Steering control method, steering control system, vehicle and medium

Abstract

The embodiment of the invention relates to the technical field of data processing, and discloses a steering control method, a steering control system, a vehicle and a medium. The method comprises the steps of determining a front wheel steering angle compensation feed-forward value according to a yaw moment and a vehicle model under the condition that the yaw moment of a vehicle is recognized; the yaw velocity deviation between the actual yaw velocity and the ideal yaw velocity of the vehicle is collected; determining a compensation steering feedback value according to the yaw velocity deviation; correcting the front wheel steering angle compensation feed-forward value according to the compensation steering feedback value, and determining a target steering angle value controlled by a front wheel angle of steer-by-wire; and controlling front wheels of the vehicle based on the target corner value. By adopting the scheme, feedforward compensation can be carried out on the front wheel turning angle and steering compensation can be carried out according to the yaw velocity under the working condition of the split road surface, so that violent yaw of the vehicle is eliminated before a driver senses danger, and the stability of the vehicle is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a steering control method, a steering control system, a vehicle and a medium. Background Art

[0002] In recent years, with the rapid development of science and technology, vehicle control and vehicle operation safety have become issues of great concern in the field of transportation.

[0003] A split road is a road with different adhesion coefficients on both sides of the vehicle, that is, when the vehicle is moving, one side is a high adhesion coefficient road and the other side is a low adhesion coefficient road, such as one side is an ice and snow road and the other side is an asphalt road, or one side is a cement road and the other side is a sandy road. When the vehicle brakes on a split road, when the braking torque of the wheels on the left and right sides is equal, the vehicle can ensure normal driving. However, due to the different adhesion coefficients of the roads on the left and right sides, when encountering emergency braking conditions, the braking force on the side with low adhesion coefficient often reaches saturation first, and as the braking force on the high adhesion side continues to increase, the braking force on both sides of the vehicle is unbalanced, which will generate a large yaw moment, easily causing the vehicle to deviate from the expected direction of travel, and often causing instability such as skidding, running off and tail swinging. This type of instability is difficult to be effectively solved from the braking system.

[0004] Therefore, how to control the vehicle more safely under open road conditions without affecting the braking distance of the vehicle is a technical problem that needs to be solved urgently in this field. Summary of the invention

[0005] One purpose of the present application is to provide a steering control method, a steering control system, a vehicle and a medium, at least to solve the problem that the vehicle has safety hazards under the condition of an open road, which is easy to cause deviation from the driving direction or even skidding, drifting and overturning. The present application identifies whether the vehicle is in an open road condition; if it is in an open road condition, the front wheel angle compensation feedforward value and the vehicle yaw rate deviation are obtained; the compensation steering feedback value is determined according to the yaw rate deviation; the target angle value of the wire-controlled front wheel angle control is determined according to the front wheel angle compensation feedforward value and the compensation steering feedback value; the front wheels of the vehicle are controlled based on the target angle value. By adopting this scheme, the front wheel angle can be feedforward compensated and the steering compensation can be performed according to the yaw rate under the condition of an open road, so as to eliminate the violent swaying of the vehicle before the driver perceives the danger and improve the stability of the vehicle.

[0006] To achieve the above objectives, some embodiments of the present application provide the following aspects: In a first aspect, some embodiments of the present application further provide a steering control method, the method comprising: Identify whether the vehicle is on a split road; If the vehicle is on an open road, the front wheel angle compensation feedforward value and the vehicle yaw rate deviation are obtained; determining a compensating steering feedback value according to the yaw rate deviation; Determining a target steering angle value for steer-by-wire front wheel angle control according to the front wheel steering angle compensation feedforward value and the compensating steering feedback value; The front wheels of the vehicle are controlled based on the target steering angle value.

[0007] In a second aspect, some embodiments of the present application further provide a steering control system, the system comprising: A data acquisition module is used to determine a front wheel steering angle compensation feedforward value according to the yaw moment and a vehicle model when a yaw moment is detected in the vehicle; and to collect a yaw rate deviation between an actual yaw rate and an ideal yaw rate of the vehicle; A compensation steering feedback value determination module, used for determining a compensation steering feedback value according to the yaw rate deviation; a target steering angle value determination module, configured to correct the front wheel steering angle compensation feedforward value according to the compensation steering feedback value, and determine a target steering angle value for the steer-by-wire front wheel angle control; The vehicle control module is used to control the front wheels of the vehicle based on the target steering angle value.

