Vehicle control method, electronic device, and vehicle

Abstract

This application provides a vehicle control method, electronic device, and vehicle. The vehicle control method includes: determining whether the vehicle is subjected to an external impact based on the vehicle's steering wheel rotation speed and / or the rotation speed of the power steering motor; determining target steering data for the vehicle's electric power steering system in response to determining that the vehicle is subjected to an external impact; and controlling the electric power steering system to output a steering damping torque according to the target steering data. The vehicle control method provided in this application is beneficial for improving the lifespan of the vehicle's electric power steering system.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and more particularly to a vehicle control method, electronic equipment, and vehicle. Background Technology

[0002] Currently, electric power steering systems have become standard equipment in almost every car. Electric power steering systems can assist drivers in steering the wheel, giving them a comfortable steering experience.

[0003] However, when a vehicle is subjected to a large external physical impact, the components of the electric power steering system (such as the steering shaft) are easily damaged due to the lack of damping, which can lead to the vehicle losing its steering ability. At the same time, the steering wheel will also be subjected to a large impact force, which can easily cause injury to the driver's hands.

[0004] Therefore, this application is hereby submitted. Summary of the Invention

[0005] In view of this, the purpose of this application is to provide a vehicle control method, electronic equipment and vehicle that are beneficial to improving the lifespan of the vehicle's electric power steering system and the driver's driving experience.

[0006] In view of the above objectives, firstly, this application provides a vehicle control method, comprising:

[0007] Based on the vehicle's steering wheel speed and / or the speed of the power steering motor, determine whether the vehicle has been subjected to an external impact;

[0008] In response to determining that the vehicle has been subjected to an external impact, target steering data for the vehicle's electric power steering system is determined;

[0009] The electric power steering system is controlled to output steering damping torque according to the target steering data.

[0010] Furthermore, determining whether the vehicle has been subjected to an external impact based on the vehicle's steering wheel rotation speed and / or the power steering motor rotation speed includes:

[0011] In response to the vehicle's steering wheel rotation speed being greater than a first threshold, and / or the power steering motor rotation speed being greater than a second threshold, it is determined that the vehicle has been subjected to an external impact.

[0012] Furthermore, the target steering data includes a target steering force magnitude value, and the target steering data for determining the vehicle's electric power steering system includes:

[0013] The target steering force value is determined based on the vehicle's current real-time speed and steering wheel rotation speed.

[0014] Alternatively, the target steering force can be determined based on the location and magnitude of the external impact on the vehicle.

[0015] Furthermore, determining the target steering force based on the location and magnitude of the external impact on the vehicle includes:

[0016] Determine the distance between the location where the vehicle is subjected to an external impact and the electric power steering system;

[0017] A first compensation value is determined based on the distance;

[0018] The second compensation value is determined based on the magnitude of the impact force.

[0019] The preset value is compensated based on the first compensation value and the second compensation value to obtain the target steering force value.

[0020] Furthermore, the target steering data includes the target steering direction, and the target steering data for determining the vehicle's electric power steering system includes:

[0021] The target steering direction is determined based on the direction of rotation of the vehicle's steering wheel;

[0022] Alternatively, the target steering direction can be determined based on the external impact experienced by the vehicle.

[0023] Furthermore, determining the target steering direction based on the direction of rotation of the vehicle steering wheel includes:

[0024] The direction opposite to the direction of steering wheel rotation is determined as the target steering direction.

[0025] Furthermore, determining the target steering direction based on the external impact received by the vehicle includes:

[0026] In response to the vehicle turning left under the action of the external impact, the target turning direction is determined to be right;

[0027] In response to the vehicle turning right under the action of the external impact, the target turning direction is determined to be left.

[0028] Furthermore, the target steering data includes a target steering force magnitude value, and the target steering data for determining the vehicle's electric power steering system includes:

[0029] The magnitude of the first steering force is determined based on the vehicle's current real-time speed and the steering wheel rotation speed.

[0030] The magnitude of the second steering force is determined based on the location and magnitude of the external impact on the vehicle.

[0031] The target steering force magnitude is determined based on the magnitudes of the first and second steering forces.

[0032] Furthermore, the target steering data includes the target steering direction, and the target steering data for determining the vehicle's electric power steering system includes:

[0033] The first steering direction is determined based on the direction of rotation of the steering wheel;

[0034] The second steering direction is determined based on the external impact received by the vehicle;

[0035] The target steering direction is determined based on the first steering direction and the second steering direction.

[0036] In view of the above objectives, secondly, this application also provides a vehicle control device, comprising:

[0037] The first determining module is used to determine whether the vehicle has been subjected to an external impact based on the vehicle's steering wheel rotation speed and / or the rotation speed of the power steering motor; the second determining module is used to determine the target steering data of the vehicle's electric power steering system in response to determining that the vehicle has been subjected to an external impact; and the control module is used to control the electric power steering system to output steering damping torque according to the target steering data.

