Method and device for reducing steering wheel return torque

Abstract

The application provides a steering wheel return torque weakening method, and belongs to the technical field of vehicle electric control. The method comprises the following steps: according to the real-time collected lane curvature and steering wheel angle, the inverse return torque coefficient is obtained by substituting into a corresponding relationship stored in advance; according to the inverse return torque coefficient and the steering wheel return torque, the steering wheel inverse return torque is obtained; the steering wheel return torque is further updated according to the steering wheel inverse return torque; and finally, the assist motor of the steering wheel is controlled according to the updated steering wheel return torque, so that when the vehicle turns, the steering wheel return torque is appropriately reduced, the driver only needs to exert a smaller steering torque on the steering wheel to make the vehicle keep in the lane and complete the turning, and the difficulty of the driver in controlling the vehicle and the fatigue degree of the driver when driving the vehicle are reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle electric control, in particular to a steering wheel return torque weakening method and device. BACKGROUND

[0002] In a conventional electric power steering system, a steering wheel return system usually applies a return torque to the steering wheel when the steering wheel is not at the center position, so as to automatically return the steering wheel to the center position, thereby keeping the vehicle running along a straight trajectory.

[0003] When the vehicle is turning, the driver needs to apply a steering torque to the steering wheel to overcome the return torque applied by the steering wheel return system, so as to keep the steering wheel at an appropriate angle and control the vehicle to smoothly pass through the curve, according to the current vehicle speed and the turning radius.

[0004] However, when the vehicle is running in a long curve, the driver needs to continuously apply a steering torque to the steering wheel for a long time, which undoubtedly increases the difficulty of controlling the vehicle, and further increases the fatigue of the driver when driving the vehicle. SUMMARY

[0005] Therefore, the present application provides a steering wheel return torque weakening method, which can reduce the difficulty of controlling the vehicle for the driver, and the method comprises:

[0006] Obtaining a lane curvature and a steering wheel angle.

[0007] Substituting the lane curvature and the steering wheel angle into a corresponding relationship pre-stored to obtain an output inverse return torque coefficient, and the corresponding relationship stores a relationship among the lane curvature, the steering wheel angle and the inverse return torque coefficient.

[0008] Obtaining a steering wheel return torque.

[0009] According to the inverse return torque coefficient and the steering wheel return torque, a steering wheel inverse return torque is obtained.

[0010] According to the steering wheel inverse return torque, the steering wheel return torque is updated to obtain an updated steering wheel return torque.

[0011] According to the updated steering wheel return torque, a power motor of the steering wheel is controlled.

[0012] Optionally, obtaining the lane curvature and the steering wheel angle further comprises:

[0013] Obtaining a driving mode of the vehicle.

[0014] When the driving mode is not a sports mode, the lane curvature and the steering wheel angle are obtained.

[0015] Optionally, the acquiring the lane curvature and the steering wheel angle further comprises:

[0016] determining whether the vehicle is currently driving on an urban expressway or a national highway according to the vehicle navigation system.

[0017] acquiring the lane curvature and the steering wheel angle when it is determined that the vehicle is currently driving on the urban expressway or the national highway.

[0018] Optionally, the lane curvature and the steering wheel angle are substituted into a pre-stored corresponding relationship to obtain an output inverse and positive torque coefficient, and the corresponding relationship stores a relationship among the lane curvature, the steering wheel angle and the inverse and positive torque coefficient.

[0019] acquiring the lane curvature and the steering wheel angle, and determining whether both sides of the lane are solid lines.

[0020] substituting the lane curvature and the steering wheel angle into a pre-stored corresponding relationship to obtain an output inverse and positive torque coefficient when it is determined that both sides of the lane are solid lines, and the corresponding relationship stores a relationship among the lane curvature, the steering wheel angle and the inverse and positive torque coefficient.

[0021] Optionally, the steering wheel inverse and positive torque is obtained according to the inverse and positive torque coefficient and the steering wheel positive torque, and the obtaining comprises:

[0022] multiplying the inverse and positive torque coefficient by the steering wheel positive torque to obtain the steering wheel inverse and positive torque.

[0023] updating the steering wheel positive torque according to the steering wheel inverse and positive torque to obtain an updated steering wheel positive torque, and the updating comprises:

[0024] subtracting the steering wheel inverse and positive torque from the steering wheel positive torque to obtain the updated steering wheel positive torque.

