Active return control method, device, medium and vehicle for vehicle steering wheel

Abstract

The application provides an active return-to-center control method, device, medium and vehicle for a vehicle steering wheel. The active return-to-center control method comprises: obtaining steering wheel steering angle information and vehicle speed information; determining a first torque based on the steering wheel steering angle information and the vehicle speed information; obtaining a median arbitration coefficient based on the steering wheel steering angle information; determining an active return-to-center torque based on the steering wheel steering angle information, the median arbitration coefficient and the first torque; and performing feedforward control based on the active return-to-center torque to achieve steering wheel return-to-center. The control method arbitrates the feedforward return-to-center torque, so that the steering wheel returns to center more smoothly and is less likely to be over-adjusted or insufficiently returned to center, thereby improving the return-to-center effect and driving experience.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of vehicles, and more particularly to a method, device, medium and vehicle for active return control of a vehicle steering wheel. BACKGROUND

[0002] An electric power steering system (EPS) is an important component of the execution end of an automobile chassis. In order to improve the comfort of the driver, the electric power steering system needs to have an active return function. The active return function is that the EPS system and an electronic control unit (ECU) judge the return time according to the vehicle speed and the steering wheel deviation angle and the operation state of the driver, calculate the active return auxiliary torque in real time to realize active return, and output the return torque through the assist motor to improve the effect of vehicle steering return.

[0003] With the increasing demand of the driver and the passenger for the comfort and safety of the whole vehicle, the EPS and the ECU have put forward high reliability requirements for the state recognition and control performance of the active return function. The existing active return function has many deficiencies, mainly reflected in the following aspects: at a low vehicle speed, for example, the gear and the rack have a small movement speed, and the relative friction is larger at a large steering angle. If the same torque as that at the large steering angle is used, the return deficiency phenomenon is likely to occur; at a high vehicle speed, especially when the steering wheel is turned in a small steering angle range, the return force is likely to be too large due to shaking, which causes the steering wheel to return to overdrive and cannot guarantee the return effect, thereby reducing the driving experience. SUMMARY

[0004] The present application is proposed in consideration of the above problems. The present application provides a method, device, medium and vehicle for active return control of a vehicle steering wheel, which can make the steering wheel more smooth during return and improve the return effect and the driving experience.

[0005] According to a first aspect of the present application, a method for active return control of a vehicle steering wheel is provided, and the method comprises the following steps:

[0006] obtaining steering wheel steering angle information and vehicle speed information;

[0007] determining a first torque based on the steering wheel steering angle information and the vehicle speed information;

[0008] obtaining a neutral point arbitration coefficient based on the steering wheel steering angle information;

[0009] determining an active return torque based on the steering wheel steering angle information, the neutral point arbitration coefficient and the first torque;

[0010] The active return torque is used for feedforward control to realize steering wheel return.

[0011] In one embodiment of the present application, the first torque is determined based on the steering wheel steering angle information and the vehicle speed information, including:

[0012] The steering direction of the steering wheel is obtained based on the steering wheel steering angle information.

[0013] A vehicle speed torque table is obtained according to the steering direction of the steering wheel.

[0014] A vehicle speed torque is obtained from the vehicle speed torque table according to the vehicle speed information.

[0015] The first torque is obtained based on the vehicle speed torque.

[0016] In one embodiment of the present application, the first torque is further determined based on pre-obtained steering wheel hand force information.

[0017] In one embodiment of the present application, the first torque is obtained based on the vehicle speed torque, including:

[0018] The steering direction of the steering wheel and the steering speed information of the steering wheel are obtained based on the steering wheel steering angle information.

[0019] The vehicle speed torque is corrected based on the steering wheel hand force information, the steering direction of the steering wheel and the steering speed information of the steering wheel, to obtain a corrected vehicle speed torque.

[0020] The corrected vehicle speed torque is taken as the first torque.

[0021] In one embodiment of the present application, the vehicle speed torque is corrected based on the steering wheel hand force information, the steering direction of the steering wheel and the steering speed information of the steering wheel, to obtain a corrected vehicle speed torque, including:

[0022] A steering wheel hand force torque table is obtained.

