Vehicle steering control method, device, electronic device and storage medium

Abstract

The present invention discloses a vehicle steering control method, device, electronic device, and storage medium. The method comprises: obtaining vehicle steering control information, wherein the steering control information includes: the force applied to the vehicle's steering wheel, the operating status of the vehicle's power-assisted motor, and the reduction ratio of the vehicle's worm gear mechanism; determining an initial steering angle based on the vehicle's driving state and the steering control information; determining a target steering angle based on the initial steering angle and a preset angle threshold; and controlling the vehicle's steering wheel to perform steering operations using the target steering angle. The present invention solves the technical problem of a vehicle's electric power steering system being unable to control vehicle steering when the steering wheel angle signal is lost.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a vehicle steering control method, device, electronic equipment and storage medium. Background Art

[0002] The Electric Power Steering (EPS) system primarily consists of an EPS controller, a torque sensor, a power assist motor, a torsion bar, a screw, and a gear nut. In this system, the torque sensor, mounted on the steering input shaft, measures the steering wheel angle and transmits this data to the EPS controller, which then calculates and provides the appropriate steering assist based on this input signal. However, existing technologies present the following challenges:

[0003] (1) Single sensor dependence: The EPS systems currently used in commercial vehicles usually use a single steering angle torque sensor and communication line. This non-redundant structure will cause the EPS controller to be unable to receive the steering wheel angle signal when the sensor fails or the communication line is interrupted, and thus cannot provide steering assistance;

[0004] (2) Safety hazards: During critical steering operations, if the EPS system loses power assistance due to sensor or communication line failure, the vehicle may not be able to steer normally, increasing driving risks and posing a major safety hazard.

[0005] (3) Cost issue: In order to improve the reliability of the system, the use of redundant sensors or redundant communication lines can improve the fault tolerance of the system, but this will increase additional costs.

[0006] To address the above-mentioned problems, no effective solutions have been proposed so far. Summary of the Invention

[0007] Embodiments of the present invention provide a vehicle steering control method, device, electronic device, and storage medium to at least solve the technical problem that a vehicle electric power steering system cannot control vehicle steering when a steering wheel angle signal is lost.

[0008] According to one embodiment of the present invention, a vehicle steering control method is provided, comprising: obtaining steering control information of a vehicle, wherein the steering control information includes: a force value of a vehicle steering wheel, operating status information of a vehicle power-assisting motor, and a reduction ratio of a vehicle worm gear mechanism; determining an initial steering angle based on the vehicle's driving state and the steering control information; determining a target steering angle based on the initial steering angle and a preset angle threshold; and controlling the vehicle steering wheel to perform a steering operation using the target steering angle.

[0009] Optionally, determining the initial steering angle based on the vehicle's driving state and steering control information includes: in response to the vehicle being in a first driving state, determining the initial steering angle based on the force value and the reduction ratio, wherein the vehicle's power steering motor is in a zero position state in the first driving state; or, in response to the vehicle being in a second driving state, determining the initial steering angle based on the operating state information and the reduction ratio, wherein the vehicle's power steering motor is in a rotating state in the second driving state.

[0010] Optionally, in response to the vehicle being in a first driving state, determining the initial steering angle based on the force value and the reduction ratio includes: obtaining a torsional stiffness coefficient in response to the force value being greater than or equal to a preset force threshold; determining a torsion bar angle based on the force value and the torsional stiffness coefficient; and determining the initial steering angle based on the torsion bar angle and the reduction ratio.

[0011] Optionally, determining the initial steering angle based on the torsion bar angle and the reduction ratio includes: determining the product of the ratio result and the reduction ratio as the starting angular velocity of the vehicle power-assist motor; determining the product of the starting angular velocity and the force duration as the rotation angle of the vehicle power-assist motor, wherein the force duration is used to determine the duration for which the driver controls the steering wheel rotation; and determining the ratio of the rotation angle to the reduction ratio as the initial steering angle.

[0012] Optionally, the motor operating status information includes the position and angular velocity of the power-assist motor. In response to the vehicle being in the second driving state, determining the initial steering angle based on the operating status information and the reduction ratio includes: multiplying a preset time step by the angular velocity of the power-assist motor to obtain a product result; summing the product result with the position of the power-assist motor to obtain a sum result; and determining the ratio of the sum result to the reduction ratio as the initial steering angle.

[0013] Optionally, determining the target steering angle based on the initial steering angle and a preset angle threshold includes: determining an angle difference based on the initial steering angle and the current turning angle, wherein the current turning angle is determined based on the turning angle collected by the angle sensor; in response to the angle difference being less than or equal to the preset angle threshold, determining the target steering angle to be the current turning angle; in response to the angle difference being greater than the preset angle threshold, determining the target steering angle to be the initial steering angle.

[0014] Optionally, the vehicle steering control method further includes: in response to the force value being less than a preset force threshold, controlling the vehicle power-assisting motor to stop rotating.