[0025] The application further provides a steering wheel positive torque weakening device, and the device comprises:

[0026] an acquiring module configured to acquire a lane curvature and a steering wheel angle.

[0027] a calculating module configured to substitute the lane curvature and the steering wheel angle into a pre-stored corresponding relationship to obtain an output inverse and positive torque coefficient, and the corresponding relationship stores a relationship among the lane curvature, the steering wheel angle and the inverse and positive torque coefficient.

[0028] the acquiring module is further configured to acquire a steering wheel positive torque.

[0029] the calculating module is further configured to obtain a steering wheel inverse and positive torque according to the inverse and positive torque coefficient and the steering wheel positive torque.

[0030] The updating module is configured to update the steering wheel return torque according to the steering wheel counter return torque, to obtain an updated steering wheel return torque.

[0031] The control module is configured to control the power-assisted motor of the steering wheel according to the updated steering wheel return torque.

[0032] Optionally, the obtaining module is further configured to:

[0033] Obtain a driving mode of the vehicle.

[0034] When the driving mode is not the sports mode, obtain a lane curvature and a steering wheel angle.

[0035] Optionally, the obtaining module is further configured to:

[0036] Determine whether the vehicle is currently driving on an urban expressway or a national highway according to a vehicle-mounted navigation.

[0037] When it is determined that the vehicle is currently driving on the urban expressway or the national highway, obtain the lane curvature and the steering wheel angle.

[0038] Optionally, the obtaining module is further configured to, after obtaining the lane curvature and the steering wheel angle, determine whether both sides of the lane are solid lines.

[0039] The calculating module is further configured to, when the obtaining module determines that both sides of the lane are solid lines, substitute the lane curvature and the steering wheel angle into a pre-stored corresponding relationship to obtain an output counter return torque coefficient, the corresponding relationship storing a relationship among the lane curvature, the steering wheel angle and the counter return torque coefficient.

[0040] Optionally, the calculating module is further configured to:

[0041] Multiply the counter return torque coefficient by the steering wheel return torque to obtain the steering wheel counter return torque,

[0042] The updating module is further configured to:

[0043] Subtract the steering wheel counter return torque from the steering wheel return torque to obtain the updated steering wheel return torque.

[0044] By using the steering wheel return torque weakening method provided in the application, the lane curvature and the steering wheel angle collected in real time are substituted into the corresponding relationship stored in advance to obtain the inverse return torque coefficient, the inverse return torque of the steering wheel is obtained according to the inverse return torque coefficient and the steering wheel return torque, the steering wheel return torque is further updated according to the inverse return torque of the steering wheel, and finally the assist motor of the steering wheel is controlled according to the updated steering wheel return torque, so that when the vehicle turns, the steering wheel return torque is appropriately reduced, the driver only needs to exert a smaller steering torque on the steering wheel to make the vehicle keep in the lane and complete the turning, and the difficulty of the driver in controlling the vehicle and the fatigue degree of the driver when driving the vehicle are reduced. BRIEF DESCRIPTION OF DRAWINGS

[0045] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0046] Figure 1 The flowchart of the steering wheel return torque weakening method provided in the embodiments of the present application is shown in the figure.

[0047] Figure 2 Another flowchart of the steering wheel return torque weakening method provided in the embodiments of the present application is shown in the figure.

[0048] Figure 3 The structure diagram of the steering wheel return torque weakening device provided in the embodiments of the present application is shown in the figure. DETAILED DESCRIPTION

[0049] The technical solutions in the embodiments of the present application will be described clearly and completely in the following with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0050] In the conventional electric power steering system, the steering wheel return system usually automatically returns the steering wheel to the center position to keep the vehicle on the straight driving track. However, in some specific scenarios, the change of lane line curvature requires that the steering system does not need or weakens the return control torque. Therefore, a method and system based on lane line curvature are needed to offset the influence of the conventional steering wheel return system and achieve more accurate vehicle control.

[0051] Based on this, the embodiments of the present application provide the following technical solutions:

[0052] The embodiment of the present application provides a steering wheel return torque weakening method, which can reduce the steering difficulty of a driver, and the method can be executed by a vehicle controller. Figure 1 As shown in the figure, the method comprises steps S101, S102, S103, S104, S105 and S106, wherein:

[0053] In step S101, a lane curvature and a steering wheel angle are acquired.