[0023] A hand force correction torque is obtained from the steering wheel hand force torque table based on the steering wheel hand force information.

[0024] A steering speed torque table of the steering wheel is obtained according to the steering direction of the steering wheel.

[0025] A steering speed correction torque is obtained from the steering speed torque table of the steering wheel based on the steering speed information of the steering wheel.

[0026] The vehicle speed torque is corrected based on the hand force correction torque and the steering speed correction torque, to obtain a corrected vehicle speed torque.

[0027] In an embodiment of the present application, the obtaining the steering direction of the steering wheel based on the steering wheel steering angle information comprises:

[0028] obtaining a steering angle value in the steering wheel steering angle information;

[0029] determining that the steering direction of the steering wheel is left turn when the steering angle value is greater than or equal to zero degree;

[0030] determining that the steering direction of the steering wheel is right turn when the steering angle value is greater than or equal to zero degree.

[0031] In an embodiment of the present application, the obtaining the median arbitration coefficient based on the steering wheel steering angle information comprises:

[0032] obtaining a steering angle absolute value in the steering wheel steering angle information;

[0033] calculating the median arbitration coefficient based on the steering angle absolute value.

[0034] In an embodiment of the present application, the determining the active return-to-straight force moment based on the steering wheel steering angle information, the median arbitration coefficient and the vehicle speed force moment comprises:

[0035] determining a force moment absolute value of the active return-to-straight force moment based on a product of the median arbitration coefficient and the vehicle speed force moment;

[0036] determining a force moment direction of the active return-to-straight force moment based on a steering angle direction in the steering wheel steering angle information;

[0037] determining the active return-to-straight force moment based on the force moment absolute value and the force moment direction.

[0038] According to a second aspect of the present application, an electronic device is provided, which comprises a memory and a processor, the memory has stored thereon a computer program which is run by the processor, and the computer program, when being run by the processor, causes the device with the processor installed therein to perform the active return-to-straight control method of the vehicle steering wheel.

[0039] According to a third aspect of the present application, a storage medium is provided, which has stored thereon a computer program, the computer program is run on a computer, and the computer program, when being run, causes the computer to perform the active return-to-straight control method of the vehicle steering wheel.

[0040] According to a fourth aspect of the present application, a vehicle is provided, which comprises the electronic device or the storage medium described above.

[0041] The active return control method of the vehicle steering wheel of the present application arbitrates the feedforward return torque, so that the steering wheel returns more smoothly, and is less likely to have overshoot and insufficient return, thereby improving the return effect and driving experience. BRIEF DESCRIPTION OF DRAWINGS

[0042] The above and other objects, features and advantages of the present application will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings in which:

[0043] Figure 1 is a schematic block diagram of a control device for the active return control method of the vehicle steering wheel of the present application;

[0044] Figure 2 is a schematic flow chart of the active return control method of the vehicle steering wheel according to an embodiment of the present application;

[0045] Figure 3 is a flow chart for judging the steering of the steering wheel according to an embodiment of the present application;

[0046] Figure 4 is a schematic flow chart of the active return control method of the vehicle steering wheel according to another embodiment of the present application;

[0047] Figure 5 is a schematic structural diagram of a vehicle according to an embodiment of the present application;

[0048] Figure 6 is a schematic structural diagram of a vehicle according to another embodiment of the present application. DETAILED DESCRIPTION

[0049] In order to make the objects, technical solutions and advantages of the present application more apparent, the following will describe the example embodiments according to the present application in detail with reference to the accompanying drawings. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments of the present application, and it should be understood that the present application is not limited to the example embodiments described herein. Based on the embodiments of the present application described in the present application, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of the present application.

[0050] In view of the phenomenon of insufficient return to zero of the existing active return-to-zero control method of the vehicle steering wheel at low speed of the vehicle and the phenomenon of over-rotation of the steering wheel at high speed of the vehicle, the application provides a kind of active return-to-zero control method of vehicle steering wheel, electronic equipment, medium and vehicle, which can effectively guarantee the return-to-zero effect and improve the driving experience.

[0051] First, referring to Figure 1 The control device 100 for implementing the method embodiment of the application is described.