[0015] According to one embodiment of the present invention, a vehicle steering control device is also provided, including: an acquisition module for acquiring steering control information of a vehicle, wherein the steering control information includes: the force value of the vehicle steering wheel, the operating status information of the vehicle power-assisting motor and the reduction ratio of the vehicle worm gear mechanism; a first determination module for determining an initial steering angle based on the vehicle's driving status and the steering control information; a second determination module for determining a target steering angle based on the initial steering angle and a preset angle threshold; and a control module for controlling the vehicle steering wheel to perform steering operations using the target steering angle.

[0016] Optionally, the first determination module is also used to: in response to the vehicle being in a first driving state, determine the initial steering angle based on the force value and the reduction ratio, wherein the vehicle power steering motor is in a zero position state in the first driving state; or, in response to the vehicle being in a second driving state, determine the initial steering angle based on operating state information and the reduction ratio, wherein the vehicle power steering motor is in a rotating state in the second driving state.

[0017] Optionally, the acquisition module is also used to obtain the torsional stiffness coefficient in response to the force value being greater than or equal to a preset force threshold; the first determination module is also used to: determine the torsion bar angle based on the force value and the torsional stiffness coefficient; and determine the initial steering angle based on the torsion bar angle and the reduction ratio.

[0018] Optionally, the first determination module is also used to: determine the product of the ratio result and the reduction ratio as the starting angular velocity of the vehicle power-assisted motor; determine the product of the starting angular velocity and the force-applying time as the rotation angle of the vehicle power-assisted motor, wherein the force-applying time is used to determine the duration for which the driver controls the steering wheel rotation; and determine the ratio of the rotation angle to the reduction ratio as the initial steering angle.

[0019] Optionally, the first determination module is also used to: multiply the preset time step by the angular velocity of the power-assist motor to obtain a product result; sum the product result with the position of the power-assist motor to obtain a sum result; and determine the ratio of the sum result to the reduction ratio as the initial steering angle.

[0020] Optionally, the second determination module is also used to: determine the angle difference based on the initial steering angle and the current turning angle, wherein the current turning angle is determined based on the turning angle collected by the angle sensor; in response to the angle difference being less than or equal to a preset angle threshold, determine the target steering angle as the current turning angle; in response to the angle difference being greater than a preset angle threshold, determine the target steering angle as the initial steering angle.

[0021] Optionally, the control module is further configured to control the vehicle power assist motor to stop rotating in response to the force value being less than a preset force threshold.

[0022] According to one embodiment of the present invention, an electronic device is further provided, comprising: a memory storing an executable program; and a processor for running the program, wherein the above-mentioned vehicle steering control method is executed when the program is running.

[0023] According to one embodiment of the present invention, a computer-readable storage medium is further provided. The computer-readable storage medium includes a stored executable program, wherein when the executable program runs, the device where the storage medium is located is controlled to execute the above-mentioned vehicle steering control method.

[0024] According to one embodiment of the present invention, a computer program product is further provided, including a computer program, which implements the above-mentioned vehicle steering control method when executed by a processor.

[0025] In an embodiment of the present invention, a method of obtaining steering control information of a vehicle is adopted to determine an initial steering angle based on the vehicle's driving state and the steering control information; and a target steering angle is determined based on the initial steering angle and a preset angle threshold; and finally, the target steering angle is used to control the vehicle's steering wheel for steering operations. This achieves the purpose of being able to control the vehicle's steering wheel for steering operations even if the vehicle angle sensor fails, thereby achieving the technical effect of improving the safety and stability of vehicle steering, and further solving the technical problem that the vehicle's electric power steering system cannot control vehicle steering when the steering wheel angle signal is lost. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0027] Figure 1A is a schematic diagram of a vehicle steering control method in the related art;

[0028] Figure 1B is a schematic diagram of another vehicle steering control method in the related art;

[0029] Figure 2 is a flow chart of a vehicle steering control method according to one embodiment of the present invention;

[0030] Figure 3 is a flow chart of another vehicle steering control method according to one embodiment of the present invention;

[0031] Figure 4 FIG. 4 is a structural block diagram of a vehicle steering control device according to one embodiment of the present invention. DETAILED DESCRIPTION

[0032] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0033] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0034] Figure 1A is a schematic diagram of a vehicle steering control method in related art, such as Figure 1A As shown in the figure, the EPS system primarily consists of a steering wheel, steering shaft, electric recirculating ball steering, trailing rods, front axle, and wheels. When the driver turns the steering wheel, torque is transmitted to the electric recirculating ball steering via the steering shaft. The motor within the electric recirculating ball steering provides additional power as needed, amplifying the torque through a gear and nut mechanism. This increased torque is transmitted to the front axle via the trailing rods. The steering knuckle on the front axle receives the torque, causing the wheels to deflect about the kingpin, thereby steering the vehicle. By precisely controlling the power assist provided by the motor, the EPS system provides improved handling and fuel efficiency, while also making steering easier and more precise.