[0054] In step S102, the lane curvature and the steering wheel angle are substituted into a corresponding relationship stored in advance to obtain an output inverse return torque coefficient, and the corresponding relationship stores the relationship among the lane curvature, the steering wheel angle and the inverse return torque coefficient.

[0055] In step S103, a steering wheel return torque is acquired.

[0056] In step S104, a steering wheel inverse return torque is obtained according to the inverse return torque coefficient and the steering wheel return torque.

[0057] In step S105, the steering wheel return torque is updated according to the steering wheel inverse return torque to obtain an updated steering wheel return torque.

[0058] In step S106, a power assisting motor of the steering wheel is controlled according to the updated steering wheel return torque.

[0059] In some optional embodiments, acquiring the lane curvature and the steering wheel angle further comprises:

[0060] A driving mode of the vehicle is acquired.

[0061] When the driving mode is not a sports mode, the lane curvature and the steering wheel angle are acquired.

[0062] In some optional embodiments, acquiring the lane curvature and the steering wheel angle further comprises:

[0063] Whether the vehicle is currently driving on an urban expressway or a national highway is determined according to a vehicle-mounted navigation.

[0064] When it is determined that the vehicle is currently driving on the urban expressway or the national highway, the lane curvature and the steering wheel angle are acquired.

[0065] In some optional embodiments, substituting the lane curvature and the steering wheel angle into the corresponding relationship stored in advance to obtain the output inverse return torque coefficient, and the corresponding relationship stores the relationship among the lane curvature, the steering wheel angle and the inverse return torque coefficient comprises:

[0066] After the lane curvature and the steering wheel angle are acquired, whether both sides of the lane are solid lines is determined.

[0067] When it is judged that the two sides of the lane are solid lines, the lane curvature and the steering wheel angle are substituted into the pre-stored corresponding relationship to obtain an output countersteering torque coefficient, and the corresponding relationship stores the relationship among the lane curvature, the steering wheel angle and the countersteering torque coefficient.

[0068] In some optional embodiments, the steering wheel countersteering torque is obtained according to the countersteering torque coefficient and the steering wheel countersteering torque, including:

[0069] The countersteering torque coefficient is multiplied by the steering wheel countersteering torque to obtain the steering wheel countersteering torque,

[0070] The steering wheel countersteering torque is updated according to the steering wheel countersteering torque to obtain an updated steering wheel countersteering torque, including:

[0071] The steering wheel countersteering torque is subtracted by the steering wheel countersteering torque to obtain the updated steering wheel countersteering torque.

[0072] By using the steering wheel countersteering torque weakening method provided in the present application, the lane curvature and the steering wheel angle collected in real time are substituted into the pre-stored corresponding relationship to obtain the countersteering torque coefficient, the steering wheel countersteering torque is obtained according to the countersteering torque coefficient and the steering wheel countersteering torque, the steering wheel countersteering torque is further updated according to the steering wheel countersteering torque, and finally the steering wheel assist motor is controlled according to the updated steering wheel countersteering torque, so that when the vehicle turns, the steering wheel countersteering torque is appropriately reduced, the driver only needs to exert a smaller steering torque on the steering wheel to make the vehicle keep in the lane to complete the turning, and the difficulty of the driver in controlling the vehicle and the fatigue degree of the driver when driving the vehicle are reduced.

[0073] The present application also provides another steering wheel countersteering torque weakening method, which can reduce the difficulty of the driver in controlling the vehicle, and the method can be executed by a vehicle controller, as shown in Figure 2 The method includes steps S201, S202, S203, S204, S205, S206, S207 and S208, wherein:

[0074] In step S201, whether the vehicle currently drives on a city expressway or a national highway is judged according to a vehicle-mounted navigation.

[0075] It can be understood that when the vehicle turns at an intersection, since there is no lane line in the intersection, and pedestrians, non-motor vehicles and motor vehicles mix in the intersection, the situation is changeable, and the vehicle can not keep a fixed turning angle for a long time. In this case, in order to enable the driver to better control the vehicle and better estimate the steering wheel weight and the countersteering torque, the steering wheel countersteering torque weakening method provided in the present application is not suitable.

