Steering wheel motion control method and device for vehicle, vehicle and storage medium

Abstract

The application provides a steering wheel motion control method and device, a vehicle and a storage medium. The method comprises the following steps: acquiring a current motion parameter of a steering wheel and a target motion parameter of the steering wheel; when the current motion parameter and the target motion parameter satisfy steering wheel motion curve planning conditions, planning a steering wheel motion curve according to the current motion parameter, the target motion parameter and a high-order curve; determining a steering wheel motion sampling point according to the steering wheel motion curve; and controlling the motion of the steering wheel according to the steering wheel motion sampling point and the steering wheel motion curve. The application can realize smooth control of the steering wheel and improve the stability of vehicle parking.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, in particular to a steering wheel motion control method and device of a vehicle, a vehicle and a storage medium. BACKGROUND

[0002] With the development of intelligent driving, automatic parking assistance gradually becomes a technical method to solve parking into the garage. In the parking process, the advantages and disadvantages of the lateral and longitudinal control of the vehicle are directly related to the success or failure of parking.

[0003] At present, the control of the steering wheel is mostly based on single dimension optimization and improvement. In real vehicle testing, using single latitude such as angle for optimization and improvement is easy to cause large swing of the steering wheel or even produce violent shaking, which affects the stability of the vehicle. SUMMARY

[0004] The present application aims to at least solve one of the technical problems existing in the prior art.

[0005] To this end, one object of the present application is to provide a steering wheel motion control method of a vehicle, which can realize smooth control of the steering wheel and improve the stability of vehicle parking.

[0006] To this end, a second object of the present application is to provide a steering wheel motion control device of a vehicle.

[0007] To this end, a third object of the present application is to provide a vehicle.

[0008] To this end, a fourth object of the present application is to provide a non-transitory computer readable storage medium.

[0009] In order to achieve the above-mentioned objects, an embodiment of the first aspect of the present application provides a steering wheel motion control method of a vehicle, comprising: acquiring a current motion parameter of a steering wheel and a target motion parameter of the steering wheel; when the current motion parameter and the target motion parameter satisfy a steering wheel motion curve planning condition, planning a steering wheel motion curve according to the current motion parameter, the target motion parameter and a high-order curve; determining a steering wheel motion sampling point according to the steering wheel motion curve; and controlling the motion of the steering wheel according to the steering wheel motion sampling point and the steering wheel motion curve.

[0010] The steering wheel motion control method of the vehicle according to the embodiment of the present application adopts a high-order curve to plan the current motion parameter such as the speed and trajectory of the steering wheel when the current motion parameter and the target motion parameter of the steering wheel meet the steering wheel motion curve planning condition, that is, the optimization and improvement of the steering wheel control from multiple dimensions can be realized, the smooth and continuous motion parameter and curvature in the control process can be ensured, the problem of non-smooth steering wheel trajectory planning in the vehicle parking lateral control can be effectively inhibited, the overshoot of the steering wheel when reaching the target point can be avoided, the control effect of the steering wheel is improved, the smooth control of the steering wheel is realized, and the stability of the vehicle parking is improved.

[0011] In some embodiments, the steering wheel motion is controlled according to the steering wheel motion sampling point and the steering wheel motion curve, including: determining a steering wheel forward target motion control point according to the steering wheel motion sampling point and the steering wheel motion curve; and controlling the steering wheel motion according to the steering wheel motion sampling point and the steering wheel forward target motion control point.

[0012] In some embodiments, the steering wheel motion curve is planned according to the current motion parameter, the target motion parameter and a high-order curve, including: inputting the current motion parameter and the target motion parameter into the high-order curve for motion planning to obtain the steering wheel motion curve.

[0013] In some embodiments, the steering wheel motion sampling point is determined according to the steering wheel motion curve, including: discretely processing the steering wheel motion curve according to a preset sampling time to obtain a motion curve discrete sequence; and inputting the current motion parameter into the motion curve discrete sequence to determine the steering wheel motion sampling point.

[0014] In some embodiments, the current motion parameter is input into the motion curve discrete sequence to determine the steering wheel motion sampling point, including: determining a sampling point closest to the current motion parameter in the motion curve discrete sequence, and taking the sampling point as the steering wheel motion sampling point.

[0015] In some embodiments, the steering wheel forward target motion control point is determined according to the steering wheel motion sampling point and the steering wheel motion curve, including: determining the steering wheel forward target motion control point according to the steering wheel motion sampling point in the motion curve discrete sequence for a preset time.