[0035] Figure 1B It is a schematic diagram of another vehicle steering control method in the related art, such as Figure 1B As shown in the figure, the electric recirculating ball steering system primarily consists of a power steering motor, EPS controller, angle-torque sensor, torsion bar, worm gear reduction mechanism, and input and output shafts. When the driver turns the steering wheel, the input shaft rotates, and the angle-torque sensor detects the rotation and force. The EPS controller receives the sensor signal, calculates the required power assist, and sends a command to the power steering motor. The power steering motor operates according to the command, transmitting force through the torsion bar to the worm gear reduction mechanism. The worm gear reduction mechanism converts the force into low-speed, high-torque, driving the output shaft. The output shaft then transmits the force to the wheels, achieving vehicle steering.

[0036] According to an embodiment of the present invention, a vehicle steering control method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0037] This method embodiment can be executed in an electronic device or similar computing device that includes memory and a processor. For example, a vehicle terminal can include one or more processors (processors may include, but are not limited to, central processing units (CPUs), graphics processing units (GPUs), digital signal processing (DSP) chips, microcontroller units (MCUs), field programmable gate arrays (FPGAs), neural network processors (NPUs), tensor processing units (TPUs), artificial intelligence (AI) processors, and other processing devices) and memory for data storage. Optionally, the vehicle terminal may also include transmission equipment, input / output devices, and a display device for communication functions. Those skilled in the art will appreciate that the above structural description is merely illustrative and does not limit the structure of the vehicle terminal. For example, the vehicle terminal may include more or fewer components than described above, or have a different configuration than described above.

[0038] The memory can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the vehicle steering control method in the embodiment of the present invention. The processor executes various functional applications and data processing by running the computer program stored in the memory, that is, implementing the above-mentioned vehicle steering control method. The memory may include a high-speed random access memory and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory may further include a memory remotely located relative to the processor, and these remote memories can be connected to the mobile terminal via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0039] The transmission device is used to receive or send data via a network. Specific examples of the aforementioned network may include a wireless network provided by the mobile terminal's communications provider. In one embodiment, the transmission device includes a network interface controller (NIC), which can be connected to other network devices via a base station to enable communication with the Internet. In one embodiment, the transmission device may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0040] The display device may be, for example, a touch-screen liquid crystal display (LCD) and a touch display (also referred to as a "touch screen" or "touch display screen"). The LCD may enable a user to interact with the user interface of the mobile terminal. In some embodiments, the mobile terminal has a graphical user interface (GUI), and the user may interact with the GUI through finger contacts and / or gestures on the touch-sensitive surface. The human-computer interaction functions herein may optionally include the following interactions: creating web pages, drawing, word processing, making electronic documents, games, video conferencing, instant messaging, sending and receiving emails, call interfaces, playing digital videos, playing digital music, and / or web browsing, etc. The executable instructions for executing the above-mentioned human-computer interaction functions are configured / stored in a computer program product or readable storage medium executable by one or more processors.

[0041] Figure 2 is a flow chart of a vehicle steering control method according to one embodiment of the present invention. Figure 2 As shown, the method includes the following steps:

[0042] Step S20, obtaining steering control information of the vehicle, wherein the steering control information includes: a force value of the vehicle steering wheel, operating status information of the vehicle power assist motor, and a reduction ratio of the vehicle worm gear mechanism;

[0043] In step S20, the force value of the vehicle steering wheel is used to represent the force applied by the driver to control the steering wheel, which is recorded as .

[0044] The operating status information of the vehicle power-assisted motor includes the position and angular velocity of the power-assisted motor, wherein the position is recorded as , the angular velocity is recorded as ,in, represents the position of the power assist motor at time k, represents the angular velocity of the power assist motor at time k.

[0045] The reduction ratio of the worm gear reduction mechanism This can be calculated using the number of teeth on the worm wheel and the number of helical lines on the worm. For example, a reduction ratio of 20 means the speed at the input will be reduced by 20 times before being output.

[0046] Step S22, determining an initial steering angle based on the vehicle's driving state and steering control information;

[0047] Specifically, when the vehicle is going straight and preparing to turn, the steering wheel angle signal and the power motor are both in zero position. If the angle sensor fails when the driver starts to turn the steering wheel, the force value will be and reduction ratio Determine the initial steering angle, wherein the initial steering angle determined under this driving state is recorded as When the vehicle is turning, the driver turns the steering wheel, the power motor follows and outputs power torque. At this time, if the angle sensor is If a fault occurs at any time, the vehicle's power assist motor's operating status information and reduction ratio Determine the initial steering angle, wherein the initial steering angle determined under this driving state is recorded as .

[0048] Step S24, determining a target steering angle based on the initial steering angle and a preset angle threshold;

[0049] Specifically, the vehicle will obtain the steering wheel angle signal in real time while driving, and the angle in the obtained steering wheel angle signal is recorded as ,in, Indicates the angle of the steering wheel angle signal obtained by the vehicle at time k, and records the current turning angle. When the vehicle's angle sensor fails at time k, the initial steering angle is compared with Perform a difference operation to obtain the angle difference, compare the absolute value of the angle difference with the preset angle threshold, and obtain a comparison result; determine the target steering angle based on the comparison result .

[0050] Step S26: Using the target steering angle to control the vehicle steering wheel to perform a steering operation.