[0008] In a third aspect, some embodiments of the present application further provide a vehicle, comprising: one or more processors; and a memory storing computer program instructions, wherein the computer program instructions, when executed, cause the processor to perform the steps of the method described above.

[0009] In a fourth aspect, some embodiments of the present application further provide a computer-readable medium having computer program instructions stored thereon, wherein the computer program instructions can be executed by a processor to implement the method as described above.

[0010] In a fifth aspect, some embodiments of the present application further provide a computer program product, comprising a computer program / instruction, which implements the steps of the method described above when executed by a processor.

[0011] Compared with the related art, the solution provided in the embodiment of the present application is to identify whether the vehicle is in an open road condition; if it is in an open road condition, obtain the front wheel angle compensation feedforward value and the vehicle yaw rate deviation; determine the compensation steering feedback value according to the yaw rate deviation; determine the target angle value of the wire-controlled front wheel angle control according to the front wheel angle compensation feedforward value and the compensation steering feedback value; and control the front wheels of the vehicle based on the target angle value. By adopting this solution, the front wheel angle can be feedforward compensated and the steering compensation can be performed according to the yaw rate under the open road condition, so as to eliminate the violent yaw of the vehicle before the driver perceives the danger and improve the stability of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0013] Figure 1 An exemplary flow chart of a steering control method provided according to some embodiments of the present application; Figure 2 A schematic diagram of a split road working condition provided according to some embodiments of the present application; Figure 3 A schematic diagram of an information collection and processing flow provided according to some embodiments of the present application; Figure 4 A schematic diagram of a control process provided according to some embodiments of the present application; Figure 5 An exemplary diagram of a steering control system provided according to some embodiments of the present application; Figure 6 An exemplary structural diagram of the electronic device is disclosed. DETAILED DESCRIPTION

[0014] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0015] First embodiment The first embodiment of the present application relates to a steering control method. Figure 1 As shown, the method may include the following steps: Step S101, when a yaw moment is identified in the vehicle, a front wheel steering angle compensation feedforward value is determined according to the yaw moment and a vehicle model; and a yaw rate deviation between an actual yaw rate of the vehicle and an ideal yaw rate is collected; In the vehicle control system, the steer-by-wire system eliminates the limitation of the mechanical connection between the reverse disc and the front wheels. It can actively control the front wheel steering angle to change the lateral force of the wheel, generate a compensatory yaw torque to ensure the stability of the vehicle under non-steady-state conditions, and correct the vehicle body posture without the driver noticing.

[0016] The yaw moment may occur in a split road condition or in other conditions, such as a crosswind on a bridge.

[0017] Figure 2 Schematic diagram of a split road condition provided according to some embodiments of the present application. Figure 2 As shown, when the vehicle brakes on a two-way road, when the braking torques of the wheels on the left and right sides are equal, the vehicle can ensure normal driving. However, due to the different adhesion coefficients of the left and right roads, when encountering an emergency braking condition, the braking force on the side with a low adhesion coefficient often reaches saturation first. As the braking force on the side with a high adhesion continues to increase, the braking force on both sides of the vehicle becomes unbalanced, which will generate a large yaw moment.

[0018] In this solution, it is particularly important to identify the working condition of the split road surface. Specifically, it can be identified based on some mechanical data or speed data of the vehicle, and the relevant data of each wheel can also be specifically analyzed to achieve accurate identification of the working condition of the split road surface.

[0019] In this solution, optional methods for identifying the occurrence of yaw moment of the vehicle include: Obtain vehicle motion data and vehicle mechanics data; Using a road adhesion coefficient identification algorithm, determining the road adhesion coefficient of each wheel according to the vehicle motion data and the vehicle mechanical data; Determine whether the vehicle is in a split road condition based on the road adhesion coefficient of each wheel; If the vehicle is on an open road, it is determined that a yaw moment has been detected in the vehicle.