[0038] In view of the above objectives, in a third aspect, this application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the vehicle control method as described in the first aspect above.

[0039] In view of the above objectives, in a fourth aspect, this application also provides a vehicle including the vehicle control device described in the third aspect above.

[0040] In view of the foregoing objectives, in a fifth aspect, this application also provides a non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform the vehicle control method as described in any of the first aspects above.

[0041] As can be seen from the above, the vehicle control method provided in this application determines whether the vehicle is subjected to external impact based on the vehicle's steering wheel speed and / or the speed of the power steering motor. It can accurately identify external impacts that affect the vehicle's electric power steering system, and then protect the vehicle's electric power steering system against such external impacts, thereby reducing the risk of damage to the electric power steering system, extending the service life of the electric power steering system, alleviating the problem of steering wheel kickback, and thus improving driving safety and driving experience. Attached Figure Description

[0042] To more clearly illustrate the technical solutions in this application or related technologies, the drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0043] Figure 1 This is a flowchart illustrating a vehicle control method according to an embodiment of this application. Figure 1 ;

[0044] Figure 2 This is a flowchart illustrating a vehicle control method according to an embodiment of this application. Figure 2 ;

[0045] Figure 3 This is a flowchart illustrating a vehicle control method according to an embodiment of this application. Figure 3 ;

[0046] Figure 4 This is a flowchart illustrating a vehicle control method according to an embodiment of this application. Figure 4 ;

[0047] Figure 5 This is a flowchart illustrating a vehicle control method according to an embodiment of this application. Figure 5 ;

[0048] Figure 6 This is a flowchart illustrating a vehicle control method according to an embodiment of this application. Figure 6 ;

[0049] Figure 7 This is a schematic diagram of the structure of a vehicle control device according to an embodiment of this application;

[0050] Figure 8 This is a schematic diagram of the hardware structure of an electronic device according to an embodiment of this application. Detailed Implementation

[0051] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with specific embodiments and the accompanying drawings.

[0052] It should be noted that, unless otherwise defined, the technical or scientific terms used in the embodiments of this application should have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms "first," "second," and similar terms used in the embodiments of this application do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are only used to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0053] Electric power steering (EPS) is a power steering system that directly relies on an electric motor to provide auxiliary torque. Depending on the installation location of the power steering motor, EPS systems can be categorized into shaft-assisted, gear-assisted, and rack-assisted types. In shaft-assisted EPS systems, the power steering motor is fixed to one side of the steering shaft and connected to it via a reduction gear, directly driving the steering shaft to assist steering. In gear-assisted EPS systems, the power steering motor and reduction gear are connected to a pinion, directly driving gear-assisted steering. In rack-assisted EPS systems, the power steering motor and reduction gear directly drive rack-assisted steering. Regardless of the type, the working principle is the same: when the driver operates the steering wheel, the torque sensor detects the steering wheel's direction and torque magnitude, transmitting a voltage signal to the electronic control unit (ECU). The ECU, based on the torque voltage signal, steering direction, and vehicle speed detected by the torque sensor, sends a command to the power steering motor controller, causing the power steering motor to output a corresponding magnitude and direction of steering assistance torque, thus generating auxiliary power. When the car is not steering, the ECU does not send a command to the power steering motor controller, and the power steering motor does not operate.

[0054] However, when a vehicle is suddenly subjected to a strong external impact, the electric power steering system will passively operate at high speed under the impact force. This not only subjectes the various components of the electric power steering system to a strong impact force but also causes the steering wheel to rotate at high speed, resulting in a kickback phenomenon. Therefore, in order to protect the safety of the electric power steering system and the driver, the technical solution of this embodiment is proposed.

[0055] In some embodiments, Figure 1A flowchart illustrating a vehicle control method is shown. This method is applicable to scenarios where a vehicle experiences a sudden external impact causing the steering wheel to rotate rapidly. Its purpose is to protect the vehicle's electric power steering system from damage, thereby extending its service life. The vehicle control method can be executed by a vehicle control device, which can be integrated into the vehicle, specifically into the electric power steering system, and can be implemented through software and / or hardware. Figure 1 As shown, the vehicle control method includes the following steps:

[0056] S110. Determine whether the vehicle has been subjected to an external impact based on the vehicle's steering wheel speed and / or the speed of the power steering motor.

[0057] Specifically, when a vehicle is subjected to an external impact, it will vibrate due to the impact force. When the impact force is strong, the vehicle may even undergo passive displacement. Simultaneously, the steering wheel will passively rotate, and the power steering motor in the electric power steering system will also generate a passive rotational speed. Therefore, based on these objective physical events, the speed of the steering wheel and / or the power steering motor can be used to determine whether the vehicle has been subjected to an external impact.