[0051] Specifically, the target steering angle is used as the current steering wheel angle signal and input into the EPS controller to calculate the output torque of the vehicle's power-assist motor, thereby ensuring the normal operation of the vehicle's EPS system and controlling the vehicle's steering wheel for steering operations.

[0052] Based on the above steps S20 to S26, the vehicle's steering control information is obtained, and an initial steering angle is determined according to the vehicle's driving state and the steering control information; and a target steering angle is determined based on the initial steering angle and a preset angle threshold; finally, the target steering angle is used to control the vehicle's steering wheel for steering operations, thereby achieving the purpose of being able to control the vehicle's steering wheel for steering operations even if the vehicle angle sensor fails, thereby achieving the technical effect of improving the safety and stability of vehicle steering, and further solving the technical problem that the vehicle's electric power steering system cannot control the vehicle's steering when the steering wheel angle signal is lost.

[0053] Optionally, in step S22, determining the initial steering angle according to the driving state of the vehicle and the steering control information includes:

[0054] Step S221, in response to the vehicle being in a first driving state, determining an initial steering angle based on a force value and a reduction ratio, wherein the vehicle power assist motor is in a zero position state in the first driving state; or

[0055] Specifically, when the vehicle is going straight and preparing to turn, the steering wheel angle signal and the power motor are both in zero position. When the driver starts to turn the steering wheel, if the angle sensor fails, the force value and reduction ratio Determine the initial steering angle If the force value Reaching the preset force threshold , then the EPS controller is based on the force value and reduction ratio Determine the starting angular velocity of the assist motor , and then obtain the duration of the driver's control of the steering wheel , will start the angular velocity and duration of force The product of is determined as the rotation angle of the vehicle's power assist motor , and finally the rotation angle of the vehicle's power assist motor and reduction ratio The ratio of is determined as the initial steering angle .

[0056] Step S222, in response to the vehicle being in a second driving state, determining an initial steering angle based on the operating state information and the reduction ratio, wherein the vehicle power assist motor is in a rotating state in the second driving state;

[0057] Specifically, when the vehicle is turning, the driver turns the steering wheel, the power motor follows and outputs power torque. At this time, if the angle sensor fails, the vehicle power motor will be turned according to the operating status information and the reduction ratio. Determine the initial steering angle .

[0058] Based on the above steps S221 to S222, in response to the vehicle being in the first driving state, the initial steering angle is determined based on the force value and the reduction ratio; or, in response to the vehicle being in the second driving state, the initial steering angle is determined based on the operating status information and the reduction ratio, which can ensure that the vehicle can still maintain a certain steering ability when the angle sensor fails, thereby improving the safety of vehicle driving.

[0059] Optionally, in step S221, in response to the vehicle being in the first driving state, determining the initial steering angle based on the force value and the reduction ratio includes:

[0060] Step S101, in response to the force value being greater than or equal to a preset force threshold, obtaining a torsional stiffness coefficient;

[0061] In step S101, the torsional stiffness coefficient is used to characterize the torsional stiffness of the torsion bar in the electric recirculating ball steering gear, and is recorded as .

[0062] Step S102, determining the torsion bar angle based on the force value and the torsional stiffness coefficient;

[0063] Specifically, at the force value Under the effect of Inside, the two ends of the torsion bar form a small angle, that is, the torsion bar angle, recorded as , according to the force value and torsional stiffness coefficient Determine the torsion bar angle , the specific calculation process is shown in expression (1).

[0064] (1)

[0065] in, represents the torsion bar angle; Indicates the force value; represents the torsional stiffness coefficient.

[0066] Step S103: determining an initial steering angle based on the torsion bar angle and the reduction ratio.

[0067] Specifically, when the vehicle is going straight and preparing to turn, the steering wheel angle signal and the power motor position are both at zero. When the driver starts to turn the steering wheel, if the force value Reaching the preset force threshold , based on the torsion bar angle and reduction ratio Determine the starting angular velocity of the assist motor ,according to The initial steering angle is determined by the force applied to the steering wheel.

[0068] Based on the above steps S101 to S103, in response to the force value being greater than or equal to the preset force threshold, the torsional stiffness coefficient is obtained; the torsion bar angle is determined based on the force value and the torsional stiffness coefficient; the power assist torque is determined based on the torsion bar angle and the reduction ratio. By determining the power assist torque, it is possible to ensure that the steering system responds to the driver's input more accurately and promptly, and the EPS system can dynamically adjust the power assist torque according to the real-time force value and the torsional stiffness coefficient, providing more flexible and adaptable steering support, while helping to reduce the driver's steering effort.

[0069] Optionally, in step S103, determining the initial steering angle based on the torsion bar angle and the reduction ratio includes:

[0070] Step S1031, performing a ratio operation on the torsion bar angle and the preset time length to obtain a ratio result;

[0071] Specifically, when the driver initially turns the steering wheel, Under the effect of A small torsion bar angle is formed at both ends of the torsion bar. .

[0072] Step S1032: multiplying the ratio result by the reduction ratio to determine the starting angular velocity of the vehicle power assist motor;

[0073] Specifically, the starting angular velocity of the vehicle's power assist motor The specific calculation process of is shown in expression (2).