[0016] In some embodiments, the steering wheel motion is controlled according to the steering wheel motion sampling point and the steering wheel forward target motion control point, including: determining a steering wheel control angle and a steering wheel control speed according to the steering wheel motion sampling point and the steering wheel forward target motion control point; and controlling the steering wheel motion according to the steering wheel control angle and the steering wheel control speed.

[0017] In some embodiments, the determining the steering wheel control angle and the steering wheel control speed according to the steering wheel motion sampling point and the steering wheel preview target motion control point comprises: adopting incremental closed-loop control on the steering wheel motion sampling point and the steering wheel preview target motion control point to adjust the deviation between the steering wheel motion sampling point and the steering wheel preview target motion control point, and determining the steering wheel control angle and the steering wheel control speed according to the adjusted steering wheel motion sampling point when the deviation is within a preset deviation range.

[0018] In some embodiments, before the steering wheel is controlled according to the steering wheel control angle and the steering wheel control speed, the method further comprises: performing smoothing filtering processing on the steering wheel control angle and the steering wheel control speed.

[0019] In some embodiments, the determining whether the current motion parameter and the target motion parameter satisfy the steering wheel motion curve planning condition comprises: calculating a position difference between the current position of the steering wheel and the target position of the steering wheel; and determining that the steering wheel motion curve planning condition is satisfied when the position difference exceeds an adjustment range of the current position of the steering wheel.

[0020] In some embodiments, before the incremental closed-loop control is adopted on the steering wheel motion sampling point and the steering wheel preview target motion control point, the method further comprises: determining whether the steering wheel preview target motion control point is less than the adjustment range of the current position of the steering wheel; and if yes, adopting the incremental closed-loop control on the steering wheel motion sampling point and the steering wheel preview target motion control point.

[0021] To achieve the above object, embodiments of the second aspect of the present application propose a steering wheel motion control device of a vehicle, which comprises: a processor, a memory, and a steering wheel motion control program of a vehicle stored on the memory and executable on the processor, and the steering wheel motion control program of a vehicle, when executed by the processor, implements the steering wheel motion control method of a vehicle as described in the above embodiments.

[0022] The steering wheel motion control device of a vehicle according to the embodiments of the present application, when the current motion parameter and the target motion parameter of the steering wheel satisfy the steering wheel motion curve planning condition, plans the current motion parameter such as speed and trajectory of the steering wheel by using a high-order curve, that is, optimizes and improves the steering wheel control from multiple dimensions, which can ensure the smooth continuity of the motion parameter and the curvature in the control process, effectively suppresses the problem of non-smooth steering wheel trajectory planning in the vehicle parking lateral control, avoids overshoot when the steering wheel reaches the target point, improves the control effect of the steering wheel, thereby realizing smooth control of the steering wheel and improving the stability of vehicle parking.

[0023] To achieve the above objectives, a third aspect of the present invention provides a vehicle comprising: a steering wheel motion control device as described in the above embodiments.

[0024] According to the vehicle of the present invention, when the current motion parameters and target motion parameters of the steering wheel meet the steering wheel motion curve planning conditions, a higher-order curve is used to plan the current motion parameters of the steering wheel, such as speed and trajectory. That is, the steering wheel control is optimized and improved from multiple dimensions. This can ensure that the motion parameters and curvature are smooth and continuous during the control process, effectively suppress the problem of uneven steering wheel trajectory planning in the lateral control of vehicle parking, avoid overshoot when the steering wheel reaches the target point, improve the control effect of the steering wheel, thereby achieving smooth control of the steering wheel and improving the stability of vehicle parking.

[0025] To achieve the above objectives, a fourth aspect of the present invention provides a non-transitory computer-readable storage medium storing a vehicle steering wheel motion control program, which, when executed by a processor, implements the vehicle steering wheel motion control method as described in the above embodiments.

[0026] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0027] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0028] Figure 1 This is a flowchart of a vehicle steering wheel motion control method according to an embodiment of the present invention;

[0029] Figure 2 It is a real-time planning diagram of the steering wheel motion curve according to an embodiment of the present invention;

[0030] Figure 3 This is a schematic diagram of discretizing the steering wheel motion curve of a vehicle according to an embodiment of the present invention;

[0031] Figure 4 This is a schematic diagram of PID control for a vehicle according to an embodiment of the present invention;

[0032] Figure 5 This is a flowchart of a steering wheel motion control method according to an embodiment of the present invention;

[0033] Figure 6 This is a structural block diagram of a vehicle steering wheel motion control device according to an embodiment of the present invention;

[0034] Figure 7 This is a structural block diagram of a vehicle according to an embodiment of the present invention.