[0058] Furthermore, the magnitude of the external impact force on the vehicle can be determined based on the speed of the steering wheel and / or the speed of the power steering motor. When the steering wheel speed is low and / or the power steering motor speed is low, the external impact force on the vehicle is considered small; conversely, when the steering wheel speed is high and / or the power steering motor speed is high, the external impact force on the vehicle is considered large. Understandably, when the external impact force on the vehicle is small, the probability of damage to the electric power steering system is low. Therefore, to improve control efficiency and effectiveness and reduce unnecessary actions, protective measures may not be implemented for the electric power steering system when the external impact force is determined to be small. Protective measures are only implemented for the electric power steering system when the external impact force is determined to be large. This improves control efficiency and effectiveness and reduces unnecessary actions.

[0059] S120, In response to determining that the vehicle has been subjected to an external impact, determine the target steering data of the vehicle's electric power steering system.

[0060] The target steering data of the vehicle's electric power steering system includes the target steering direction and the magnitude of the target steering force, i.e., how much torque the electric power steering motor needs to output and the direction of that torque.

[0061] Optionally, the target steering direction of the electric power steering system can be determined based on the direction in which the vehicle's steering wheel passively rotates under the influence of an external impact force. For example, if the steering wheel passively rotates to the left under the influence of an external impact force, the target steering direction of the electric power steering system is determined to be the direction in which the steering wheel rotates to the right; if the steering wheel passively rotates to the right under the influence of an external impact force, the target steering direction is determined to be the direction in which the steering wheel rotates to the left. The purpose is to prevent the steering wheel from passively rotating due to external impact forces, thereby protecting the electric power steering system and the driver's hands.

[0062] Optionally, the target steering direction can be determined based on the rotational speed passively generated by the power steering motor under the action of external impact. For example, if the rotational speed passively generated by the power steering motor under the action of external impact is in reverse, the target steering direction is determined to be forward; if the rotational speed passively generated by the power steering motor under the action of external impact is in forward, the target steering direction is determined to be reverse. The purpose is to prevent passive rotation caused by external impact, thereby achieving the purpose of protecting the electric power steering system.

[0063] S130. Control the electric power steering system to output steering damping torque according to the target steering data.

[0064] Under the action of external impact force, the power steering motor passively generates high-speed motion. If this motion is not intervened, the components of the electric power steering system may be damaged due to the high-speed impact. Therefore, the embodiments of this application control the power steering motor to provide a reverse damping torque in order to balance the passive motion of the power steering motor caused by external impact force as much as possible, thereby achieving the purpose of protecting the electric power steering system.

[0065] Specifically, for example, suppose that under the action of an external impact force, the power steering motor passively generates a high-speed motion with the rotation direction reversed. In order to balance this high-speed motion, the power steering motor can be controlled to generate a reverse damping torque, that is, to control the power steering motor to rotate forward. The speed can be determined according to the magnitude of the external impact force, or further combined with the position of the vehicle being impacted by the external force, or determined according to the passive speed of the power steering motor caused by the action of the external impact force.

[0066] The vehicle control method provided in this application determines whether the vehicle is subjected to external impact based on the steering wheel speed and / or the speed of the power steering motor. It can accurately identify external impacts that affect the vehicle's electric power steering system, and then protect the electric power steering system against such external impacts. This reduces the risk of damage to the electric power steering system, extends its service life, alleviates the problem of steering wheel kickback, and improves driving safety and driving experience.

[0067] In some implementations... Figure 2 A flowchart illustrating a vehicle control method is shown. Based on the above embodiment, this embodiment specifically optimizes step S110. The advantage of this optimization is that it can accurately identify large external impacts (meaning external impacts that may damage the vehicle's electric power steering system). Therefore, when the vehicle is subjected to a large external impact, the electric power steering system is protected, reducing the risk of damage and minimizing unnecessary redundant protection actions, further achieving energy savings. Specifically, as shown... Figure 2 As shown, the vehicle control method includes the following steps:

[0068] S210, in response to the vehicle's steering wheel rotation speed being greater than a first threshold, and / or the power steering motor rotation speed being greater than a second threshold, it is determined that the vehicle has been subjected to an external impact.

[0069] The first threshold and the second threshold can be determined in advance by calibration or testing based on the specific vehicle model and the specific type of electric power steering system. The determination principle is: when the steering wheel speed of the vehicle is greater than the first threshold, it indicates that the current external impact force is large and will damage the electric power steering system of the vehicle; or, when the speed of the power steering motor is greater than the second threshold, it indicates that the current external impact force is large and will damage the electric power steering system of the vehicle.

[0070] The advantage of this setup is that it can accurately identify effective external impacts (meaning external impacts that may damage the vehicle's electric power steering system), thereby protecting the vehicle's electric power steering system when it is subjected to a large external impact. This reduces the risk of damage to the electric power steering system and minimizes unnecessary redundant protection actions, further achieving the goal of saving energy.