[0020] Among them, the vehicle motion data may include the vehicle longitudinal speed, wheel slip angle, wheel longitudinal speed, slip rate, wheel slip angle, vehicle lateral speed and vehicle yaw rate, etc. The vehicle mechanical data may include wheel cornering force, wheel vertical force, wheel longitudinal force and lateral force, etc. The road adhesion coefficient identification algorithm may be to use the normalized form of the Dugoff wheel model to design a road adhesion coefficient estimation algorithm based on the extended Kalman filter. This scheme can obtain the real-time adhesion coefficient of the wheel, determine the difference in the real-time adhesion coefficient of each wheel, and when the difference in the real-time adhesion coefficient of each wheel is greater than the set threshold, it can be determined to be in the open road condition. This scheme can be combined with the brake pedal opening to determine whether it has entered the open road braking condition; at the same time, the longitudinal force and lateral force of each wheel and the average road adhesion coefficient are output.

[0021] Through such a setting, the present scheme can accurately identify whether the vehicle is in an open road condition based on the collected motion data and mechanical data, so as to determine the compensation intervention timing of the wire control system and improve the timeliness and safety of vehicle control.

[0022] In this solution, optionally, a road adhesion coefficient identification algorithm is used to determine the road adhesion coefficient of each wheel according to the vehicle motion data and the vehicle mechanical data, including: The Dugoff wheel model is adopted to design a road adhesion coefficient calculation algorithm based on extended Kalman filtering, and the road adhesion coefficient of each wheel is determined according to the vehicle motion data and vehicle mechanical data.

[0023] Specifically, the Dugoff wheel model is used as the research object, and the wheel model establishment formula is as follows:

[0024]

[0025] In the formula, is the longitudinal driving / braking force of the wheel, is the wheel cornering force, is the wheel vertical force, Indicates each wheel; is the road adhesion coefficient; is the longitudinal stiffness of the wheel, is the wheel cornering stiffness; is the wheel slip angle, is the wheel slip rate; is the function definition for judging the wheel status, This is the state coefficient value at this time; is the longitudinal speed of the wheel, is the vehicle speed influencing factor.

[0026] Normalize the Dugoff wheel model:

[0027] In the formula, , They represent the normalized wheel longitudinal force and lateral force, respectively, and are independent of the road adhesion coefficient.

[0028] The calculation of wheel force using the Dugoff wheel model also requires the input of slip rate, wheel sideslip angle and wheel vertical force. Other dynamic equations are also needed to calculate these input quantities. The formula is as follows:

[0029] In the formula, is the front wheel turning angle of the vehicle; is the lateral speed of the vehicle; is the vehicle yaw angular velocity; , are the distances from the vehicle's center of mass to the front and rear axles respectively; is the height of the vehicle's center of mass; is the vehicle longitudinal acceleration, is the vehicle lateral acceleration, is the vehicle wheelbase; is the wheel speed, is the wheel rolling radius; is the longitudinal velocity of the wheel center in the wheel coordinate system; is the left front wheel slip angle; is the right front wheel slip angle; is the left rear wheel slip angle; is the right rear wheel slip angle; is the vertical force of the left front wheel; is the vertical force of the right front wheel; is the vertical force of the left rear wheel; is the vertical force of the right rear wheel; is the longitudinal speed of the wheel, is the wheel slip rate of a certain wheel, is the vehicle mass, is the acceleration due to gravity, is the vehicle wheelbase.

[0030] Using the normalized Dugoff wheel model, an extended Kalman filter-based road adhesion coefficient estimation algorithm is designed to estimate the adhesion coefficients of the road surface on which the four wheels are traveling. The state, output, and input of the extended Kalman filter algorithm are as follows:

[0031] The state space equation is:

[0032] in, is the derivative of the yaw rate, is the extended Kalman filter state quantity; is the output of the extended Kalman filter; It is the input of extended Kalman filter; To measure noise; is the process noise; is the time item; is the road adhesion coefficient corresponding to the left front wheel; is the road adhesion coefficient corresponding to the right front wheel; is the road adhesion coefficient corresponding to the left rear wheel; is the road adhesion coefficient corresponding to the right rear wheel; is the normalized tire longitudinal force of each wheel; is the normalized longitudinal force of the left front tire; is the normalized longitudinal force of the right front tire; is the normalized longitudinal force of the right rear tire; is the normalized lateral force of the left rear tire; is the normalized tire lateral force of each wheel; is the normalized lateral force of the left front tire; is the normalized lateral force of the right front tire; is the normalized lateral force of the right rear tire; is the normalized lateral force of the left rear tire;