[0074] (2)

[0075] in, Indicates the starting angular velocity of the motor; Indicates the reduction ratio; represents the torsion bar angle; Indicates the preset duration.

[0076] Step S1033, determining the product of the starting angular velocity and the force application duration as the rotation angle of the vehicle power-assisted motor, wherein the force application duration is used to determine the duration for which the driver controls the steering wheel rotation;

[0077] Specifically, obtain the duration of the driver's steering wheel rotation , will start the angular velocity and duration of force The product of is determined as the rotation angle of the vehicle's power assist motor The process is shown in expression (3).

[0078] (3)

[0079] in, Indicates the rotation angle of the vehicle's power assist motor; Indicates the starting angular velocity of the vehicle's power assist motor; Indicates how long the driver controls the steering wheel.

[0080] Step S1034: Determine the ratio of the rotation angle to the reduction ratio as the initial steering angle.

[0081] Specifically, the rotation angle of the vehicle's power assist motor is and reduction ratio The ratio of is determined as the initial steering angle .

[0082] Based on the above steps S1031 to S1034, the ratio operation is performed on the initial rotation angle, the torsion bar angle and the preset time to obtain a ratio result; the product of the ratio result and the reduction ratio is determined as the starting angular velocity of the vehicle power-assisting motor; the product of the starting angular velocity and the force-bearing time is determined as the initial steering angle, which can ensure that the vehicle EPS system responds to the driver's input more accurately and promptly, provides more flexible and adaptable steering support, and helps to reduce the driver's steering effort.

[0083] Optionally, in step S222, the operating state information includes the position and angular velocity of the vehicle power-assisting motor, and in response to the vehicle being in the second driving state, determining the initial steering angle based on the operating state information and the reduction ratio includes:

[0084] Step S201, performing a product operation on the preset time step and the angular velocity of the power assist motor to obtain a product result;

[0085] In step S201, the motor status information includes the motor position and motor angular velocity, wherein the motor position is recorded as , the motor speed information is recorded as .

[0086] The above preset time step The sampling interval used to represent the motor status information and the current rotation angle of the vehicle steering wheel.

[0087] Step S202, performing a sum operation on the product result and the position of the power assist motor to obtain a sum result;

[0088] Step S203: Determine the ratio of the summation result and the reduction ratio as the initial steering angle.

[0089] Specifically, when the angle sensor fails at time k, the preset time step and Motor angular velocity at any moment Perform product operation to obtain the product result; compare the product result with Motor position at all times Perform summation operation to obtain the summation result; based on the summation result and the reduction ratio The ratio of determines the initial steering angle The specific calculation process is shown in expression (4).

[0090] (4)

[0091] in, Indicates the initial steering angle; Indicates the preset time step; express Motor position at the moment; express The motor angular velocity at the moment; i represents the reduction ratio.

[0092] Based on steps S201 to S203, motor status information is obtained; an estimated rotation angle is determined based on the motor status information and the reduction ratio; and a steering angle is determined based on the current rotation angle and the estimated rotation angle. This allows for a more accurate estimation of the initial steering wheel rotation angle, thereby improving the EPS system's response speed and accuracy. Furthermore, an accurate estimation of the initial rotation angle helps the vehicle's EPS system better control motor output, reducing EPS system oscillation and instability caused by prediction errors. This resolves the technical issue of a vehicle's electric power steering system being unable to control vehicle steering when the steering wheel angle signal is lost.

[0093] Optionally, in step S24, determining the target steering angle based on the initial steering angle and a preset angle threshold includes:

[0094] Step S241, determining an angle difference based on the initial steering angle and the current rotation angle, wherein the current rotation angle is determined based on the rotation angle collected by the angle sensor;

[0095] In step S241, the current rotation angle of the vehicle steering wheel is used to represent the rotation angle of the steering wheel obtained based on the steering wheel angle signal, which is recorded as ,in, represents the angle in the steering wheel angle signal obtained by the vehicle at time k.

[0096] Specifically, the above angle difference The calculation process of is shown in expression (5).

[0097] (5)

[0098] in, Indicates the angle difference; express The steering wheel rotation angle obtained at all times; Indicates the initial turning angle, where, when the vehicle is in the first driving state, the initial steering angle is determined based on the force value and the reduction ratio The vehicle is in the second driving state, and the initial steering angle is determined based on the running state information and the reduction ratio. .

[0099] Step S242 , in response to the angle difference being less than or equal to a preset angle threshold, determining the target steering angle to be the current turning angle;

[0100] Step S243 : In response to the angle difference being greater than a preset angle threshold, determining the target steering angle as the initial steering angle.

[0101] Specifically, when Less than or equal to the preset angle threshold When , it is determined that the angle sensor is working normally, then Higher credibility, The torque sensor is used as input to the EPS controller to control vehicle steering. This eliminates the need for relying solely on the torque sensor, improving EPS system safety and eliminating the need for redundant sensors or communication lines to address the potential for torque sensor failure, which can add significant cost.