[0071] In some implementations, the vehicle is determined to have been subjected to an external impact in response to the steering wheel rotation speed of the vehicle being greater than a first threshold.

[0072] In other embodiments, the vehicle is determined to have been subjected to an external impact in response to the steering assist motor rotating at a speed greater than a second threshold.

[0073] Furthermore, the system can also determine that the vehicle has been subjected to an external impact if the steering wheel rotation speed exceeds a first threshold and the power steering motor rotation speed exceeds a second threshold. By determining these dual conditions, the accuracy of the determination can be improved.

[0074] S220, In response to determining that the vehicle has been subjected to an external impact, determine the target steering data of the vehicle's electric power steering system.

[0075] S230. Control the electric power steering system to output steering damping torque according to the target steering data.

[0076] The vehicle control method provided in this application determines that the vehicle has been subjected to an external impact in response to the steering wheel rotation speed being greater than a first threshold and / or the power steering motor rotation speed being greater than a second threshold. This allows for accurate identification of valid external impacts (which refer to external impacts that may damage the vehicle's electric power steering system). Upon identification of a valid external impact, the method protects the vehicle's electric power steering system, reducing the risk of damage to the system, extending its service life, and minimizing unnecessary redundant protection actions. This further saves energy and alleviates the problem of steering wheel kickback, thereby improving driving safety and the driving experience.

[0077] In some implementations... Figure 3 A flowchart illustrating a vehicle control method is shown. Based on the above embodiment, this embodiment specifically optimizes step S120 by further refining the target steering data into a target steering force magnitude value and providing a specific determination process. The advantage of this optimization is that it allows for the determination of a more accurate target steering force magnitude value, thereby ensuring the effectiveness of protecting the vehicle's electric power steering system and reducing the risk of damage to the electric power steering system. Specifically, as shown... Figure 3 As shown, the vehicle control method includes the following steps:

[0078] S310. Determine whether the vehicle has been subjected to an external impact based on the vehicle's steering wheel rotation speed and / or the rotation speed of the power steering motor.

[0079] S320. In response to determining that the vehicle has been subjected to an external impact, determine the magnitude of the target steering force based on the vehicle's current real-time speed and steering wheel rotation speed; or, determine the magnitude of the target steering force based on the location of the external impact and the magnitude of the impact force.

[0080] Optionally, determining the target steering force based on the vehicle's current real-time speed and steering wheel rotation speed includes:

[0081] The system retrieves the value corresponding to the vehicle's current real-time speed and steering wheel rotation speed from a preset relationship table, and determines this value as the target steering force. In other words, the preset relationship table is a table showing the relationship between vehicle speed, steering wheel rotation speed, and steering force. When the vehicle speed and steering wheel rotation speed are known, the corresponding steering force value can be located from the preset relationship table. The preset relationship table can be determined through pre-calibration or experimentation based on the specific vehicle model and electric power steering system, and stored in the vehicle's controller. It can be directly read when needed. This method is not only efficient but also ensures accuracy.

[0082] Optionally, determining the target steering force based on the location and magnitude of the external impact on the vehicle includes:

[0083] Determine the distance between the location where the vehicle is subjected to an external impact and the vehicle's electric power steering system;

[0084] A first compensation value is determined based on the distance;

[0085] The second compensation value is determined based on the magnitude of the impact force.

[0086] The preset value is compensated based on the first compensation value and the second compensation value to obtain the target steering force value.

[0087] Understandably, the greater the distance between the location of the external impact and the vehicle's electric power steering system, the lower the passive rotational speed of the electric power steering motor due to the impact, meaning a lower risk of damage to the electric power steering system. Conversely, the closer the location of the external impact to the vehicle's electric power steering system, the higher the passive rotational speed of the electric power steering motor due to the impact, meaning a higher risk of damage to the electric power steering system. Therefore, the greater the distance between the location of the external impact and the vehicle's electric power steering system, the smaller the first compensation value; the closer the location of the external impact to the vehicle's electric power steering system, the larger the first compensation value.

[0088] Optionally, the preset value can be predetermined through calibration. Specifically, it can be the magnitude of the damping force output by the electric power steering motor to protect the electric power steering system when the center of the vehicle's front is subjected to an external impact. The first compensation value and the second compensation value can be specific values ​​greater than 1 or coefficients less than 1. If the first compensation value and the second compensation value are specific values ​​greater than 1, the method of compensating the preset value based on the first compensation value and the second compensation value can be to accumulate the first compensation value, the second compensation value, and the preset value to obtain the target steering force value. If the first compensation value and the second compensation value are coefficients less than 1, the method of compensating the preset value based on the first compensation value and the second compensation value can be to multiply the first compensation value and the second compensation value by the preset value respectively to obtain the target steering force value.