[0033] Where:

[0034] in, is the moment of inertia of the wheel around the z-axis; is the corresponding item in the matrix;

[0035] The real-time adhesion coefficient of the wheel is obtained by the observer to determine , and , The difference between the two values ​​is then combined with the brake pedal opening to determine whether the vehicle has entered the braking condition on the split road. At the same time, the longitudinal force and lateral force of each wheel are output, and the average road adhesion coefficient is .

[0036] According to the above scheme, it is possible to determine whether the vehicle is in a two-way road condition, thereby more accurately determining the accuracy of the vehicle's front wheel control intervention, improving the timeliness and scientificity of vehicle control, and avoiding vehicle operation safety hazards caused by false triggering.

[0037] When the vehicle is on a split road, it is necessary to obtain the front wheel angle compensation feedforward value and the vehicle yaw rate deviation.

[0038] Wherein, the front wheel steering angle compensation feedforward value is determined by: The yaw moment of the vehicle caused by uneven braking force can be determined using the following formula:

[0039] The ideal state is:

[0040] in, is the sideslip angle of the center of mass; is the front wheel cornering stiffness; is the rear wheel cornering stiffness; is the yaw moment of the vehicle caused by uneven braking force;

[0041] Therefore, the front wheel steering angle feedforward value can be reversed to compensate as follows:

[0042] The vehicle yaw rate deviation may be due to the lateral swing of the vehicle caused by the difference in the real-time adhesion coefficients of the wheels.

[0043] In this embodiment, optionally, obtaining the vehicle yaw rate deviation includes: Establish a steady-state vehicle two-degree-of-freedom model to determine the ideal yaw rate of the vehicle; Collect the real-time yaw rate of the vehicle; A vehicle yaw rate deviation is determined according to the real-time yaw rate and the ideal yaw rate.

[0044] First, establish a steady-state vehicle two-degree-of-freedom model:

[0045] make , , we can get the ideal yaw rate of the vehicle in steady state,

[0046] In the formula, The steering wheel angle corresponding to the driver; The gear ratio for steer-by-wire; is the vehicle stability factor, and its calculation formula is as follows:

[0047] Due to the limitation of road adhesion coefficient, the maximum ideal yaw rate There are limitations, which are:

[0048] From this, the ideal yaw rate of the vehicle can be finally obtained :

[0049] Finally, the vehicle yaw rate deviation can be determined according to the real-time yaw rate and the ideal yaw rate. , the specific formula is as follows:

[0050] Step S102, determining a compensating steering feedback value according to the yaw rate deviation; After the yaw rate deviation is obtained, a compensation steering feedback value may be determined based on the yaw rate deviation.

[0051] In this embodiment, optionally, determining the compensating steering feedback value according to the yaw rate deviation includes: Calculating a yaw moment according to the yaw rate deviation; A compensating steering feedback value is determined based on the yaw moment and the moment of the vehicle in an ideal state.

[0052] Combining the ideal yaw rate under the ideal state and the torque under the ideal state mentioned above, PID control is used to calculate the compensation angle feedback value for the yaw rate error. , the formula is as follows:

[0053] in, is the PID control proportional coefficient; is the integral coefficient of PID control; is the PID control differential coefficient;

[0054] Step S103, correcting the front wheel angle compensation feedforward value according to the compensation steering feedback value to determine a target angle value of the steer-by-wire front wheel angle control; The specific correction method can be to superimpose the two, for example, to compensate the angle feedforward value and compensated steering feedback value Superimposed, it becomes the target of the front wheel angle control of the wire control .

[0055]

[0056] Step S104: Control the front wheels of the vehicle based on the target turning angle value.

[0057] It is understandable that in the process of controlling according to the real-time collected data, real-time control can be performed based on the obtained results, but since the state of the vehicle is constantly changing, it is necessary to continue to collect real-time data to iterate the control data to ensure that the vehicle is in a stable state.