[0052] As Figure 1 shown, the control device 100 includes a processor 110, a memory 120, and a communication interface 130. The processor 110, the memory 120, and the communication interface 130 can be interconnected by a communication bus 140 and / or other forms of connection mechanism (not shown).

[0053] It should be noted that Figure 1 The components and structure of the control device 100 shown are only exemplary and not limiting, and the control device can also have other components and structures as needed.

[0054] Optionally, the communication interface 130 can also include a transmitter and / or a receiver.

[0055] The processor 110 can be a microcontroller unit (MCU), a central processing unit (CPU), a digital signal processor (DSP), a single-chip microcomputer, and an embedded device or other forms of processing units with data processing and / or instruction execution capabilities, and can control other components in the autonomous driving vehicle system to perform desired functions.

[0056] The memory 120 can be various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may, for example, include random access memory (RAM), cache, synchronous dynamic random access memory (SDRAM), etc. The non-volatile memory may, for example, include read-only memory (ROM), hard disk, flash memory (Flash), etc. One or more computer program instructions can also be stored on the computer-readable storage medium, and the memory 120 can run the program instructions to implement the active return-to-zero control method of the vehicle steering wheel in the method embodiments described below.

[0057] Next, a method for actively returning a steering wheel of a vehicle to a neutral position according to an embodiment of the present application is described below with reference to Figure 2

[0058] As shown in Figure 2 The method for actively returning a steering wheel of a vehicle to a neutral position according to the present application can be applied to an EPS system of a vehicle and includes the following steps S210-S250.

[0059] In step S210, steering wheel steering angle information and vehicle speed information are obtained.

[0060] In the present application, the steering wheel steering angle information can be obtained by collecting a steering wheel steering angle signal by a torque and angle sensor (TAS). The TAS can not only collect the steering wheel steering angle signal, but also usually collect a steering wheel hand force signal. Therefore, the steering wheel hand force signal mentioned in the following embodiments is also collected by the TAS, and no further description is provided.

[0061] Specifically, the steering angle information includes the size and direction of the steering angle. When representing, the size of the angle is represented by a numerical value, and the direction is represented by positive and negative. For example, the set direction can be positive, and when the angle is negative, the opposite direction is represented.

[0062] In the present application, the vehicle speed information can be obtained by obtaining a vehicle speed signal through a controller area network (CAN) network of the vehicle. Specifically, the vehicle speed information includes a vehicle speed value.

[0063] In step S220, a first torque is determined based on the steering wheel steering angle information and the vehicle speed information.

[0064] Specifically, the method for determining the first torque based on the steering wheel steering angle information and the vehicle speed information can use a preset estimation method to determine the first torque based on the size of the steering wheel steering angle and the vehicle speed, or use a look-up table based on the size of the steering wheel steering angle and the vehicle speed to determine the first torque.

[0065] In step S230, a median arbitration coefficient is obtained based on the steering wheel steering angle information.

[0066] Specifically, the median arbitration coefficient is obtained based on the steering wheel steering angle information, including:

[0067] Obtaining the absolute value of the steering angle in the steering wheel steering angle information;

[0068] Calculating the median arbitration coefficient based on the absolute value of the steering angle.

[0069] ​In step S240, the active return torque is determined based on the steering wheel steering angle information, the median arbitration coefficient and the first torque.

[0070] Specifically, the size of the active return torque can be determined based on the median arbitration coefficient and the first torque, and the torque direction of the active return torque can be determined based on the steering angle direction in the steering wheel steering angle information.

[0071] In step S250, the active return torque is used for feedforward control to realize steering wheel return.

[0072] Specifically, when the driver manipulates the steering wheel for steering, the torque sensor detects the steering of the steering wheel and the size of the vehicle speed, and transmits a voltage signal to the electronic control unit. The electronic control unit issues an instruction to the motor controller according to the steering wheel steering angle signal and the vehicle speed signal detected by the torque sensor, etc. The motor controller can calculate the assist motor control current according to the active return torque, and then the motor performs active return.