[0076] When the vehicle is currently driving on an urban expressway or a national highway, the lane lines of the road are generally clear, the curves are relatively long, and the curvatures of the curves are relatively fixed. When the vehicle passes through the curve, the vehicle can maintain a fixed turning angle for a long time. In this case, if the control logic of the traditional electronic power steering system is continued to be used, the original large steering wheel return torque is kept unchanged, and the driver needs to keep outputting a large reverse torque to the steering wheel before the end of the curve to offset the large steering wheel return torque, so as to avoid the steering wheel return and keep the vehicle in the lane, which undoubtedly increases the difficulty of the driver to control the vehicle and increases the physical torque consumption and fatigue of the driver.

[0077] The steering wheel return torque reduction method provided by the embodiment of the present application is suitable for reducing the steering wheel return torque in this working condition.

[0078] Therefore, before implementing the steering wheel return torque reduction method provided by the embodiment of the present application, it is necessary to determine whether the vehicle is currently driving on an urban expressway or a national highway according to the vehicle navigation. Only when the vehicle is currently driving on an urban expressway or a national highway, the steering wheel return torque reduction method provided by the embodiment of the present application is suitable for being used to reduce the steering wheel return torque in this working condition.

[0079] When it is determined according to step S201 that the vehicle is currently driving on an urban expressway or a national highway, step S202 is performed to obtain the lane curvature and the steering wheel angle.

[0080] The lane curvature can be determined by a vehicle-mounted sensor. Specifically, the vehicle-mounted sensor can be of various types, such as a camera, a laser radar, a millimeter wave radar, etc. These sensors are installed on the vehicle to scan the surrounding road and environment to obtain the geometric information and curvature change of the lane lines.

[0081] It can be understood that the camera arranged at the front of the vehicle can be used to obtain the road surface image in front of the vehicle, and the lane curvature can be obtained from the road surface image by using a visual scheme.

[0082] The steering wheel is equipped with an angle sensor and a torque sensor. The angle sensor is used to measure the turning angle of the steering wheel, and the torque sensor is used to detect the steering torque applied by the driver to the steering wheel. These sensors transmit the state information of the steering wheel to the vehicle controller.

[0083] It can be understood that, in order to determine whether it is suitable to adopt the steering wheel return torque weakening method provided by the embodiment of the application to reduce the steering wheel return torque, in addition to determining whether the vehicle is currently driving on an urban expressway or a national highway, it can also be determined whether the driving mode of the vehicle is a sports mode. Even if the vehicle is currently driving on an urban expressway or a national highway, if the driving mode of the vehicle is a sports mode, it indicates that the driver has a higher demand for the control and power of the vehicle at this time, and needs to drive more aggressively, and at this time, it is not suitable to reduce the steering wheel return torque, so that the driver can better control the vehicle and better estimate the steering wheel weight and return torque.

[0084] Therefore, in some optional embodiments, obtaining the lane curvature and the steering wheel angle further includes:

[0085] Obtaining the driving mode of the vehicle.

[0086] When the driving mode is not the sports mode, obtaining the lane curvature and the steering wheel angle.

[0087] It can be understood that sometimes the driver may have adopted a more aggressive driving style, but has not had time to switch the driving mode to the sports mode, so the current driving style of the driver can also be indirectly inferred by determining the maximum G value of the vehicle since the current journey. The maximum G value refers to the maximum value of the G value of the vehicle in each direction within 360°, which can be a lateral G value or a longitudinal G value. If the maximum G value is greater than a preset G value, it indicates that the driver is currently driving more aggressively, and has a higher demand for the control and power of the vehicle, and at this time, it is not suitable to reduce the steering wheel return torque, so that the driver can better control the vehicle and better estimate the steering wheel weight and return torque.

[0088] Therefore, in some optional embodiments, obtaining the lane curvature and the steering wheel angle further includes:

[0089] Obtaining the maximum G value of the vehicle.

[0090] When the maximum G value is not greater than a preset G value, obtaining the lane curvature and the steering wheel angle.

[0091] In step S203, it is determined whether both sides of the lane are solid lines.

[0092] It can be understood that when any one of the two sides of the lane of the curve is a dashed line, it means that according to the regulations, the vehicles can be allowed to merge in the curve, and the vehicles can have the demand of merging in the curve, such as exiting the ramp from the main road or entering the main road from the ramp, and in this case, the method provided by the embodiment of the application for reducing the steering wheel return torque is not suitable for reducing the steering wheel return torque, because it can affect the driver's expectation of the steering wheel weight and the driver's control accuracy.

[0093] On the contrary, when the two sides of the lane of the curve are both solid lines, it means that according to the regulations, the vehicles cannot be allowed to merge in the curve, and in this case, the method provided by the embodiment of the application for reducing the steering wheel return torque is suitable for reducing the steering wheel return torque.