[0102] Furthermore, when Greater than the preset angle threshold When , it is determined that the angle sensor is in a fault state, then The value is less reliable. Serves as the steering wheel angle signal input to the EPS controller to control the vehicle's steering operation.

[0103] Based on the above steps S241 to S243, the angle difference is determined based on the initial steering angle and the current turning angle, wherein the current turning angle is determined based on the turning angle collected by the angle sensor; in response to the angle difference being less than or equal to the preset angle threshold, the target steering angle is determined to be the current turning angle; in response to the angle difference being greater than the preset angle threshold, the target steering angle is determined to be the initial steering angle. The working status of the sensor can be intelligently judged based on the comparison result of the angle difference and the preset threshold, and the input value of the steering angle can be dynamically adjusted, thereby avoiding vehicle loss of control or poor driving experience due to sensor failure, thereby improving the robustness of the EPS system and the safety of vehicle driving.

[0104] Optionally, the vehicle steering control method further includes:

[0105] Step S27 , in response to the force value being less than a preset force threshold, controlling the motor to stop outputting the assist torque.

[0106] Specifically, when the force value Less than the preset force threshold When , the control motor stops outputting assist torque.

[0107] Based on the above step S27, in response to the force value being less than the preset force threshold, the motor is controlled to stop outputting the assist torque. When the driver does not need additional assist, stopping the motor's assist output can reduce energy consumption and improve the fuel economy or battery life of the vehicle.

[0108] Figure 3 FIG. 1 is a flow chart of another vehicle steering control method according to one embodiment of the present invention. Figure 3 As shown, the vehicle steering control method mainly includes the following execution steps:

[0109] Step S301, obtaining vehicle steering control information, wherein the steering control information includes: a force value of the vehicle steering wheel, operating status information of the vehicle power assist motor, and a reduction ratio of the vehicle worm gear mechanism;

[0110] Step S302 , in response to the vehicle being in a first driving state and the force value being greater than or equal to a preset force threshold, obtaining a torsional stiffness coefficient;

[0111] Step S303, determining the torsion bar angle based on the force value and the torsional stiffness coefficient;

[0112] Step S304, performing a ratio operation on the torsion bar angle and the preset time length to obtain a ratio result;

[0113] Step S305: multiplying the ratio result by the reduction ratio to determine the starting angular velocity of the vehicle power-assisting motor;

[0114] Step S306, determining the product of the starting angular velocity and the force-bearing duration as the rotation angle of the vehicle power-assisting motor;

[0115] Step S307, determining the ratio of the rotation angle to the reduction ratio as the initial steering angle;

[0116] Step S308, in response to the vehicle being in the second driving state, multiplying the preset time step by the angular velocity of the power assist motor to obtain a product result;

[0117] Step S309, performing a sum operation on the product result and the position of the power assist motor to obtain a sum result;

[0118] Step S310, determining the ratio of the summation result and the reduction ratio as the initial steering angle;

[0119] Step S311, determining an angle difference based on the initial steering angle and the current turning angle;

[0120] Step S312, determining whether the angle difference is greater than a preset angle threshold;

[0121] Step S313, in response to the angle difference being less than or equal to the preset angle threshold, determining the target steering angle to be the current turning angle;

[0122] Step S314, in response to the angle difference being greater than a preset angle threshold, determining the target steering angle to be the initial steering angle;

[0123] Step S315: Using the target steering angle to control the vehicle steering wheel to perform a steering operation.

[0124] Based on the above steps S301 to S315, the force value of the vehicle steering wheel, the current rotation angle of the vehicle steering wheel and the reduction ratio of the vehicle worm gear mechanism are obtained, the power assist torque is determined based on the force value and the reduction ratio, and the steering angle is determined based on the current rotation angle and the reduction ratio. Finally, the vehicle steering wheel is controlled to perform steering operations based on the power assist torque and the steering angle, thereby achieving the purpose of being able to control the vehicle steering wheel to perform steering operations even if the vehicle steering wheel angle signal is lost, thereby realizing the technical effect of improving the safety and stability of vehicle steering, and further solving the technical problem that the vehicle electric power steering system cannot control the vehicle steering when the steering wheel angle signal is lost.

[0125] Through the description of the above embodiments, those skilled in the art will clearly understand that the methods according to the above embodiments can be implemented using software plus the necessary general-purpose hardware platform. Of course, hardware can also be used, but in many cases the former is a more preferred embodiment. Based on this understanding, the technical solution of the present invention, or the portion that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, or optical disk) and includes a number of instructions for enabling a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in various embodiments of the present invention.

[0126] In an embodiment of the present invention, a vehicle steering control device is also provided, which is used to implement the above-mentioned embodiments and preferred embodiments. Details already described will not be repeated here. As used below, the term "module" may refer to a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation using hardware, or a combination of software and hardware, is also possible and contemplated.