[0035] Attached reference numeral: Vehicle steering wheel movement control device 2;

[0036] Processor 100; Memory 101; Steering wheel motion control program 102;

[0037] Vehicle 3. Detailed Implementation

[0038] The embodiments of the present invention are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. The embodiments of the present invention are described in detail below.

[0039] In related technologies, the quality of lateral and longitudinal steering wheel control of a vehicle directly affects the success or failure of parking. During the implementation of each action, the angle of the vehicle's steering wheels, such as the front wheels, needs to be consistent with the target control angle. The accuracy error of each action will be transmitted to the next action. The more actions there are, the worse the accuracy becomes.

[0040] On the other hand, the comfort and safety of the vehicle's lateral and longitudinal steering wheel control directly affect the user's parking experience. After the lateral control tracking algorithm, such as Pure Pursuit, Stanley, LQR (Linear Quadratic Regulator), or MPC (Model Predictive Control), generates the steering target, the lateral trajectory tracking control mainly controls the smooth control of the steering wheel's angle towards the target.

[0041] For example, when the vehicle is parked, the motion parameters of the steering wheel are acquired, indicating a first steering wheel angle in the direction of deflection. Based on the ground information at the vehicle's parking position, a target compensation angle is determined. This target compensation angle is used to compensate for the first steering wheel angle to obtain a second steering wheel angle. The steering wheel is then controlled to rotate in the opposite direction of deflection to achieve the second steering wheel angle. Due to ground friction, after controlling the steering wheel to rotate in the opposite direction of deflection, the steering wheel may not return to center. Compensating for the first steering wheel angle with the target compensation angle improves the accuracy of steering wheel control.

[0042] However, when the steering angle is controlled by the difference between the current angle and the target angle, the steering wheel may wobble significantly during the control process because the angular velocity curve may have a step at the starting point of the trajectory.

[0043] Therefore, the vehicle steering wheel motion control method of this invention, by using multi-dimensional control of the steering wheel motion, can effectively suppress the problem of uneven steering wheel trajectory planning in vehicle parking lateral control, avoid overshoot when the steering wheel reaches the target position, improve the steering wheel control effect, thereby achieving smooth steering wheel control and improving the stability of vehicle parking.

[0044] The following is combined with Figures 1-5 An example is given to illustrate the vehicle steering wheel motion control method of this invention.

[0045] like Figure 1 As shown, the vehicle steering wheel motion control method of this embodiment of the invention includes at least steps S1-S5.

[0046] Step S1: Obtain the current motion parameters and target motion parameters of the steering wheel.

[0047] The current motion parameters of the steering wheel include the current position, current speed, and current acceleration of the steering wheel. The target motion parameters of the steering wheel include the target position, target speed, and target acceleration of the steering wheel. By obtaining the current motion parameters and target motion parameters of the steering wheel, it is easy to determine whether the vehicle meets the conditions for steering wheel motion curve planning, thereby enabling reasonable planning of the steering wheel motion curve.

[0048] In this embodiment, the vehicle's driving status under different driving conditions can be monitored in real time by relevant sensors or controllers on the vehicle, and the vehicle's driving data can be obtained, namely the current motion parameters and target motion parameters of the steering wheel. The current motion parameters of the steering wheel include the current position of the steering wheel, for example denoted as s0, the steering wheel speed, for example denoted as v0, and the steering wheel acceleration, for example denoted as a0. The target motion parameters of the steering wheel include the target position of the steering wheel, for example denoted as s1, the target speed of the steering wheel, for example denoted as v1, and the target acceleration of the steering wheel, for example denoted as a1. By obtaining the current motion parameters and target motion parameters of the steering wheel, it is determined whether the vehicle meets the steering wheel motion curve planning conditions. When the steering wheel motion curve planning conditions are met, the steering wheel motion curve is planned in real time according to the above parameters.

[0049] Step S2: When the current motion parameters and the target motion parameters meet the steering wheel motion curve planning conditions, plan the steering wheel motion curve based on the current motion parameters, the target motion parameters, and the higher-order curve.

[0050] Among them, the steering wheel motion curve planning condition is to be able to control the smooth and fluid operation of the steering wheel. The higher-order curve is, for example, the fifth-order curve. By using the fifth-order curve to dynamically plan the position and speed of the steering wheel, the steering wheel motion curve is made more continuous and smooth, reducing steps or sudden changes, thereby reducing problems such as steering wheel vibration, jamming, and overshoot when the steering wheel reaches the target position.