[0089] Furthermore, determining the first compensation value based on the distance can be done based on a mapping relationship between distance and compensation value. Similarly, determining the second compensation value based on the magnitude of the impact force can be done based on a mapping relationship between force magnitude and compensation value.

[0090] The magnitude of the impact force can be obtained through onboard mechanical sensors or by combining onboard cameras with algorithms such as deep learning models based on vehicle deformation. The location where the vehicle is subjected to external impact can be determined by the installation position of the mechanical sensor with the largest sensor data, or by visual recognition. Once the location where the vehicle is subjected to external impact is determined, the distance between that location and a reference position (the reference position represents the position of the electric power steering system) can be obtained.

[0091] S330. Control the electric power steering system to output steering damping torque according to the target steering data.

[0092] The vehicle control method provided in this application determines the target steering force value based on the vehicle's current real-time speed and steering wheel rotation speed; or, it determines the target steering force value based on the location and magnitude of the external impact on the vehicle. This method can determine a more accurate target steering force value, thereby ensuring the protection of the vehicle's electric power steering system, reducing the risk of damage to the electric power steering system, alleviating the problem of steering wheel kickback, and thus improving driving safety and driving experience.

[0093] In some implementations... Figure 4A flowchart illustrating a vehicle control method is shown. Based on the above embodiment, this embodiment specifically optimizes step S120 by further refining the target steering data into a target steering force magnitude value and providing another specific determination process. The advantage of this optimization is that it allows for a more accurate determination of the target steering force magnitude value, thereby ensuring the protection of the vehicle's electric power steering system and reducing the risk of damage to the electric power steering system. Specifically, as shown... Figure 4 As shown, the vehicle control method includes the following steps:

[0094] S410. Determine whether the vehicle has been subjected to an external impact based on the vehicle's steering wheel rotation speed and / or the rotation speed of the power steering motor.

[0095] S420, in response to determining that the vehicle has been subjected to an external impact, a first steering force magnitude is determined based on the vehicle's current real-time speed and steering wheel rotation speed.

[0096] Optionally, a value corresponding to the vehicle's current real-time speed and steering wheel rotation speed can be retrieved from a preset relationship table, and this value is determined as the first steering force magnitude. In other words, the preset relationship table is a table showing the relationship between vehicle speed, steering wheel rotation speed, and steering force magnitude. When the vehicle speed and steering wheel rotation speed are known, the corresponding steering force magnitude can be located from the preset relationship table. The preset relationship table can be determined through pre-calibration or experimentation based on the specific vehicle model and the specific electric power steering system, and stored in the vehicle's controller. When needed, it can be directly read. This method is not only efficient but also ensures accuracy.

[0097] S430. Determine the magnitude of the second steering force based on the location and magnitude of the external impact on the vehicle.

[0098] Optionally, a compensation value can be determined based on the distance between the location of the external impact on the vehicle and the electric power steering system. The preset value is then compensated by the compensation value to obtain the second steering force value.

[0099] S440. Determine the target steering force value based on the first steering force value and the second steering force value.

[0100] Optionally, the average or weighted sum of the first and second steering force magnitudes can be used to determine the target steering force magnitude. This setting improves the accuracy of the target steering force magnitude determination.

[0101] S450, Control the electric power steering system to output steering damping torque according to the target steering data.

[0102] The vehicle control method provided in this application, in response to determining that the vehicle is subjected to an external impact, determines a first steering force value based on the vehicle's current real-time speed and steering wheel rotation speed, determines a second steering force value based on the location and magnitude of the external impact, and determines a target steering force value based on the first and second steering force values. This further improves the accuracy of determining the target steering force value, thereby ensuring the protection of the vehicle's electric power steering system, reducing the risk of damage to the electric power steering system, alleviating the problem of steering wheel kickback, and thus improving driving safety and driving experience.

[0103] In some implementations... Figure 5 A flowchart illustrating a vehicle control method is shown. Based on the above embodiment, this embodiment specifically optimizes step S120 by further refining the target steering data into a target steering direction and providing a specific determination process. The advantage of this optimization is that it allows for a more accurate determination of the target steering direction, thereby ensuring the protection of the vehicle's electric power steering system and reducing the risk of damage to the system. Specifically, as shown... Figure 5 As shown, the vehicle control method includes the following steps:

[0104] S510. Determine whether the vehicle has been subjected to an external impact based on the vehicle's steering wheel speed and / or the speed of the power steering motor.

[0105] S520. In response to determining that the vehicle has been subjected to an external impact, determine the target steering direction based on the direction of rotation of the vehicle's steering wheel; or, determine the target steering direction based on the external impact on the vehicle.