[0073] The active return control method of the vehicle steering wheel according to the present application arbitrates the feedforward return torque in a small area near the return zero point, so that the steering wheel returns more smoothly, especially near the median, and is less likely to overshoot and under-returns, thereby improving the return effect and driving experience. In addition, the control method of the present application uses the existing TAS sensor, without additional cost.

[0074] The following will be described with reference to Figure 3 to illustrate the steering wheel steering determination process according to an embodiment of the present application.

[0075] As shown in Figure 3 , according to an embodiment of the present application, the steering direction of the steering wheel is obtained based on the steering wheel steering angle information, including:

[0076] Obtaining the steering angle value in the steering wheel steering angle information;

[0077] When the steering angle value is greater than or equal to zero degrees, it is determined that the steering direction of the steering wheel is left turn;

[0078] When the steering angle value is greater than or equal to zero degrees, it is determined that the steering direction of the steering wheel is right turn.

[0079] According to an embodiment of the present application, the first torque is determined based on the steering wheel steering angle information and the vehicle speed information, including:

[0080] Obtaining the steering direction of the steering wheel based on the steering wheel steering angle information;

[0081] Specifically, it can be determined from the steering wheel steering angle information whether the steering wheel is left turn or right turn. Therefore, in the present application, the steering direction of the steering wheel includes left turn and right turn.

[0082] Obtain a pre-established vehicle speed and torque table based on the steering direction;

[0083] The vehicle speed torque can be obtained by looking up the steering wheel speed torque table based on the vehicle speed information.

[0084] Here, the speed-torque tables are pre-established, including speed-torque tables for left turns and right turns. Each torque table includes the speed-torque corresponding to different vehicle speeds. The speed-torque tables can be established by calibration, which determines the required return torque for different vehicle speeds for both left and right turns.

[0085] Left and right steering wheel turns correspond to different steering wheel torque tables. Therefore, before looking up a table, you need to determine the steering wheel torque table corresponding to the steering direction based on the steering wheel information. That is, when turning the steering wheel left, you need to use the steering wheel torque table corresponding to left turn; when turning the steering wheel right, you need to use the steering wheel torque table corresponding to right turn.

[0086] The first torque is obtained based on the vehicle speed torque. Here, the obtained vehicle speed torque can be directly used as the first torque, thus obtaining the first torque.

[0087] According to one embodiment of this application, the first torque is further determined based on pre-acquired steering wheel hand force information.

[0088] In this embodiment, steering wheel force information can be obtained through steering wheel force signals collected by a TAS sensor. Steering wheel force information includes the absolute value of the steering wheel force.

[0089] Based on steering wheel angle information and vehicle speed information, the first torque is determined based on steering wheel hand force information, which makes the return-to-center process smoother and more comfortable during active return-to-center.

[0090] According to one embodiment of this application, obtaining the first torque based on vehicle speed torque includes:

[0091] The steering wheel rotation speed and steering direction are obtained based on the steering wheel angle information;

[0092] The vehicle speed torque is corrected based on steering wheel force information, steering wheel direction information, and steering wheel speed information to obtain the corrected vehicle speed torque.

[0093] The corrected vehicle speed torque is used as the first torque.

[0094] In this embodiment, the steering wheel rotation speed information includes the absolute value of the steering wheel rotation speed. Specifically, the absolute value of the steering wheel rotation speed can be obtained by differentiating the absolute value of the steering wheel angle in the steering wheel angle information.

[0095] In this embodiment, when actively returning to the center, not only the returning torque based on the vehicle speed is considered, but also the combined effect of the steering wheel hand force and the steering wheel speed in different steering directions is considered, so that the returning process is smoother and more comfortable.

[0096] According to an embodiment of the present application, the vehicle speed torque is corrected based on the steering wheel hand force information, the steering direction of the steering wheel and the steering wheel speed information to obtain a corrected vehicle speed torque, comprising:

[0097] Obtaining a steering wheel hand force torque table established in advance;

[0098] Based on the steering wheel hand force information, the hand force correction torque is obtained by looking up the steering wheel hand force torque table;

[0099] Obtaining a steering wheel speed torque table established in advance according to the steering direction of the steering wheel;

[0100] Based on the steering wheel speed information, the speed correction torque is obtained by looking up the steering wheel speed torque table;

[0101] The vehicle speed torque is corrected based on the hand force correction torque and the speed correction torque to obtain a corrected vehicle speed torque.