[0051] In this embodiment, after obtaining the current motion parameters and target motion parameters of the steering wheel, it is determined whether the current motion parameters and target motion parameters meet the steering wheel motion curve planning conditions. If the current motion parameters and target motion parameters meet the steering wheel motion curve planning conditions, then a higher-order curve, i.e., a fifth-order curve, is calculated based on the current motion parameters and target motion parameters of the steering wheel. The calculation formula for the fifth-order curve is as follows:

[0052]

[0053] After determining the higher-order curve, based on the current motion parameters, target motion parameters, and higher-order curve of the steering wheel, a motion curve from the current position of the steering wheel to the target position of the steering wheel is planned. Among them, the higher-order curve, namely the fifth-order curve, plans the position and velocity of the steering wheel motion curve in real time, ensuring that the target position, target velocity, and target acceleration of the steering wheel meet the expectations, and ensuring that the changes in the target position, target velocity, and target acceleration of the steering wheel are smooth and continuous. This solves the problems of steering wheel vibration and steering wheel jamming caused by non-smooth and abrupt changes in the steering wheel motion curve in the lateral control of automatic parking.

[0054] Step S3: Determine the steering wheel motion sampling point based on the steering wheel motion curve.

[0055] In this embodiment, after determining the steering wheel motion curve, the steering wheel motion curve is discretized, and the corresponding motion curve discrete sequences are sampled and stored, namely, the position sampling discrete sequence, the velocity sampling discrete sequence, and the acceleration discrete sampling sequence. After determining the above motion curve discrete sequences, the current motion parameters of the steering wheel are combined with the current motion parameters to determine the sampling point closest to the current motion parameters as the steering wheel motion sampling point, ensuring real-time control of the steering wheel motion state. At the same time, the entire control process from the current position of the steering wheel to the target position of the steering wheel is refined, avoiding the situation of step or sudden change in the steering wheel motion curve caused by simply controlling the starting point and the end point.

[0056] Step S4: Determine the forward target motion control point of the steering wheel based on the steering wheel motion sampling points and the steering wheel motion curve.

[0057] In this embodiment, after determining the steering wheel motion sampling point and the steering wheel motion curve, the control point of the steering wheel motion sampling point within the steering wheel motion curve that looks ahead for a preset time is determined as the steering wheel forward target motion control point. By determining the steering wheel forward target motion control point, the steering wheel vibration caused by sampling error can be reduced. At the same time, it solves the problem that in the lateral control of automatic parking, the steering wheel is only controlled to reach the target position, but not the process, which lacks predictability.

[0058] Step S5: Control the steering wheel movement based on the steering wheel movement sampling point and the steering wheel forward target motion control point.

[0059] In this embodiment, after determining the steering wheel motion sampling point and the steering wheel forward target motion control point, the deviation between the steering wheel motion sampling point and the steering wheel forward target motion control point is calculated. Incremental PID (proportional, integral, derivative) closed-loop control is applied to the steering wheel motion sampling point and the steering wheel forward target motion control point to generate actual control quantities and send them to the front wheel position controller. The front wheel controller controls the steering wheel motion according to the actual control quantities, reducing the arbitrariness of simple PID control and making the steering wheel motion smoother and faster.

[0060] According to the vehicle steering wheel motion control method of the present invention, when the current motion parameters and target motion parameters of the steering wheel meet the steering wheel motion curve planning conditions, a higher-order curve, such as a fifth-order curve, is used to plan the current motion parameters of the steering wheel, such as speed and trajectory. That is, the steering wheel control is optimized and improved from multiple dimensions, which can ensure that the motion parameters and curvature are smooth and continuous during the control process, effectively suppress the problem of uneven steering wheel trajectory planning in the lateral control of vehicle parking, avoid overshoot when the steering wheel reaches the target point, improve the control effect of the steering wheel, thereby achieving smooth control of the steering wheel and improving the stability of vehicle parking.

[0061] In some embodiments, when planning the steering wheel motion curve based on the current motion parameters, the target motion parameters, and the higher-order curve, the current motion parameters and the target motion parameters are substituted into the higher-order curve for motion planning to obtain the steering wheel motion curve.