[0127] Figure 4 FIG. 1 is a structural block diagram of a vehicle steering control device according to one embodiment of the present invention. Figure 4 As shown, the device includes:

[0128] An acquisition module 401 is configured to acquire steering control information of the vehicle, wherein the steering control information includes: a force value of the vehicle steering wheel, operating status information of the vehicle power assist motor, and a reduction ratio of the vehicle worm gear mechanism;

[0129] A first determining module 402 is configured to determine an initial steering angle based on the vehicle's driving state and steering control information;

[0130] A second determination module 403 is configured to determine a target steering angle based on the initial steering angle and a preset angle threshold;

[0131] The control module 404 is configured to control the vehicle steering wheel to perform a steering operation using the target steering angle.

[0132] Optionally, the first determination module 402 is also used to: in response to the vehicle being in a first driving state, determine the initial steering angle based on the force value and the reduction ratio, wherein the vehicle power steering motor is in a zero position state in the first driving state; or, in response to the vehicle being in a second driving state, determine the initial steering angle based on the operating state information and the reduction ratio, wherein the vehicle power steering motor is in a rotating state in the second driving state.

[0133] Optionally, the acquisition module 401 is further used to obtain the torsional stiffness coefficient in response to the force value being greater than or equal to a preset force threshold; the first determination module 402 is further used to: determine the torsion bar angle based on the force value and the torsional stiffness coefficient; and determine the initial steering angle based on the torsion bar angle and the reduction ratio.

[0134] Optionally, the first determination module 402 is also used to: determine the product of the ratio result and the reduction ratio as the starting angular velocity of the vehicle power-assist motor; determine the product of the starting angular velocity and the force duration as the rotation angle of the vehicle power-assist motor, wherein the force duration is used to determine the duration for which the driver controls the steering wheel rotation; and determine the ratio of the rotation angle to the reduction ratio as the initial steering angle.

[0135] Optionally, the first determination module 402 is further used to: multiply the preset time step by the angular velocity of the power-assist motor to obtain a product result; sum the product result with the position of the power-assist motor to obtain a sum result; and determine the ratio of the sum result to the reduction ratio as the initial steering angle.

[0136] Optionally, the second determination module 403 is also used to: determine the angle difference based on the initial steering angle and the current rotation angle, wherein the current rotation angle is determined based on the rotation angle collected by the angle sensor; in response to the angle difference being less than or equal to a preset angle threshold, determine the target steering angle as the current rotation angle; in response to the angle difference being greater than a preset angle threshold, determine the target steering angle as the initial steering angle.

[0137] Optionally, the control module 404 is further configured to control the vehicle power assist motor to stop rotating in response to the force value being less than a preset force threshold.

[0138] It should be noted that the above modules can be implemented through software or hardware. For the latter, it can be implemented in the following ways, but not limited to: the above modules are all located in the same processor; or the above modules are located in different processors in any combination.

[0139] According to one embodiment of the present invention, an electronic device is further provided, comprising: a memory storing an executable program; and a processor for running the program, wherein the above-mentioned vehicle steering control method is executed when the program is running.

[0140] Optionally, in this embodiment, the processor may be configured to execute the following steps through a computer program:

[0141] Step S1, obtaining steering control information of the vehicle, wherein the steering control information includes: a force value of the vehicle steering wheel, operating status information of the vehicle power assist motor, and a reduction ratio of the vehicle worm gear mechanism;

[0142] Step S2, determining an initial steering angle based on the vehicle's driving state and steering control information;

[0143] Step S3, determining a target steering angle based on the initial steering angle and a preset angle threshold;

[0144] In step S4, the target steering angle is used to control the vehicle steering wheel to perform a steering operation. According to one embodiment of the present invention, a computer-readable storage medium is also provided, wherein the computer-readable storage medium includes a stored executable program, wherein when the executable program is executed, the device where the storage medium is located is controlled to execute the above-mentioned vehicle steering control method.

[0145] Optionally, in this embodiment, the storage medium may be configured to store a computer program for performing the following steps:

[0146] Step S1, obtaining steering control information of the vehicle, wherein the steering control information includes: a force value of the vehicle steering wheel, operating status information of the vehicle power assist motor, and a reduction ratio of the vehicle worm gear mechanism;

[0147] Step S2, determining an initial steering angle based on the vehicle's driving state and steering control information;

[0148] Step S3, determining a target steering angle based on the initial steering angle and a preset angle threshold;

[0149] Step S4: Using the target steering angle to control the vehicle steering wheel to perform a steering operation. Optionally, in this embodiment, the storage medium may include, but is not limited to, a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard drive, a magnetic disk, or an optical disk, among other media capable of storing computer programs.

[0150] According to one embodiment of the present invention, a computer program product is further provided, including a computer program, which implements the above-mentioned vehicle steering control method when executed by a processor.

[0151] Optionally, in this embodiment, the computer program product may be configured as a computer program for executing the following steps:

[0152] Step S1, obtaining steering control information of the vehicle, wherein the steering control information includes: a force value of the vehicle steering wheel, operating status information of the vehicle power assist motor, and a reduction ratio of the vehicle worm gear mechanism;

[0153] Step S2, determining an initial steering angle based on the vehicle's driving state and steering control information;

[0154] Step S3, determining a target steering angle based on the initial steering angle and a preset angle threshold;

[0155] Step S4: Using the target steering angle to control the vehicle steering wheel to perform a steering operation.