[0102] In the present application, the steering wheel hand force torque table is established in advance, which includes correction torques corresponding to different steering wheel hand forces. The steering wheel speed torque table is established in advance, which includes correction torques corresponding to different steering wheel speeds when turning left and correction torques corresponding to different steering wheel speeds when turning right.

[0103] The specific method of correcting the vehicle speed torque by the hand force correction torque and the speed correction torque can be to superimpose the hand force correction torque and the speed correction torque on the vehicle speed torque, and the result obtained is the corrected vehicle speed torque.

[0104] According to an embodiment of the present application, the active returning torque is determined based on the steering wheel steering angle information, the median arbitration coefficient and the first torque, comprising:

[0105] The absolute value of the active returning torque is determined based on the product of the median arbitration coefficient and the first torque;

[0106] The torque direction of the active returning torque is determined based on the steering angle direction in the steering wheel steering angle information;

[0107] The active returning torque is determined based on the absolute value of the torque and the torque direction.

[0108] Through the method of the present embodiment, the steering wheel returning to the center is affected by the arbitration coefficient, and does not produce large shaking, avoiding the shaking of the steering wheel at the center in the bumpy road section, and improving the safety of driving.

[0109] The following describes a method for actively returning a steering wheel to a center position according to an embodiment of the present application, which is applied to actively returning the steering wheel to the center position near the center position of the steering wheel. Figure 4

[0110] Step 1: Obtain the steering wheel rotation angle signal and the steering wheel hand force signal collected by the torque angle sensor, and calculate the steering wheel rotation angle, the absolute value of the steering wheel rotation angle, and the absolute value of the hand force. The torque angle sensor can be arranged on the steering shaft.

[0111] Step 2: Determine the steering direction according to the steering wheel rotation angle. When the steering wheel rotation angle is greater than or equal to 0, it is determined that the steering direction is right turning, otherwise it is left turning.

[0112] In the case of left turning or right turning, the corresponding torque is obtained according to the absolute value of the vehicle speed and the absolute value of the steering wheel rotation speed by searching the two-dimensional table.

[0113] First, obtain the corresponding vehicle speed torque table and steering wheel rotation speed torque table according to the steering direction. Then, obtain the vehicle speed torque by searching the vehicle speed torque table according to the absolute value of the vehicle speed, and obtain the rotation speed correction torque by searching the steering wheel rotation speed torque table according to the absolute value of the steering wheel rotation speed.

[0114] Step 3: Obtain the hand force correction torque by searching the table according to the absolute value of the hand force.

[0115] Step 4: Superimpose the hand force correction torque, the rotation speed correction torque, and the vehicle speed torque to obtain the corrected vehicle speed torque, and take the corrected vehicle speed torque as the first torque.

[0116] Step 5: Obtain the center position arbitration coefficient according to the absolute value of the steering wheel rotation angle. Specifically, calculate the center position arbitration coefficient according to the absolute value of the steering wheel rotation angle after dynamic limiting.

[0117] Step 6: Arbitrate the first torque according to the center position arbitration coefficient obtained from the rotation angle. Specifically, multiply the first torque by the center position arbitration coefficient to obtain the final active return torque.

[0118] Step 7: Transmit the total active return torque signal to the motor control module, calculate the target current signal by the motor control module, and transmit it to the execution motor, and the execution motor performs active return assistance.

[0119] ​The embodiment provides a feedforward active return control algorithm for arbitration near the center of the steering wheel, a feedforward control based on driver driving intention recognition, three signals of steering wheel speed, vehicle speed and hand force as feedforward signal input parameters, final return torque required by the steering system obtained through steering determination, feedforward calculation and center arbitration calculation, target torque calculation of the motor control module to obtain the control current of the assist motor, and then the active return is executed through the motor, and then the state detection and assist supply of the active return are performed in real time. The method can effectively improve the return effect near the center, and improve the driving experience.