[0094] When it is judged according to step S203 that the two sides of the lane are both solid lines, step S204 is performed, the lane curvature and the steering wheel angle are substituted into the corresponding relationship stored in advance to obtain the output inverse return torque coefficient, and the relationship between the lane curvature, the steering wheel angle and the inverse return torque coefficient is stored in the corresponding relationship.

[0095] It can be understood that the relationship between the lane curvature, the steering wheel angle and the inverse return torque coefficient can be obtained by pre-testing and calibrating a limited number of experiments and stored in the memory.

[0096] In step S205, the steering wheel return torque is obtained.

[0097] In step S206, the steering wheel inverse return torque is obtained according to the inverse return torque coefficient and the steering wheel return torque.

[0098] In some optional embodiments, the steering wheel inverse return torque is obtained according to the inverse return torque coefficient and the steering wheel return torque, including:

[0099] The inverse return torque coefficient is multiplied by the steering wheel return torque to obtain the steering wheel inverse return torque.

[0100] In step S207, the steering wheel return torque is updated according to the steering wheel inverse return torque to obtain the updated steering wheel return torque.

[0101] In some optional embodiments, the steering wheel return torque is updated according to the steering wheel inverse return torque to obtain the updated steering wheel return torque, including:

[0102] The steering wheel return torque is subtracted by the steering wheel inverse return torque to obtain the updated steering wheel return torque.

[0103] It can be understood that in the basic steering wheel return control scheme, the steering wheel angle and the vehicle speed are used to calculate the return torque, the steering wheel return torque is calculated, the basic assist torque of the steering wheel is subtracted by the steering wheel return torque to obtain the control torque required to be applied to the steering wheel, the control torque is subjected to torque smoothing and torque ring processing to obtain the expected current, the expected current is subjected to current loop processing to obtain the final control current, and the assist motor of the steering wheel is controlled according to the final control current.

[0104] Compared with the basic steering wheel return control scheme, the steering wheel return torque weakening method provided in the application additionally subtracts a steering wheel reverse return torque from the basic assist torque of the steering wheel in the step of subtracting the steering wheel return torque from the basic assist torque of the steering wheel in the basic steering wheel return control scheme to obtain an updated steering wheel return torque, thereby obtaining an updated control torque required to be applied to the steering wheel, and then performing subsequent control steps of torque smoothing and torque ring processing, obtaining the expected current, current loop processing, obtaining the final control current, and finally controlling the assist motor of the steering wheel according to the final control current.

[0105] In step S208, the assist motor of the steering wheel is controlled according to the updated steering wheel return torque.

[0106] In some optional embodiments, in the process of controlling the assist motor of the steering wheel according to the updated steering wheel return torque, the steering wheel can also be controlled to vibrate at the lowest vibration level, thereby prompting the driver that the steering wheel at this time is in the return torque weakening state, and making the driver have a better expectation of the weight of the steering wheel.

[0107] The steering wheel return torque weakening method provided in the application can also be applied to the adaptive lane keeping or even automatic driving scheme. When the vehicle starts the adaptive lane keeping or automatic driving, the steering wheel return torque weakening method provided in the application is adopted, so that when the vehicle passes through a long curve, the steering wheel return torque can be weakened, thereby making the motor only need to apply a smaller torque to the steering wheel to overcome the updated steering wheel return torque, so that the vehicle can complete the curve keeping in the lane and realize lane keeping or automatic driving, which reduces the power consumption of the whole vehicle during the adaptive lane keeping or automatic driving process.

[0108] The steering wheel return torque weakening method provided in the application is used when the vehicle is currently running on an urban expressway or a national highway. According to the real-time collected lane curvature and steering wheel angle, and when the lane sides are both solid lines, the lane curvature and the steering wheel angle are substituted into the corresponding relationship stored in advance to obtain the inverse return torque coefficient. According to the inverse return torque coefficient and the steering wheel return torque, the steering wheel inverse return torque is obtained. The steering wheel inverse return torque is further used to update the steering wheel return torque, and finally the updated steering wheel return torque is used to control the power motor of the steering wheel. Therefore, when the vehicle turns, the steering wheel return torque is appropriately reduced, so that the driver only needs to exert a small steering torque on the steering wheel to make the vehicle keep in the lane and complete the turning, thereby reducing the difficulty of the driver in controlling the vehicle and the fatigue degree of the driver when driving the vehicle.