[0062] In this embodiment, after obtaining the current motion parameters and target motion parameters of the steering wheel, the current motion parameters and target motion parameters are substituted into a higher-order curve for motion planning. For example, such as... Figure 2The diagram shown is a real-time planning diagram of the steering wheel motion curve according to an embodiment of the present invention. At time t1, the steering wheel is located at its current position 1 with a speed of steering wheel speed 1. At this time, the motion curve corresponding to the target position of the steering wheel is C0. After a time interval Δt, time t2 is reached. At time t2, the steering wheel is located at its current position 2 with a speed of steering wheel speed 2. Due to the lateral tracking process, the change of the target position will update the planning of a new motion curve in real time. For example, the target position of the steering wheel is updated to the new target position 1, and the corresponding motion curve is C1; or the target position of the steering wheel is updated to the new target position 2, and the corresponding motion curve is C2.

[0063] It should be noted that whether the vehicle is stationary and the steering wheel angle is adjusted, or the vehicle is in motion and the steering wheel angle is adjusted dynamically, such as... Figure 2 The three scenarios shown can all be used to plan a steering wheel motion curve that starts with the current position and speed of the steering wheel and ends with the target position and speed of the steering wheel.

[0064] In some embodiments, when determining the steering wheel motion sampling point based on the steering wheel motion curve, the steering wheel motion curve is discretized according to a preset sampling time to obtain a discrete sequence of motion curves; the current motion parameters are input into the discrete sequence of motion curves to determine the steering wheel motion sampling point.

[0065] In this embodiment, after determining the steering wheel motion curve, as follows: Figure 3 The diagram illustrates a method for discretizing the steering wheel motion curve according to an embodiment of the present invention. The steering wheel motion curve is discretized according to a preset sampling time, for example, Δt. The resulting discrete motion curve sequences are sampled and stored, including position sampling discrete sequences, velocity sampling discrete sequences, and acceleration discrete sampling sequences. Current motion parameters are input into the motion curve discrete sequences; that is, the current steering wheel position is input into the position sampling discrete sequence, the current steering wheel velocity is input into the velocity sampling discrete sequence, and the current steering wheel acceleration is input into the acceleration sampling discrete sequence to determine the corresponding steering wheel motion sampling points.

[0066] In some embodiments, when the current motion parameters are input into the discrete sequence of motion curves to determine the steering wheel motion sampling points, the sampling point closest to the current motion parameters is determined in the discrete sequence of motion curves, and the sampling point is used as the steering wheel motion sampling point.

[0067] In an embodiment, such as Figure 3As shown, the current position of the steering wheel is input into the position sampling discrete sequence, the current speed of the steering wheel is input into the speed sampling discrete sequence, and the current acceleration of the steering wheel is input into the acceleration sampling discrete sequence. Then, the sampling point closest to the current position of the steering wheel is determined in the position sampling discrete sequence and used as the steering wheel motion sampling point. The corresponding speed and acceleration values ​​are taken out from the speed and acceleration discrete sequences and used as the speed and acceleration steering wheel motion sampling points, respectively.

[0068] In some embodiments, when determining the forward target motion control point of the steering wheel based on the steering wheel motion sampling points and the steering wheel motion curve, the forward target motion control point of the steering wheel is determined based on the forward preset time of the steering wheel motion sampling points in the discrete sequence of the motion curve.

[0069] In an embodiment, such as Figure 3 As shown, after determining the steering wheel motion sampling point, the forward target position of the steering wheel is determined based on the target position of the sampling point closest to the current position of the steering wheel in the position sampling discrete sequence with a preset forward time; the corresponding velocity and acceleration values ​​are taken from the velocity and acceleration discrete sequences as the velocity and acceleration forward target positions of the steering wheel motion, respectively.

[0070] In some embodiments, when controlling the steering wheel movement based on the steering wheel motion sampling point and the steering wheel forward target motion control point, the steering wheel control angle and steering wheel control speed are determined based on the steering wheel motion sampling point and the steering wheel forward target motion control point; and the steering wheel movement is controlled based on the steering wheel control angle and steering wheel control speed.

[0071] In this embodiment, after determining the steering wheel motion sampling point and the steering wheel forward target motion control point, the steering wheel control angle and steering wheel control speed are determined based on the steering wheel motion sampling point and the steering wheel forward target motion control point. The steering wheel control angle and steering wheel control speed are then sent to the front wheel position controller, which controls the steering wheel motion based on the steering wheel control angle and steering wheel control speed.

[0072] In some embodiments, when determining the steering wheel control angle and steering wheel control speed based on the steering wheel motion sampling point and the steering wheel forward target motion control point, incremental closed-loop control is used on the steering wheel motion sampling point and the steering wheel forward target motion control point to adjust the deviation between the steering wheel motion sampling point and the steering wheel forward target motion control point. When the deviation is within a preset deviation range, the steering wheel control angle and steering wheel control speed are determined based on the adjusted steering wheel motion sampling point.