[0058] In this embodiment, optionally, after controlling the front wheels of the vehicle based on the target turning angle value, the method further includes: Continuously obtain the real-time yaw rate of the vehicle and continuously collect the steering wheel angle of the vehicle; The yaw rate deviation is iteratively updated according to the real-time yaw rate, so as to determine a target angle value of the steer-by-wire front wheel angle control according to the iteratively updated yaw rate deviation and the real-time steering wheel angle.

[0059] After determining the compensation angle of the superimposed front wheels, this solution iteratively updates the yaw rate deviation in real time and makes further compensation corrections, thereby ensuring that the vehicle is in a stable state under the condition of a split road, thereby improving driving safety.

[0060] The technical solution provided in this embodiment determines the front wheel angle compensation feedforward value according to the yaw moment and the vehicle model when the yaw moment of the vehicle is identified; collects the yaw rate deviation between the actual yaw rate of the vehicle and the ideal yaw rate; determines the compensation steering feedback value according to the yaw rate deviation; corrects the front wheel angle compensation feedforward value according to the compensation steering feedback value to determine the target angle value of the wire-controlled front wheel angle control; and controls the front wheels of the vehicle based on the target angle value. By adopting this solution, the front wheel angle can be feedforward compensated and the steering compensation can be performed according to the yaw rate under open road conditions, so as to eliminate the violent yaw of the vehicle before the driver perceives the danger and improve the vehicle stability.

[0061] Based on the above embodiment, optionally, before correcting the front wheel angle compensation feedforward value according to the compensated steering feedback value to determine the target angle value of the steer-by-wire front wheel angle control, the method further includes: Collect the steering wheel angle of the vehicle; Based on the steering wheel transmission ratio, determining the theoretical front wheel angle according to the steering wheel angle; Accordingly, the front wheel steering angle compensation feedforward value is corrected according to the compensation steering feedback value to determine the target steering angle value of the steer-by-wire front wheel angle control, including: The front wheel steering angle compensation feedforward value is corrected according to the compensated steering feedback value, and the front wheel theoretical steering angle is superimposed to obtain a target steering angle value for the steer-by-wire front wheel angle control.

[0062] It is understandable that the above embodiment is based on the calculation without the vehicle steering wheel turning angle. However, in actual scenarios, the driver often has a certain turning angle control over the steering wheel, so this solution also collects the vehicle steering wheel angle.

[0063] Specifically, the compensation angle feedforward value, feedback value and the theoretical position angle of the steering wheel converted by the transmission ratio can be superimposed to become the target of the front wheel angle control of the wire control steering:

[0064] When a vehicle brakes on a split road, the different adhesion coefficients of the road surfaces on the left and right sides will cause an imbalance in the braking force on both sides of the vehicle, resulting in a sharp yaw motion of the vehicle, which will cause the vehicle to deviate from the expected driving path and easily lead to traffic accidents. At this time, the use of the wire-controlled lower steering gear compensatory steering control method can actively correct the front wheel angle, make full use of the lateral force of the wheel on the high-adhesion side, and thus generate a compensatory yaw torque to offset the abnormal yaw caused by the imbalance of braking force and ensure the stability of the vehicle. While the lower steering gear is compensating for steering control, the upper steering gear remains in a silent position, thereby helping the driver eliminate the vehicle's violent yaw before sensing danger and improving vehicle stability.

[0065] Figure 3 A schematic diagram of an information collection and processing flow provided according to some embodiments of the present application. Figure 4 Schematic diagram of a control process provided according to some embodiments of the present application. Figure 3 and Figure 4 As shown, this scheme includes the following steps: Step 1: Collect the whole vehicle motion information and wheel motion information, and identify whether the vehicle is in an open road condition through a road adhesion coefficient identification algorithm.

[0066] Step 2, calculate the yaw moment and calculate the front wheel angle compensation feedforward value through the two-degree-of-freedom vehicle model.

[0067] Step 3: Collect the steering wheel angle and identify the vehicle posture required by the driver through the vehicle's two-degree-of-freedom model.

[0068] Step 4: collect the actual yaw rate of the vehicle, and make a difference between it and the ideal yaw rate to obtain the vehicle yaw rate deviation.