[0120] The embodiment of the present application also provides an electronic device, which comprises a memory and a processor, the memory stores a computer program which is run by the processor, and the computer program, when run by the processor, causes the device provided with the processor to execute the active return control method of the vehicle steering wheel according to any one of the above embodiments.

[0121] The embodiment of the present application also provides a storage medium, which stores a computer program, and the computer program is run on a computer, and the computer program, when run, causes the computer to execute the active return control method of the vehicle steering wheel according to any one of the above embodiments.

[0122] The embodiment of the present application also provides a vehicle, which comprises the electronic device or the storage medium. Figure 5 An example of a vehicle according to an embodiment of the present application is shown, which comprises an electronic device. Figure 6 An example of a vehicle according to another embodiment of the present application is shown, which comprises a storage medium.

[0123] Although the example embodiments have been described herein with reference to the accompanying drawings, it should be understood that the above example embodiments are merely exemplary and are not intended to limit the scope of the present application. Those of ordinary skill in the art can make various changes and modifications without departing from the scope and spirit of the present application. All these changes and modifications are intended to be included within the scope of the present application as claimed in the appended claims.

[0124] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in connection with the embodiments disclosed herein can be realized by electronic hardware, or a combination of computer software and electronic hardware. Whether the functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Those of ordinary skill in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0125] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the above-described device embodiments are merely illustrative, and the division of the units is merely a logical function division. In actual implementation, another division manner can be used, for example, a plurality of units or components can be combined or integrated into another device, or some features can be omitted or not executed.

[0126] In the specification provided herein, a large number of specific details are described. However, it can be understood that the embodiments of the present application can be practiced without these specific details. In some examples, well-known methods, structures and techniques are not described in detail in order not to obscure the understanding of the present specification.

[0127] Similarly, it should be appreciated that, in the description of the exemplary embodiments of the present application, various features of the present application are sometimes grouped together in a single embodiment, figure, or description of a related aspect. This method of disclosure, however, is not to be interpreted as reflecting a necessity to the application of the application, nor is it to be interpreted as reflecting an intention that the application requires more features than are explicitly recited in each claim. Rather, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following, in this application are hereby expressly incorporated into this detailed description, with each claim acting as a separate embodiment of the application.

[0128] Those skilled in the art can understand that, except for the mutual exclusion between features, all features disclosed in the specification (including the accompanying claims, abstract and drawings) and all processes or units of any method or device disclosed in this way can be combined in any combination. Unless explicitly stated otherwise, each feature disclosed in the specification (including the accompanying claims, abstract and drawings) can be replaced by an alternative feature that provides the same, equivalent or similar purpose.

[0129] In addition, those skilled in the art can understand that, although some embodiments described herein include certain features rather than other features included in other embodiments, the combination of features of different embodiments means that it is within the scope of the present application and forms different embodiments. For example, in the claims, any one of the claimed embodiments can be used in any combination.

[0130] The various component embodiments of the present application can be implemented in hardware, or as software modules running in one or more processors, or in combinations thereof. As will be appreciated by one skilled in the art, a microprocessor or digital signal processor (DSP) can be used in practice to implement some or all of the functionality of some of the modules in the item analysis apparatus according to embodiments of the present application. The present application can also be implemented as an apparatus program (e.g., a computer program and computer program product) for performing part or all of the methods described herein. Such a program implementing the present application can be stored on a computer readable medium, or can have one or more signals. Such signals can be downloaded from an Internet website, or provided on a carrier medium, or in any other form.

[0131] It should be noted that the above-mentioned embodiments illustrate rather than limit the application, and that one skilled in the art will be able to design many alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word 'comprising' does not exclude the presence of elements or steps other than those listed in a claim. The word 'a' or 'an' preceding an element does not exclude the presence of a plurality of such elements. The application can be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In a unitary claim, several of the devices, apparatuses or means, if any, can be implemented by one and the same item of hardware. The use of the words 'first','second' and 'third', etc. do not imply any order but rather are used for naming purposes only. Further, the word 'comprise' or 'comprising' or 'including' or 'including' or 'having' should not be construed as meaning that the enumerated elements are the only ones that can be present in the composition or process.