[0073] In an embodiment, such as Figure 4The diagram shown illustrates a PID control scheme according to an embodiment of the present invention. After determining the steering wheel motion sampling point and the steering wheel forward target motion control point, the deviation between the two points is calculated. Incremental PID closed-loop control is applied to the steering wheel motion sampling point and the steering wheel forward target motion control point to generate the actual steering wheel position or actual steering wheel speed. PID limiting ensures the existence of the deviation, and the PID control action gradually increases the output to adjust the deviation between the steering wheel motion sampling point and the steering wheel forward target motion control point. When the deviation is within a preset deviation range, the steering wheel control angle and steering wheel control speed are determined based on the adjusted steering wheel motion sampling point.

[0074] In some embodiments, before controlling the steering wheel movement based on the steering wheel control angle and steering wheel control speed, the steering wheel control angle and steering wheel control speed are subjected to smoothing filtering.

[0075] In this embodiment, before controlling the steering wheel movement based on the steering wheel control angle and steering wheel control speed, the steering wheel control angle and steering wheel control speed are smoothed by arithmetic mean filtering and first-order hysteresis filtering to suppress or even eliminate periodic or random interference signals. This makes the above method applicable to situations with high fluctuations and control frequencies, and can greatly improve the unsmoothness caused by positioning error jitter, thereby improving the smoothness of steering wheel control.

[0076] In some embodiments, when determining whether the current motion parameters and the target motion parameters meet the steering wheel motion curve planning conditions, the position difference between the current position of the steering wheel and the target position of the steering wheel is calculated; when the position difference exceeds the adjustment range of the current position of the steering wheel, it is determined that the steering wheel motion curve planning conditions are met.

[0077] In this embodiment, after obtaining the current motion parameters and target motion parameters of the steering wheel, the position difference between the current position and the target position of the steering wheel is calculated. The relationship between the position difference and the adjustment range of the current position of the steering wheel is determined. When the position difference exceeds the adjustment range of the current position of the steering wheel, it is considered that the current motion parameters and target motion parameters of the steering wheel meet the steering wheel motion curve planning conditions. Then, the steering wheel motion curve is planned according to the current motion parameters, target motion parameters, and higher-order curves. When the position difference is less than the adjustment range of the current position of the steering wheel, it is considered that the current motion parameters and target motion parameters of the steering wheel do not meet the steering wheel motion curve planning conditions. Then, the traditional PID control method is executed.

[0078] In some embodiments, before applying incremental closed-loop control to the steering wheel motion sampling point and the steering wheel forward target motion control point, it is determined whether the steering wheel forward target motion control point is smaller than the adjustment range of the current steering wheel position; if so, incremental closed-loop control is applied to the steering wheel motion sampling point and the steering wheel forward target motion control point.

[0079] In this embodiment, before applying incremental closed-loop control to the steering wheel motion sampling point and the steering wheel forward target motion control point, the relationship between the steering wheel forward target motion control point and the adjustment range of the steering wheel's current position is determined. If the steering wheel forward target motion control point is smaller than the adjustment range of the steering wheel's current position, then incremental closed-loop control is applied to the steering wheel motion sampling point and the steering wheel forward target motion control point. If the steering wheel forward target motion control point is greater than or equal to the adjustment range of the steering wheel's current position, it is considered that the steering wheel will adjust and vibrate violently, and then the traditional PID control method is used to control the steering wheel motion.

[0080] The following is for reference. Figure 5 An example is given to illustrate the vehicle steering wheel motion control method of this invention.

[0081] like Figure 5 As shown, the vehicle steering wheel motion control method of this embodiment of the invention includes at least steps S11-S24.

[0082] Step S11: Obtain the current motion parameters and target motion parameters of the steering wheel.

[0083] Step S12: Calculate the position difference between the current position of the steering wheel and the target position of the steering wheel.

[0084] Step S13: Determine whether the position difference exceeds the adjustment range of the current steering wheel position. If yes, proceed to step S15; otherwise, proceed to step S14.

[0085] Step S14: Determine that the current motion parameters and target motion parameters of the steering wheel do not meet the conditions for steering wheel motion curve planning.

[0086] Step S15: Determine whether the current motion parameters and target motion parameters of the steering wheel satisfy the steering wheel motion curve planning conditions.

[0087] Step S16: Input the current motion parameters and target motion parameters into the higher-order curve for motion planning to obtain the steering wheel motion curve.

[0088] Step S17: Discretize the steering wheel motion curve according to the preset sampling time to obtain a discrete sequence of motion curves.