[0069] Step 5, taking the yaw rate deviation as the target, calculate the steer-by-wire front wheel compensation steering feedback value.

[0070] Step 6, superimposing the front wheel compensation angle feedforward value and feedback value with the theoretical position of the steering wheel obtained by transmission ratio conversion to become the target of the wire-controlled front wheel angle control.

[0071] Step 7: After superimposing the compensation angle of the front wheel, the yaw rate deviation is iteratively updated in real time and further compensated and corrected.

[0072] This solution uses the steer-by-wire lower steering gear compensatory steering control method to actively correct the front wheel angle, making full use of the wheel lateral force on the high-attachment side, thereby generating a compensatory yaw moment to offset the abnormal yaw caused by unbalanced braking force and ensure the stability of the vehicle. While the lower steering gear is compensating for steering control, the upper steering gear remains in a static position, thereby helping the driver eliminate violent yaw of the vehicle before sensing danger and improving vehicle stability.

[0073] Second embodiment The first embodiment of the present application relates to a steering control system. Figure 5 As shown, the steering control system includes: The data acquisition module 510 is used to determine the front wheel angle compensation feedforward value according to the yaw moment and the vehicle model when the yaw moment of the vehicle is identified; and to collect the yaw rate deviation between the actual yaw rate of the vehicle and the ideal yaw rate; A compensation steering feedback value determination module 520, configured to determine a compensation steering feedback value according to the yaw rate deviation; A target steering angle value determination module 530, configured to modify the front wheel steering angle compensation feedforward value according to the compensation steering feedback value, and determine a target steering angle value for the steer-by-wire front wheel angle control; The vehicle control module 540 is used to control the front wheels of the vehicle based on the target steering angle value.

[0074] The technical solution provided in this embodiment determines the front wheel angle compensation feedforward value according to the yaw moment and the vehicle model when the yaw moment of the vehicle is identified; collects the yaw rate deviation between the actual yaw rate of the vehicle and the ideal yaw rate; determines the compensation steering feedback value according to the yaw rate deviation; corrects the front wheel angle compensation feedforward value according to the compensation steering feedback value to determine the target angle value of the wire-controlled front wheel angle control; and controls the front wheels of the vehicle based on the target angle value. By adopting this solution, the front wheel angle can be feedforward compensated and the steering compensation can be performed according to the yaw rate under open road conditions, so as to eliminate the violent yaw of the vehicle before the driver perceives the danger and improve the vehicle stability.

[0075] It can be understood that the steering control system provided in this embodiment has functional modules and beneficial effects corresponding to the above-mentioned steering control method, which will not be described in detail here.

[0076] Third embodiment The first embodiment of the present application relates to a vehicle. The vehicle comprises: one or more processors; and A memory storing computer program instructions, wherein when the computer program instructions are executed, the processor executes the steps of the steering control method provided in the above embodiment.

[0077] It can be understood that the vehicle provided in this embodiment has functional modules and beneficial effects corresponding to the above-mentioned steering control method, which will not be described in detail here.

[0078] In addition, some embodiments of the present application also provide an electronic device. The electronic device may be a digital computer in various forms, such as a laptop computer, a desktop computer, a workbench, a personal digital assistant, a server, a blade server, a mainframe computer, etc. The electronic device may also be a mobile device in various forms, such as a personal digital processing, a cellular phone, a smart phone, a wearable device, and other similar computing devices.

[0079] The electronic device includes: one or more processors; and a memory storing computer program instructions, wherein when the computer program instructions are executed, the processor executes the steps of the method provided in any one or more of the above embodiments. Figure 6 An exemplary structural diagram of the electronic device is disclosed. Figure 6 As shown, the electronic device includes: one or more processors 601, a memory 602, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. The various components are connected to each other using different buses and can be installed on a common mainboard or installed in other ways as needed. The processor can process instructions executed in the electronic device, including instructions stored in or on the memory to display graphical information of the GUI on an external input / output device (such as a display device coupled to the interface). In some other embodiments, if necessary, multiple processors and / or multiple buses can be used with multiple memories and multiple memories. Similarly, multiple electronic devices can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Among them, the components shown in this article, their connections and relationships, and their functions are only examples, and are not intended to limit the implementation of the present application described and / or required herein.