[0132] The above description is only specific embodiments of the present application or specific explanations of specific embodiments, and the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, and all of them should be covered within the protection scope of the present application. The protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method for active return-to-center control of a vehicle steering wheel, characterized in that, The active self-alignment control method includes: Obtain steering wheel angle information and vehicle speed information; The first torque is determined based on the steering wheel angle information and the vehicle speed information; The median arbitration coefficient is obtained based on the steering wheel angle information; The active self-centering torque is determined based on the steering wheel angle information, the center arbitration coefficient, and the first torque. Feedforward control is performed based on the active return torque to achieve steering wheel return.

2. The active return-to-center control method for a vehicle steering wheel as described in claim 1, characterized in that, Determining the first torque based on the steering wheel angle information and the vehicle speed information includes: The steering direction is obtained based on the steering wheel angle information; The pre-established vehicle speed torque table is obtained based on the steering direction of the steering wheel; The vehicle speed torque is obtained by looking up the vehicle speed torque table based on the vehicle speed information. The first torque is obtained based on the vehicle speed torque.

3. The active return-to-center control method for a vehicle steering wheel as described in claim 2, characterized in that, The first torque is also determined based on pre-acquired steering wheel force information.

4. The active return-to-center control method for a vehicle steering wheel as described in claim 3, characterized in that, The step of obtaining the first torque based on the vehicle speed torque includes: Based on the steering wheel angle information, the steering wheel steering direction and steering wheel speed information are obtained; The vehicle speed torque is corrected based on the steering wheel force information, the steering wheel direction, and the steering wheel speed information to obtain the corrected vehicle speed torque; The corrected vehicle speed torque is taken as the first torque.

5. The active return-to-center control method for a vehicle steering wheel as described in claim 4, characterized in that, The step of correcting the vehicle speed torque based on the steering wheel force information, the steering wheel direction, and the steering wheel speed information to obtain the corrected vehicle speed torque includes: Obtain the pre-established steering wheel torque table; Based on the steering wheel hand force information, the corrected hand force torque is obtained by looking up the steering wheel hand force torque table. Obtain a pre-established steering wheel speed and torque table based on the steering wheel direction; Based on the steering wheel speed information, the speed correction torque is obtained by looking up the steering wheel speed torque table. The vehicle speed torque is corrected based on the hand force correction torque and the rotation speed correction torque to obtain the corrected vehicle speed torque.

6. The active return-to-center control method for a vehicle steering wheel as described in any one of claims 2-5, characterized in that, The steering direction is obtained based on the steering angle information, including: Obtain the steering angle value from the steering wheel steering angle information; When the steering angle value is greater than or equal to zero degrees, the steering wheel direction is determined to be left turn; When the steering angle value is greater than or equal to zero degrees, the steering wheel direction is determined to be right turn.

7. The active return-to-center control method for a vehicle steering wheel as described in claim 1, characterized in that, The process of obtaining the median arbitration coefficient based on the steering wheel angle information includes: Obtain the absolute value of the steering angle from the steering wheel steering angle information; The median arbitration coefficient is calculated based on the absolute value of the steering angle.

8. The active return-to-center control method for a vehicle steering wheel as described in claim 1, characterized in that, The determination of the active self-centering torque based on the steering wheel angle information, the center arbitration coefficient, and the first torque includes: The absolute value of the active homing torque is determined based on the product of the median arbitration coefficient and the first torque. Based on the steering angle direction in the steering wheel steering angle information, the torque direction of the active return torque is determined; The active return torque is determined based on the absolute value of the torque and the direction of the torque.

9. An electronic device, characterized in that, The electronic device includes a memory and a processor, the memory storing a computer program executed by the processor, the computer program, when executed by the processor, causing a device equipped with the processor to perform an active return-to-center control method for a vehicle steering wheel as described in any one of claims 1-8.

10. A storage medium, characterized in that, The storage medium stores a computer program that runs on a computer and, when running, causes the computer to perform the active return-to-center control method for a vehicle steering wheel as described in any one of claims 1-8.

11. A vehicle, characterized in that, Includes the electronic device of claim 9 or the storage medium of claim 10.

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