[0156] Optionally, specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation modes, and this embodiment will not be described in detail here.

[0157] The serial numbers of the above embodiments of the present invention are for description only and do not represent the advantages or disadvantages of the embodiments.

[0158] In the above embodiments of the present invention, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0159] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only exemplary. For example, the division of the units can be a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0160] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0161] In addition, the functional units in the various embodiments of the present invention may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0162] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the portion that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes various media that can store program code, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), a mobile hard drive, a magnetic disk, or an optical disk.

[0163] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A vehicle steering control method, characterized in that: include: Acquiring steering control information of the vehicle, wherein the steering control information includes: a force value of the vehicle steering wheel, operating status information of the vehicle power assist motor, and a reduction ratio of the vehicle worm gear mechanism; determining an initial steering angle according to the driving state of the vehicle and the steering control information; determining a target steering angle based on the initial steering angle and a preset angle threshold; controlling the vehicle steering wheel to perform a steering operation using the target steering angle; Among them, determining the target steering angle based on the initial steering angle and the preset angle threshold includes: determining the angle difference based on the initial steering angle and the current rotation angle, wherein the current rotation angle is determined based on the rotation angle collected by the angle sensor; in response to the angle difference being less than or equal to the preset angle threshold, determining the target steering angle to be the current rotation angle; in response to the angle difference being greater than the preset angle threshold, determining the target steering angle to be the initial steering angle.

2. The vehicle steering control method according to claim 1, characterized in that: Determining the initial steering angle according to the driving state of the vehicle and the steering control information includes: In response to the vehicle being in a first driving state, determining the initial steering angle based on the force value and the reduction ratio, wherein the vehicle power assist motor is in a zero position state in the first driving state; or In response to the vehicle being in a second driving state, in which the vehicle assist motor is in a rotating state, the initial steering angle is determined based on the operating state information and the reduction ratio.

3. The vehicle steering control method according to claim 2, characterized in that: In response to the vehicle being in a first driving state, determining an initial steering angle based on the force value and the reduction ratio includes: In response to the force value being greater than or equal to a preset force threshold, obtaining a torsional stiffness coefficient; determining a torsion bar angle based on the force value and the torsional stiffness coefficient; The initial steering angle is determined based on the torsion bar angle and the reduction ratio.

4. The vehicle steering control method according to claim 3, characterized in that: Determining the initial steering angle based on the torsion bar angle and the reduction ratio includes: Performing a ratio operation on the torsion bar angle and the preset time length to obtain a ratio result; Determine the product of the ratio result and the reduction ratio as the starting angular velocity of the vehicle power-assisted motor; Determining the product of the starting angular velocity and the force application duration as the rotation angle of the vehicle power-assisted motor, wherein the force application duration is used to determine the duration for which the driver controls the steering wheel rotation; The ratio of the rotation angle to the reduction ratio is determined as the initial steering angle.

5. The vehicle steering control method according to claim 2, characterized in that: The operating state information includes the position and angular velocity of the vehicle power-assisting motor. In response to the vehicle being in the second driving state, determining the initial steering angle based on the operating state information and the reduction ratio includes: Performing a product operation on the preset time step and the angular velocity of the power assist motor to obtain a product result; Performing a sum operation on the product result and the position of the power-assisting motor to obtain a sum result; The ratio of the summation result to the reduction ratio is determined as the initial steering angle.

6. The vehicle steering control method according to claim 3, characterized in that: The method further comprises: In response to the force value being less than the preset force threshold, the vehicle power-assisting motor is controlled to stop rotating.

7. A vehicle steering control device, characterized in that: include: An acquisition module, configured to acquire steering control information of the vehicle, wherein the steering control information includes: a force value of the vehicle steering wheel, operating status information of the vehicle power-assisting motor, and a reduction ratio of the vehicle worm gear mechanism; A first determining module, configured to determine an initial steering angle according to the driving state of the vehicle and the steering control information; a second determining module, configured to determine a target steering angle based on the initial steering angle and a preset angle threshold; a control module, configured to control the vehicle steering wheel to perform a steering operation using the target steering angle; Among them, the second determination module is also used to determine the angle difference based on the initial steering angle and the current rotation angle, wherein the current rotation angle is determined based on the rotation angle collected by the angle sensor; in response to the angle difference being less than or equal to the preset angle threshold, the target steering angle is determined to be the current rotation angle; in response to the angle difference being greater than the preset angle threshold, the target steering angle is determined to be the initial steering angle.

8. An electronic device, characterized in that: include: a memory storing an executable program; A processor is used to run the program, wherein the vehicle steering control method according to any one of claims 1 to 6 is executed when the program is run.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium includes a stored executable program, wherein when the executable program is run, the device where the storage medium is located is controlled to execute the vehicle steering control method according to any one of claims 1 to 6.

10. A computer program product, characterized in that The invention comprises a computer program which, when executed by a processor, implements the vehicle steering control method according to any one of claims 1 to 6.

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