[0080] The electronic device may further include: an input device 603 and an output device 604. The processor 601, the memory 602, the input device 603 and the output device 604 may be connected via a bus or other means. Figure 6 The example of connecting through bus is taken in the following.

[0081] The input device 603 can receive input digital or character information, and generate key signal input related to the user settings and function control of the electronic device, such as a touch screen, a keypad, a mouse, a track pad, a touch pad, an indicator rod, one or more mouse buttons, a trackball, a joystick and other input devices. The output device 604 may include a display device, an auxiliary lighting device (e.g., an LED) and a tactile feedback device (e.g., a vibration motor), etc. The display device may include, but is not limited to, a liquid crystal display (LCD), a light emitting diode (LED) display and a plasma display. In some embodiments, the display device may be a touch screen.

[0082] To provide interaction with a user, the electronic device may be a computer. The computer has: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball), through which the user can provide input to the computer. Other types of devices may also be used to provide interaction with a user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0083] In the embodiments of the present application, a computer program / instruction is stored on a computer-readable medium, and when the computer program / instruction is executed by a processor, the steps of the method provided by any one or more of the above embodiments are implemented. The computer-readable medium may be included in the electronic device described in the above embodiments; or it may exist independently without being assembled into the device. The above computer-readable medium carries one or more computer-readable instructions.

[0084] The memory 602 can be used as a non-transient computer-readable storage medium, which can be used to store non-transient software programs, non-transient computer executable programs and modules. The processor 601 executes various functional applications and data processing of the server by running the non-transient software programs, instructions and modules stored in the memory 602, so as to implement the program instructions / modules corresponding to the method provided by any one or more of the above embodiments in the embodiments of the present application.

[0085] The memory 602 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the electronic device, etc. In addition, the memory 602 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage devices. In some embodiments, the memory 602 may optionally include a memory remotely arranged relative to the processor 601, and these remote memories may be connected to the electronic device 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.

[0086] It should be noted that the computer-readable medium described in this application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM, Erasable Programmable Read-Only Memory or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this application, a computer-readable medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device.

[0087] Computer readable media include permanent and non-permanent, removable and non-removable media, and can be implemented by any method or technology to store information. Information can be computer-readable instructions, data structures, modules of programs or other data. Examples of computer storage media include, but are not limited to, phase-change random access memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission medium that can be used to store information that can be accessed by a computing device.

[0088] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0089] In the above embodiments, all or part of the embodiments may be implemented by software, hardware, firmware or any combination thereof. For example, an application specific integrated circuit (ASIC), a general-purpose computer or any other similar hardware device may be used to implement the embodiments. In some embodiments, the software program of the present application may be executed by a processor to implement the above steps or functions. Similarly, the software program of the present application (including related data structures) may be stored in a computer-readable recording medium, such as a RAM memory, a magnetic or optical drive or a floppy disk and the like. In addition, some steps or functions of the present application may be implemented by hardware, for example, as a circuit that cooperates with a processor to perform various steps or functions.

[0090] The computer program product provided in the embodiment of the present application includes one or more computer programs / instructions, which, when executed by the processor, generate in whole or in part the process or function described in the embodiment of the present application. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from a website site, a computer, a server, or a data center to another website site, a computer, a server, or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or a data center that includes one or more available media integrated. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid state disk (SSD)), etc.

[0091] The flow chart or block diagram in the accompanying drawings shows the possible architecture, function and operation of the equipment, method and computer program product according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented with a dedicated system for hardware that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0092] The scope of the present application is defined by the appended claims rather than the above description, and it is intended that all changes that fall within the meaning and scope of the equivalent elements of the claims are included in the present application. Any figure mark in the claims should not be regarded as limiting the claims involved. In addition, it is clear that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural. Multiple units or devices stated in the device claim may also be implemented by one unit or device through software or hardware. The words "first", "second", etc. are only used to distinguish the description, and do not indicate any particular order, nor can they be understood as indicating or implying relative importance.

[0093] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily mention changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims, and the above embodiments should be regarded as exemplary and non-restrictive.