[0106] Optionally, determining the target steering direction based on the direction of steering wheel rotation includes: determining the opposite direction of steering wheel rotation as the target steering direction. For example, if the steering wheel rotates to the left, the target steering direction is determined to be to the right; if the steering wheel rotates to the right, the target steering direction is determined to be to the left. The purpose is to prevent the steering wheel from rotating, or to provide damping force to the steering wheel to prevent excessive steering wheel rotation and potential steering wheel kickback, and to protect the components of the electric power steering system from damage due to high-speed movement.

[0107] Optionally, determining the target steering direction based on the external impact received by the vehicle includes:

[0108] In response to the vehicle turning left under the action of the external impact, the target turning direction is determined to be to the right; in response to the vehicle turning right under the action of the external impact, the target turning direction is determined to be to the left.

[0109] Understandably, since external impacts cause passive movement in a vehicle, to counteract this passive movement, the counteracting direction can be determined based on the direction of the passive movement. For example, the opposite direction of the steering wheel rotation can be determined as the target steering direction. Alternatively, in response to the vehicle turning left under the external impact, the target steering direction can be determined as right; in response to the vehicle turning right under the external impact, the target steering direction can be determined as left. This method of determining the target steering direction is more precise and provides better counteracting effect, thus enhancing the protection of the electric power steering system.

[0110] S530, Control the electric power steering system to output steering damping torque according to the target steering data.

[0111] The vehicle control method provided in this application, in response to determining that the vehicle is subjected to an external impact, determines the target steering direction based on the direction of the vehicle's steering wheel rotation; or, determines the target steering direction based on the external impact on the vehicle, can determine a precise target steering direction, thereby ensuring the protection of the vehicle's electric power steering system, reducing the risk of damage to the electric power steering system, and alleviating the problem of steering wheel kickback, thereby improving driving safety and enhancing the driving experience.

[0112] In some implementations... Figure 6 A flowchart illustrating a vehicle control method is shown. Based on the above embodiment, this embodiment specifically optimizes step S120, further refining the target steering data into a target steering direction and providing another specific determination process. The advantage of this optimization is that it can further determine a more accurate target steering direction, thereby ensuring the effectiveness of protecting the vehicle's electric power steering system and reducing the risk of damage to the electric power steering system. Specifically, as shown... Figure 6 As shown, the vehicle control method includes the following steps:

[0113] S610. Determine whether the vehicle has been subjected to an external impact based on the vehicle's steering wheel rotation speed and / or the rotation speed of the power steering motor.

[0114] S620, in response to determining that the vehicle has been subjected to an external impact, a first steering direction is determined based on the direction of the steering wheel rotation; and a second steering direction is determined based on the external impact on the vehicle.

[0115] Optionally, the reverse direction of the steering wheel rotation direction can be determined as the first steering direction.

[0116] In response to the vehicle turning left under the action of the external impact, the first steering direction is determined to be right; in response to the vehicle turning right under the action of the external impact, the second steering direction is determined to be left.

[0117] S630. Determine the target steering direction based on the first steering direction and the second steering direction.

[0118] Optionally, the average or weighted sum of the first and second steering directions is determined as the target steering direction. It is understood that the first and second steering directions can be represented by angles; therefore, calculating the average of the first and second steering directions is essentially calculating the average of the angles. Similarly, determining the weighted sum of the first and second steering directions is essentially performing a weighted sum of the angles.

[0119] S640. Control the electric power steering system to output steering damping torque according to the target steering data.

[0120] The vehicle control method provided in this application determines a first steering direction based on the direction of steering wheel rotation; determines a second steering direction based on external impacts on the vehicle; and determines a target steering direction based on the first and second steering directions. This further improves the accuracy of the target steering direction determination, thereby ensuring the protection of the vehicle's electric power steering system, reducing the risk of damage to the electric power steering system, alleviating the problem of steering wheel kickback, and thus improving driving safety and driving experience.

[0121] It should be noted that the method in this embodiment can be executed by a single device, such as a computer or server. The method can also be applied in a distributed scenario, where multiple devices cooperate to complete the task. In such a distributed scenario, one of these devices may execute only one or more steps of the method in this embodiment, and the multiple devices will interact with each other to complete the method described.

[0122] It should be noted that the above description describes some embodiments of this application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in a different order than that shown in the above embodiments and still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require a specific or sequential order to achieve the desired result. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0123] Based on the same inventive concept, corresponding to any of the above embodiments, this application also provides a vehicle control device.

[0124] refer to Figure 7 The vehicle control device includes: a first determining module 710, used to determine whether the vehicle is subjected to an external impact based on the vehicle's steering wheel rotation speed and / or the rotation speed of the power steering motor; a second determining module 720, used to determine target steering data of the vehicle's electric power steering system in response to determining that the vehicle is subjected to an external impact; and a control module 730, used to control the electric power steering system to output steering damping torque according to the target steering data.