[0089] Step S18: Determine the sampling point closest to the current motion parameter in the discrete sequence of motion curves, and use the sampling point as the steering wheel motion sampling point.

[0090] Step S19: Determine the forward target motion control point of the steering wheel based on the forward preset time of the steering wheel motion sampling points in the discrete sequence of motion curves.

[0091] Step S20: Determine whether the forward target motion control point of the steering wheel is smaller than the adjustment range of the current position of the steering wheel. If yes, proceed to step S22; otherwise, proceed to step S21.

[0092] Step S21: The traditional PID control method is used to control the steering wheel movement.

[0093] Step S22: Incremental closed-loop control is used for the steering wheel motion sampling point and the steering wheel forward target motion control point to adjust the deviation between the steering wheel motion sampling point and the steering wheel forward target motion control point. When the deviation is within the preset deviation range, the steering wheel control angle and steering wheel control speed are determined according to the adjusted steering wheel motion sampling point.

[0094] Step S23: Perform smoothing filtering on the steering wheel control angle and steering wheel control speed.

[0095] Step S24: Control the steering wheel movement according to the steering wheel control angle and steering wheel control speed.

[0096] According to the vehicle steering wheel motion control method of the present invention, when the current motion parameters and target motion parameters of the steering wheel meet the steering wheel motion curve planning conditions, a higher-order curve, such as a fifth-order curve, is used to plan the current motion parameters of the steering wheel, such as speed and trajectory. That is, the steering wheel control is optimized and improved from multiple dimensions, which can ensure that the motion parameters and curvature are smooth and continuous during the control process, effectively suppress the problem of uneven steering wheel trajectory planning in the lateral control of vehicle parking, avoid overshoot when the steering wheel reaches the target point, improve the control effect of the steering wheel, thereby achieving smooth control of the steering wheel and improving the stability of vehicle parking.

[0097] The following is for reference. Figure 6 The present invention describes a vehicle steering wheel motion control device 2 according to an embodiment of the present invention.

[0098] like Figure 6 As shown, the vehicle steering wheel motion control device 2 of this embodiment includes: a processor 100, a memory 101, and a vehicle steering wheel motion control program 102 stored in the memory 101 and executable on the processor 100. When the vehicle steering wheel motion control program 102 is executed by the processor 100, it implements the vehicle steering wheel motion control method as described in the above embodiment.

[0099] According to the vehicle steering wheel motion control device 2 of the present invention, when the current motion parameters and target motion parameters of the steering wheel meet the steering wheel motion curve planning conditions, a higher-order curve, such as a fifth-order curve, is used to plan the current motion parameters of the steering wheel, such as speed and trajectory. That is, the steering wheel control is optimized and improved from multiple dimensions, which can ensure that the motion parameters and curvature are smooth and continuous during the control process, effectively suppress the problem of uneven steering wheel trajectory planning in the lateral control of vehicle parking, avoid overshoot when the steering wheel reaches the target point, improve the control effect of the steering wheel, thereby achieving smooth control of the steering wheel and improving the stability of vehicle parking.

[0100] The following is for reference. Figure 7 Vehicle 3, as described in an embodiment of the present invention.

[0101] like Figure 7 As shown, the vehicle 3 in this embodiment of the invention includes a steering wheel motion control device 2 as described in the above embodiment.

[0102] According to the vehicle 3 of the present invention, when the current motion parameters and target motion parameters of the steering wheel meet the steering wheel motion curve planning conditions, a higher-order curve, such as a fifth-order curve, is used to plan the current motion parameters of the steering wheel, such as speed and trajectory. That is, the steering wheel control is optimized and improved from multiple dimensions. This can ensure that the motion parameters and curvature are smooth and continuous during the control process, effectively suppress the problem of uneven steering wheel trajectory planning in the lateral control of vehicle parking, avoid overshoot when the steering wheel reaches the target point, improve the control effect of the steering wheel, thereby achieving smooth control of the steering wheel and improving the stability of vehicle parking.

[0103] The following describes a non-transitory computer-readable storage medium according to embodiments of the present invention.

[0104] The non-transitory computer-readable storage medium of this invention stores a vehicle steering wheel motion control program, which, when executed by a processor, implements the vehicle steering wheel motion control method as described in the above embodiments.

[0105] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0106] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A method for controlling the movement of a vehicle's steering wheel, characterized in that, include: Obtain the current motion parameters and target motion parameters of the steering wheel; When the current motion parameters and the target motion parameters satisfy the steering wheel motion curve planning conditions, the steering wheel motion curve is planned according to the current motion parameters, the target motion parameters, and the higher-order curve. The steering wheel motion sampling points are determined based on the steering wheel motion curve. The steering wheel movement is controlled based on the steering wheel movement sampling points and the steering wheel movement curve.