[0109] The application also provides a steering wheel return torque weakening device. The device can be a vehicle controller, such as Figure 3 As shown in the figure, the device comprises:

[0110] The acquisition module 301 is configured to acquire the lane curvature and the steering wheel angle.

[0111] The calculation module 302 is configured to substitute the lane curvature and the steering wheel angle into the corresponding relationship stored in advance to obtain the output inverse return torque coefficient. The corresponding relationship stores the relationship among the lane curvature, the steering wheel angle and the inverse return torque coefficient.

[0112] The acquisition module 301 is further configured to acquire the steering wheel return torque.

[0113] The calculation module 302 is further configured to obtain the steering wheel inverse return torque according to the inverse return torque coefficient and the steering wheel return torque.

[0114] The update module 303 is configured to update the steering wheel return torque according to the steering wheel inverse return torque to obtain the updated steering wheel return torque.

[0115] The control module 304 is configured to control the power motor of the steering wheel according to the updated steering wheel return torque.

[0116] In some optional embodiments, the acquisition module 301 is further configured to:

[0117] acquire the driving mode of the vehicle.

[0118] When the driving mode is not the sports mode, acquire the lane curvature and the steering wheel angle.

[0119] In some optional embodiments, the acquisition module 301 is further configured to:

[0120] According to the vehicle-mounted navigation, it is judged whether the vehicle is currently running on an urban expressway or a national highway.

[0121] When it is judged that the vehicle is currently running on an urban expressway or a national highway, the lane curvature and the steering wheel angle are acquired.

[0122] In some optional embodiments, the acquisition module 301 is further configured to, after acquiring the lane curvature and the steering wheel angle, judge whether both sides of the lane are solid lines.

[0123] The calculation module 302 is further configured to, when the acquisition module 301 judges that both sides of the lane are solid lines, substitute the lane curvature and the steering wheel angle into a pre-stored corresponding relationship to obtain an output inverse and positive torque coefficient, and the corresponding relationship stores a relationship among the lane curvature, the steering wheel angle and the inverse and positive torque coefficient.

[0124] In some optional embodiments, the calculation module 302 is further configured to:

[0125] multiply the inverse and positive torque coefficient by the steering wheel positive torque to obtain a steering wheel inverse and positive torque,

[0126] The update module 303 is further configured to:

[0127] subtract the steering wheel inverse and positive torque from the steering wheel positive torque to obtain an updated steering wheel positive torque.

[0128] By using the steering wheel positive torque weakening device provided in the present application, according to the real-time acquired lane curvature and steering wheel angle, the inverse and positive torque coefficient is obtained by substituting into the pre-stored corresponding relationship, the steering wheel inverse and positive torque is obtained according to the inverse and positive torque coefficient and the steering wheel positive torque, the steering wheel positive torque is further updated according to the steering wheel inverse and positive torque, and finally the power motor of the steering wheel is controlled according to the updated steering wheel positive torque, so that when the vehicle turns, the steering wheel positive torque is appropriately reduced, the driver only needs to exert a smaller steering torque on the steering wheel to make the vehicle keep in the lane to complete the turning, and the difficulty of the driver in controlling the vehicle and the fatigue degree of the driver in driving the vehicle are reduced.

[0129] The present embodiment and the method embodiment are based on the same inventive concept, and are the device embodiment corresponding to the method embodiment, so those skilled in the art should understand that the description of the method embodiment is also applicable to the present embodiment, and some technical details are not described in detail in the present embodiment.

[0130] The present application also provides a vehicle comprising the steering wheel positive torque weakening device provided in the above embodiment.

[0131] In the present application, it should be understood that the terms "first", "second" and the like are used only for descriptive purposes and do not connote or imply relative importance or imply the number of indicated technical features.

[0132] Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. It is intended that the specification and examples be considered as exemplary only, with a true scope of the application being indicated by the following claims.

[0133] It is to be understood that the application is not limited to the precise details of construction and the above-described and shown in the drawings, and that various modifications and changes can be made by those skilled in the art without departing from the scope of the application. The scope of the application should only be limited by the appended claims.

