibration amplitude; and continue to control the power steering of the target vehicle under other uneven road surface conditions when the objective steering data is not received.

[0108] Other embodiments or implementation methods of the power steering control device described in this invention can be referred to the above-described method embodiments, and will not be repeated here.

[0109] Furthermore, it should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0110] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0111] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of 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 is stored in a storage medium (such as read-only memory (ROM) / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, all-in-one platform workstation, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0112] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.

Claims

1. A power steering control method, characterized in that, The power steering control method includes the following steps: Obtain the driving data of the target vehicle at different times; Based on the driving data, the steering angle, torque, and rotor speed at different times are obtained; Calculate the rate of change of the angle between adjacent time periods based on the angles at different times; The rate of change of torque between adjacent time periods is calculated based on the torque at different times. Calculate the rotor acceleration for adjacent time periods based on the rotor speed at different times; Whether the target vehicle has entered an uneven road surface is determined based on the rate of change of the turning angle, the rate of change of the torque, and the rotor acceleration in the adjacent time periods. When the rate of change of steering angle is greater than a preset rate of change of steering angle, the rate of change of torque is greater than a preset rate of change of torque, and the rotor acceleration is greater than a preset acceleration threshold, it is determined that the target vehicle has entered an uneven road surface. The basic steering torque and vibration compensation torque are determined based on the rotor acceleration and target adjustable factor in the adjacent time periods. Calculate the target power steering torque based on the basic steering torque and vibration compensation torque; The target vehicle is controlled to perform power steering based on the target power steering torque.

2. The power steering control method as described in claim 1, characterized in that, The target adjustable factor includes a steering adjustable factor and a compensation adjustable factor. Determining the basic steering torque and vibration compensation torque based on the rotor acceleration and the target adjustable factor in adjacent time periods includes: The vehicle speed and lever torque of the target vehicle are obtained based on the driving data; Calculate the actual steering torque required based on the vehicle speed and the lever torque; The base steering torque is determined based on the actual steering torque required and the steering adjustability factor. The target rotor acceleration at the instant the target vehicle enters the uneven road surface is determined based on the rotor acceleration in the adjacent time periods. Calculate the actual compensation torque required based on the target rotor acceleration; The vibration compensation torque is determined based on the actual compensation required torque and the compensation adjustable factor.

3. The power steering control method as described in claim 1, characterized in that, The step of controlling the target vehicle to perform power steering based on the target power steering torque includes: Determine the counterclockwise rotation time of the wheels of the target vehicle; The rotation time of the pinion is obtained from the counterclockwise rotation time of the wheel, wherein the pinion is connected to the vehicle steering. The target vehicle is controlled to perform power steering based on the rotation timing of the pinion and the target power steering torque.

4. The power steering control method as described in claim 3, characterized in that, The step of controlling the target vehicle to perform power steering based on the rotation timing of the pinion and the target power steering torque includes: When the pinion reaches the moment of rotation, the target power steering torque is applied by the electric motor to control the target vehicle to perform power steering.

5. The power steering control method as described in any one of claims 1 to 4, characterized in that, After controlling the target vehicle to perform power steering based on the target power steering torque, the method further includes: Monitor the first vibration amplitude of the steering wheel when the target vehicle enters an uneven road surface; The second vibration amplitude of the steering wheel is obtained when entering the same uneven road surface under conventional power steering control; When the first vibration amplitude is less than the second vibration amplitude, detect whether objective hitman data is received from the target terminal; If the objective data is not received, continue to control the power steering of the target vehicle under other uneven road conditions.

6. A power steering control device, characterized in that, The power steering control device includes: The acquisition module is used to acquire the driving data of the target vehicle at different times; The determination module is used to obtain the steering angle, torque, and rotor speed at different times based on the driving data; calculate the rate of change of steering angle in adjacent time periods based on the steering angle at different times; calculate the rate of change of torque in adjacent time periods based on the torque at different times; calculate the rotor acceleration in adjacent time periods based on the rotor speed at different times; determine whether the target vehicle has entered an uneven road surface based on the rate of change of steering angle, the rate of change of torque, and the rotor acceleration in adjacent time periods; determine whether the target vehicle has entered an uneven road surface when the rate of change of steering angle is greater than a preset threshold, the rate of change of torque is greater than a preset threshold, and the rotor acceleration is greater than a preset threshold; and determine the basic steering torque and vibration compensation torque based on the rotor acceleration in adjacent time periods and the target adjustable factor. The calculation module is used to calculate the target power steering torque based on the basic steering torque and vibration compensation torque; The control module is used to control the target vehicle to perform power steering based on the target power steering torque.

7. A power steering control device, characterized in that, The power steering control device includes: a memory, a processor, and a power steering control program stored in the memory and executable on the processor, the power steering control program being configured to implement the power steering control method as described in any one of claims 1 to 5.

8. A storage medium, characterized in that, The storage medium stores a power steering control program, which, when executed by a processor, implements the power steering control method as described in any one of claims 1 to 5.

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