2. The vehicle steering wheel motion control method according to claim 1, characterized in that, Controlling the steering wheel movement based on the steering wheel movement sampling points and the steering wheel movement curve includes: The forward target motion control point of the steering wheel is determined based on the steering wheel motion sampling points and the steering wheel motion curve. The steering wheel movement is controlled based on the steering wheel motion sampling points and the steering wheel forward target motion control points.

3. The vehicle steering wheel motion control method according to claim 1, characterized in that, Based on the current motion parameters, the target motion parameters, and the higher-order curve, the steering wheel motion curve is planned, including: The current motion parameters and the target motion parameters are substituted into the higher-order curve for motion planning to obtain the steering wheel motion curve.

4. The vehicle steering wheel motion control method according to claim 2, characterized in that, Determining the steering wheel motion sampling points based on the steering wheel motion curve includes: The steering wheel motion curve is discretized according to a preset sampling time to obtain a discrete sequence of motion curves. The current motion parameters are input into the discrete sequence of the motion curve to determine the steering wheel motion sampling points.

5. The vehicle steering wheel motion control method according to claim 4, characterized in that, Inputting the current motion parameters into the discrete sequence of motion curves to determine the steering wheel motion sampling points includes: In the discrete sequence of motion curves, determine the sampling point that is closest to the current motion parameter, and use the sampling point as the steering wheel motion sampling point.

6. The vehicle steering wheel motion control method according to claim 4, characterized in that, Determining the forward target motion control point of the steering wheel based on the steering wheel motion sampling points and the steering wheel motion curve includes: The forward target motion control point of the steering wheel is determined based on the forward preset time of the motion curve discrete sequence of the steering wheel motion sampling points.

7. The vehicle steering wheel motion control method according to claim 2, characterized in that, Controlling the steering wheel movement based on the steering wheel motion sampling points and the steering wheel forward target motion control points includes: The steering wheel control angle and steering wheel control speed are determined based on the steering wheel motion sampling points and the steering wheel forward target motion control points. The steering wheel movement is controlled according to the steering wheel control angle and the steering wheel control speed.

8. The vehicle steering wheel motion control method according to claim 7, characterized in that, Determining the steering wheel control angle and steering wheel control speed based on the steering wheel motion sampling points and the steering wheel forward target motion control points includes: Incremental closed-loop control is used for the steering wheel motion sampling point and the steering wheel forward target motion control point to adjust the deviation between the steering wheel motion sampling point and the steering wheel forward target motion control point. When the deviation is within a preset deviation range, the steering wheel control angle and steering wheel control speed are determined based on the adjusted steering wheel motion sampling point.

9. The vehicle steering wheel motion control method according to claim 7, characterized in that, Before controlling the steering wheel movement based on the steering wheel control angle and the steering wheel control speed, the method further includes: The steering wheel control angle and the steering wheel control speed are subjected to smoothing filtering.

10. The vehicle steering wheel motion control method according to claim 8, characterized in that, Determining whether the current motion parameters and the target motion parameters satisfy the steering wheel motion curve planning conditions includes: Calculate the position difference between the current position of the steering wheel and the target position of the steering wheel; When the position difference exceeds the adjustment range of the current steering wheel position, it is determined that the steering wheel motion curve planning conditions are met.

11. The vehicle steering wheel motion control method according to claim 10, characterized in that, Before applying incremental closed-loop control to the steering wheel motion sampling points and the steering wheel forward target motion control points, the following steps are also included: Determine whether the forward target motion control point of the steering wheel is smaller than the adjustment range of the current position of the steering wheel; If so, incremental closed-loop control is used for the steering wheel motion sampling points and the steering wheel forward target motion control points.

12. A vehicle steering wheel motion control device, characterized in that, include: A processor, a memory, and a vehicle steering wheel motion control program stored in the memory and executable on the processor, wherein the vehicle steering wheel motion control program, when executed by the processor, implements the vehicle steering wheel motion control method as described in any one of claims 1-11.

13. A vehicle, characterized in that, include: The vehicle steering wheel motion control device as described in claim 12.

14. A non-transitory computer-readable storage medium, characterized in that, The computer-readable storage medium stores a vehicle steering wheel motion control program, which, when executed by a processor, implements the vehicle steering wheel motion control method as described in any one of claims 1-11.

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