[0134] The above description is merely intended to facilitate understanding of the technical solutions of the present application and is not used to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A steering wheel return torque reduction method characterized by, The method comprises: obtaining lane curvature and steering wheel angle; substituting the lane curvature and the steering wheel angle into a pre-stored corresponding relationship to obtain an output inverse steering torque coefficient, the corresponding relationship storing a relationship among the lane curvature, the steering wheel angle and the inverse steering torque coefficient; obtaining steering wheel steering torque; obtaining steering wheel inverse steering torque according to the inverse steering torque coefficient and the steering wheel steering torque; updating the steering wheel steering torque according to the steering wheel inverse steering torque to obtain updated steering wheel steering torque; and controlling a power-assisted motor of the steering wheel according to the updated steering wheel steering torque.

2. The method of claim 1, wherein, The lane curvature and the steering wheel angle are further obtained by: obtaining a driving mode of the vehicle; when the driving mode is not a sports mode, obtaining the lane curvature and the steering wheel angle.

3. The method of claim 1, wherein, The lane curvature and the steering wheel angle are further obtained by: determining whether the vehicle is currently driving on an urban expressway or a national highway according to a vehicle-mounted navigation device; when it is determined that the vehicle is currently driving on an urban expressway or a national highway, obtaining the lane curvature and the steering wheel angle.

4. The method of claim 1, wherein, The lane curvature and the steering wheel angle are substituted into a pre-stored corresponding relationship to obtain an output inverse steering torque coefficient, the corresponding relationship storing a relationship among the lane curvature, the steering wheel angle and the inverse steering torque coefficient, which comprises: after the lane curvature and the steering wheel angle are obtained, determining whether both sides of the lane are solid lines; when it is determined that both sides of the lane are solid lines, substituting the lane curvature and the steering wheel angle into a pre-stored corresponding relationship to obtain an output inverse steering torque coefficient, the corresponding relationship storing a relationship among the lane curvature, the steering wheel angle and the inverse steering torque coefficient.

5. The method of claim 1, wherein, The steering wheel inverse steering torque is obtained according to the inverse steering torque coefficient and the steering wheel steering torque, which comprises: multiplying the inverse steering torque coefficient by the steering wheel steering torque to obtain the steering wheel inverse steering torque. The steering wheel steering torque is updated according to the steering wheel inverse steering torque to obtain updated steering wheel steering torque, which comprises: subtracting the steering wheel inverse steering torque from the steering wheel steering torque to obtain the updated steering wheel steering torque.

6. A steering wheel return torque attenuating device characterized by, The device comprises: an obtaining module configured to obtain lane curvature and steering wheel angle; a calculation module configured to substitute the lane curvature and the steering wheel angle into a pre-stored corresponding relationship to obtain an output inverse steering torque coefficient, the corresponding relationship storing a relationship among the lane curvature, the steering wheel angle and the inverse steering torque coefficient; the obtaining module is further configured to obtain steering wheel steering torque; the calculation module is further configured to obtain steering wheel inverse steering torque according to the inverse steering torque coefficient and the steering wheel steering torque; an updating module configured to update the steering wheel steering torque according to the steering wheel inverse steering torque to obtain updated steering wheel steering torque; and a control module configured to control a power-assisted motor of the steering wheel according to the updated steering wheel steering torque.

7. The apparatus of claim 6, wherein, The acquisition module is further configured to: acquire a driving mode of the vehicle; acquire the lane curvature and the steering wheel angle when the driving mode is not the sport mode.

8. The apparatus of claim 6, wherein, The acquisition module is further configured to: determine whether the vehicle is currently driving on an urban expressway or a national highway according to a vehicle-mounted navigation system; acquire the lane curvature and the steering wheel angle when it is determined that the vehicle is currently driving on an urban expressway or a national highway.

9. The apparatus of claim 6, wherein the acquisition module is further configured to determine whether both sides of the lane are solid lines after acquiring the lane curvature and the steering wheel angle; the calculation module is further configured to substitute the lane curvature and the steering wheel angle into a pre-stored corresponding relationship to obtain an output countersteering torque coefficient when the acquisition module determines that both sides of the lane are solid lines, the corresponding relationship storing a relationship among the lane curvature, the steering wheel angle, and the countersteering torque coefficient.

10. The apparatus of claim 6, wherein, The calculation module is further configured to: multiply the countersteering torque coefficient by the steering wheel countersteering torque to obtain a steering wheel countersteering torque, the update module is further configured to: subtract the steering wheel countersteering torque from the steering wheel countersteering torque to obtain an updated steering wheel countersteering torque.

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