Claims

1. A steering control method, characterized in that: include: When a yaw moment is detected in the vehicle, a front wheel steering angle compensation feedforward value is determined according to the yaw moment and a vehicle model; and collecting a yaw rate deviation between an actual yaw rate of the vehicle and an ideal yaw rate; determining a compensating steering feedback value according to the yaw rate deviation; Correcting the front wheel angle compensation feedforward value according to the compensation steering feedback value to determine a target angle value for steer-by-wire front wheel angle control; The front wheels of the vehicle are controlled based on the target steering angle value.

2. The method according to claim 1, characterized in that Before correcting the front wheel steering angle compensation feedforward value according to the compensated steering feedback value to determine the target steering angle value of the steer-by-wire front wheel angle control, the method further includes: Collect the steering wheel angle of the vehicle; Based on the steering wheel transmission ratio, determining the theoretical front wheel angle according to the steering wheel angle; Accordingly, the front wheel steering angle compensation feedforward value is corrected according to the compensation steering feedback value to determine the target steering angle value of the steer-by-wire front wheel angle control, including: The front wheel steering angle compensation feedforward value is corrected according to the compensated steering feedback value, and the front wheel theoretical steering angle is superimposed to obtain a target steering angle value for the steer-by-wire front wheel angle control.

3. The method according to claim 1, characterized in that Ways to identify the vehicle's yaw moment include: Obtain vehicle motion data and vehicle mechanics data; Using a road adhesion coefficient identification algorithm, determining the road adhesion coefficient of each wheel according to the vehicle motion data and the vehicle mechanical data; Determine whether the vehicle is in a split road condition based on the road adhesion coefficient of each wheel; If the vehicle is on an open road, it is determined that a yaw moment has been detected in the vehicle.

4. The method according to claim 3, characterized in that The road adhesion coefficient identification algorithm is used to determine the road adhesion coefficient of each wheel according to the vehicle motion data and the vehicle mechanical data, including: The Dugoff wheel model is adopted to design a road adhesion coefficient calculation algorithm based on extended Kalman filtering, and the road adhesion coefficient of each wheel is determined according to the vehicle motion data and vehicle mechanical data.

5. The method according to claim 1, characterized in that Determining a compensating steering feedback value according to the yaw rate deviation includes: Calculating a yaw moment according to the yaw rate deviation; A compensating steering feedback value is determined based on the yaw moment and the moment of the vehicle in an ideal state.

6. The method according to claim 1, characterized in that Get the vehicle's yaw rate deviation, including: Establish a steady-state vehicle two-degree-of-freedom model to determine the ideal yaw rate of the vehicle; Collect the real-time yaw rate of the vehicle; A vehicle yaw rate deviation is determined according to the real-time yaw rate and the ideal yaw rate.

7. The method according to claim 2, characterized in that After controlling the front wheels of the vehicle based on the target turning angle value, the method further includes: Continuously obtain the real-time yaw rate of the vehicle and continuously collect the steering wheel angle of the vehicle; The yaw rate deviation is iteratively updated according to the real-time yaw rate, so as to determine a target angle value of the steer-by-wire front wheel angle control according to the iteratively updated yaw rate deviation and the real-time steering wheel angle.

8. A steering control system, characterized in that: include: A data acquisition module, for determining a front wheel steering angle compensation feedforward value according to the yaw moment and a vehicle model when a yaw moment is detected in the vehicle; and collecting a yaw rate deviation between an actual yaw rate of the vehicle and an ideal yaw rate; A compensation steering feedback value determination module, used for determining a compensation steering feedback value according to the yaw rate deviation; a target steering angle value determination module, configured to correct the front wheel steering angle compensation feedforward value according to the compensation steering feedback value, and determine a target steering angle value for the steer-by-wire front wheel angle control; The vehicle control module is used to control the front wheels of the vehicle based on the target steering angle value.

9. A vehicle, characterized in that: The vehicle comprises: one or more processors; and A memory storing computer program instructions, which, when executed, cause the processor to perform the steps of the method as claimed in any one of claims 1 to 7.

10. A computer readable medium having a computer program / instructions stored thereon, characterized in that: When the computer program / instructions are executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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