[0125] Furthermore, the first determining module 710 is specifically used to determine that the vehicle has been subjected to an external impact in response to the steering wheel rotation speed of the vehicle being greater than a first threshold, and / or the rotation speed of the power steering motor being greater than a second threshold.

[0126] Furthermore, the target steering data includes a target steering force magnitude value. The second determining module 720 includes a first determining unit, used to determine the target steering force magnitude value based on the vehicle's current real-time speed and steering wheel rotation speed; or, a second determining unit, used to determine the target steering force magnitude value based on the location and magnitude of the external impact on the vehicle.

[0127] Furthermore, the second determining unit is specifically used to: determine the distance between the location where the vehicle is subjected to an external impact and the electric power steering system; determine a first compensation value based on the distance; determine a second compensation value based on the magnitude of the impact force; and compensate a preset value based on the first compensation value and the second compensation value to obtain the target steering force magnitude value.

[0128] Furthermore, the target steering data includes a target steering direction, and the second determining module 720 includes a third determining unit for determining the target steering direction based on the direction of rotation of the vehicle steering wheel; or, a fourth determining unit for determining the target steering direction based on the external impact received by the vehicle.

[0129] Furthermore, the third determining unit is specifically used to: determine the opposite direction of the steering wheel rotation direction as the target steering direction.

[0130] Furthermore, the fourth determining unit is specifically used to: determine the target turning direction as right in response to the vehicle turning left under the action of the external impact; and determine the target turning direction as left in response to the vehicle turning right under the action of the external impact.

[0131] Furthermore, the target steering data includes a target steering force magnitude value, and the second determining module 720 is specifically used to: determine a first steering force magnitude value based on the vehicle's current real-time speed and steering wheel rotation speed; determine a second steering force magnitude value based on the location and magnitude of the external impact on the vehicle; and determine a target steering force magnitude value based on the first and second steering force magnitude values.

[0132] Furthermore, the target steering data includes a target steering direction, and the second determining module 720 is specifically used to: determine a first steering direction based on the direction of the steering wheel rotation; determine a second steering direction based on the external impact on the vehicle; and determine a target steering direction based on the first steering direction and the second steering direction.

[0133] The vehicle control device provided in this embodiment determines whether the vehicle is subjected to external impact based on the steering wheel speed and / or the power steering motor speed. It can accurately identify external impacts that affect the vehicle's electric power steering system, and then protect the electric power steering system against such external impacts. This reduces the risk of damage to the electric power steering system, extends its service life, alleviates steering wheel kickback, and improves driving safety and driving experience.

[0134] For ease of description, the above devices are described in terms of function, divided into various modules. Of course, in implementing this application, the functions of each module can be implemented in one or more software and / or hardware.

[0135] The apparatus of the above embodiments is used to implement the corresponding vehicle control method in any of the foregoing embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0136] For ease of description, the above devices are described in terms of function, divided into various modules. Of course, in implementing this application, the functions of each module can be implemented in one or more software and / or hardware.

[0137] The apparatus of the above embodiments is used to implement the corresponding vehicle control method in any of the foregoing embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0138] Based on the same inventive concept, corresponding to the methods of any of the above embodiments, this application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the vehicle control method described in any of the above embodiments.

[0139] Based on the same inventive concept, corresponding to any of the above embodiments, this application also provides a vehicle that includes the electronic device.

[0140] Figure 8 This embodiment illustrates a more specific hardware structure of an electronic device, which may include a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, memory 1020, input / output interface 1030, and communication interface 1040 are interconnected internally via the bus 1050.

[0141] The processor 1010 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0142] The memory 1020 can be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 1020 can store the operating system and other applications. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program code is stored in the memory 1020 and is called and executed by the processor 1010.

[0143] The input / output interface 1030 is used to connect input / output modules to realize information input and output. Input / output modules can be configured as components within the device (not shown in the figure) or externally connected to the device to provide corresponding functions. Input devices may include keyboards, mice, touchscreens, microphones, various sensors, etc., while output devices may include displays, speakers, vibrators, indicator lights, etc.

[0144] The communication interface 1040 is used to connect a communication module (not shown in the figure) to enable communication between this device and other devices. The communication module can communicate via wired means (such as USB, Ethernet cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

[0145] Bus 1050 includes a pathway for transmitting information between various components of the device, such as processor 1010, memory 1020, input / output interface 1030, and communication interface 1040.

[0146] It should be noted that although the above-described device only shows the processor 1010, memory 1020, input / output interface 1030, communication interface 1040, and bus 1050, in specific implementations, the device may also include other components necessary for normal operation. Furthermore, those skilled in the art will understand that the above-described device may only include the components necessary for implementing the embodiments of this specification, and not necessarily all the components shown in the figures.

[0147] The electronic devices described above are used to implement the corresponding vehicle control methods in any of the foregoing embodiments and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0148] Based on the same inventive concept, corresponding to the methods of any of the above embodiments, this application also provides a non-transitory computer-readable storage medium that stores computer instructions for causing the computer to execute the vehicle control method as described in any of the above embodiments.

[0149] The computer-readable medium of this embodiment includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transfer medium that can be used to store information accessible by a computing device.

[0150] The computer instructions stored in the storage medium of the above embodiments are used to cause the computer to execute the vehicle control method as described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0151] Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of this application (including the claims) is limited to these examples; within the framework of this application, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of the embodiments of this application as described above, which are not provided in the details for the sake of brevity.

[0152] Additionally, to simplify the description and discussion, and to avoid obscuring the embodiments of this application, the well-known power / ground connections to integrated circuit (IC) chips and other components may or may not be shown in the provided drawings. Furthermore, the apparatus may be shown in block diagram form to avoid obscuring the embodiments of this application, and this also takes into account the fact that the details of the implementation of these block diagram apparatuses are highly dependent on the platform on which the embodiments of this application will be implemented (i.e., these details should be fully understood by those skilled in the art). While specific details (e.g., circuits) have been set forth to describe exemplary embodiments of this application, it will be apparent to those skilled in the art that the embodiments of this application can be implemented without these specific details or with variations thereof. Therefore, these descriptions should be considered illustrative rather than restrictive.

[0153] Although this application has been described in conjunction with specific embodiments thereof, many substitutions, modifications, and variations of these embodiments will be apparent to those skilled in the art from the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may be used with the embodiments discussed.

[0154] The embodiments of this application are intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the embodiments of this application should be included within the protection scope of this application.

Claims

1. A vehicle control method, characterized in that, include: Based on the vehicle's steering wheel speed and / or the speed of the power steering motor, determine whether the vehicle has been subjected to an external impact; In response to determining that the vehicle has been subjected to an external impact, target steering data for the vehicle's electric power steering system is determined; The electric power steering system is controlled to output steering damping torque according to the target steering data; The target steering data includes the magnitude of the target steering force. Determining the target steering data of the vehicle's electric power steering system includes: determining the magnitude of the target steering force based on the location and magnitude of the external impact on the vehicle. Determining the target steering force based on the location and magnitude of the external impact on the vehicle includes: Determine the distance between the location where the vehicle is subjected to an external impact and the electric power steering system; determine a first compensation value based on the distance; determine a second compensation value based on the magnitude of the impact force; compensate a preset value based on the first compensation value and the second compensation value to obtain the target steering force magnitude.

2. The vehicle control method according to claim 1, characterized in that, Determining whether the vehicle has been subjected to an external impact based on the vehicle's steering wheel rotation speed and / or power steering motor rotation speed includes: In response to the vehicle's steering wheel rotation speed being greater than a first threshold, and / or the power steering motor rotation speed being greater than a second threshold, it is determined that the vehicle has been subjected to an external impact.

3. The vehicle control method according to claim 1, characterized in that, The target steering data includes the target steering direction, and the target steering data for determining the vehicle's electric power steering system further includes: The target steering direction is determined based on the direction of rotation of the vehicle's steering wheel; Alternatively, the target steering direction can be determined based on the external impact experienced by the vehicle.

4. The vehicle control method according to claim 3, characterized in that, Determining the target steering direction based on the direction of rotation of the vehicle's steering wheel includes: The opposite direction of the steering wheel rotation direction is determined as the target steering direction; Determining the target steering direction based on the external impact received by the vehicle includes: In response to the vehicle turning left under the action of the external impact, the target turning direction is determined to be right; In response to the vehicle turning right under the action of the external impact, the target turning direction is determined to be left.

5. The vehicle control method according to claim 1, characterized in that, The target steering data includes the target steering direction, and the target steering data for determining the vehicle's electric power steering system further includes: The first steering direction is determined based on the direction of rotation of the steering wheel; The second steering direction is determined based on the external impact received by the vehicle; The target steering direction is determined based on the first steering direction and the second steering direction.

6. A vehicle control method, characterized in that, include: Based on the vehicle's steering wheel speed and / or the speed of the power steering motor, determine whether the vehicle has been subjected to an external impact; In response to determining that the vehicle has been subjected to an external impact, target steering data for the vehicle's electric power steering system is determined; The electric power steering system is controlled to output steering damping torque according to the target steering data; The target steering data includes the magnitude of the target steering force. The target steering data for determining the electric power steering system of the vehicle includes: The magnitude of the first steering force is determined based on the vehicle's current real-time speed and the steering wheel rotation speed. The magnitude of the second steering force is determined based on the location and magnitude of the external impact on the vehicle. The target steering force magnitude is determined based on the magnitude of the first steering force and the magnitude of the second steering force.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the vehicle control method as described in any one of claims 1 to 6.

8. A vehicle, characterized in that, The vehicle includes the electronic equipment as described in claim 7.

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