A steering control method, a steering control system, a vehicle and a medium

Abstract

The embodiments of the present application relate to the technical field of data processing, and disclose a steering control method, a steering control system, a vehicle and a medium. The method includes: when it is recognized that the vehicle has a yaw moment, determining a front wheel angle compensation feedforward value according to the yaw moment and the vehicle model; and collecting a yaw rate deviation between the actual yaw rate and the ideal yaw rate of the vehicle; determining a compensation 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 controlling the steer-by-wire front wheels; and controlling the front wheels of the vehicle based on the target angle value. By adopting this solution, it is possible to perform feedforward compensation on the front wheel angle and steering compensation according to the yaw rate under the condition of a split road surface, so as to eliminate the violent yaw of the vehicle before the driver perceives danger and improve the vehicle stability.

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:

[0007] In a first aspect, some embodiments of the present application further provide a steering control method, the method comprising:

[0008] Identify whether the vehicle is in a oncoming road condition;

[0009] If it is in the oncoming road condition, obtain the front wheel angle compensation feedforward value and the vehicle yaw rate deviation;

[0010] Determine the compensation steering feedback value according to the yaw rate deviation;

[0011] Determine the target steering angle value for the steer-by-wire front wheels according to the front wheel angle compensation feedforward value and the compensation steering feedback value;

[0012] Control the vehicle front wheels based on the target steering angle value.

[0013] In a second aspect, some embodiments of the present application further provide a steering control system, and the system includes:

[0014] A data acquisition module, configured to determine the front wheel angle compensation feedforward value according to the yaw moment and the vehicle model when it is recognized that the vehicle has a yaw moment; and collect the yaw rate deviation between the actual yaw rate and the ideal yaw rate of the vehicle;

[0015] A compensation steering feedback value determination module, configured to determine the compensation steering feedback value according to the yaw rate deviation;

[0016] A target steering angle value determination module, configured to correct the front wheel angle compensation feedforward value according to the compensation steering feedback value to determine the target steering angle value for the steer-by-wire front wheel angle control;

[0017] A vehicle control module, configured to control the vehicle front wheels based on the target steering angle value.

[0018] In a third aspect, some embodiments of the present application further provide a vehicle, and the vehicle includes: one or more processors; and a memory storing computer program instructions, and when the computer program instructions are executed, the processors execute the steps of the method described above.

[0019] In a fourth aspect, some embodiments of the present application further provide a computer-readable medium, on which computer program instructions are stored, and the computer program instructions can be executed by a processor to implement the method described above.

[0020] In a fifth aspect, some embodiments of the present application further provide a computer program product, including computer programs / instructions, and when the computer programs / instructions are executed by a processor, the steps of the method described above are implemented.

[0021] Compared with the related art, in the solution provided by the embodiments of the present application, it is identified whether the vehicle is in a oncoming road surface condition; if it is in the oncoming road surface condition, the feedforward value of the front wheel angle compensation and the deviation of the vehicle yaw rate are obtained; the compensation steering feedback value is determined according to the yaw rate deviation; according to the feedforward value of the front wheel angle compensation and the compensation steering feedback value, the target angle value of the steer-by-wire front wheel angle control is determined; and the vehicle front wheels are controlled based on the target angle value. By adopting this solution, under the oncoming road surface condition, the front wheel angle can be compensated by feedforward and the steering can be compensated according to the yaw rate, so as to eliminate the severe yaw of the vehicle before the driver perceives danger and improve the vehicle stability. Description of the Drawings

[0022] One or more embodiments are exemplarily illustrated by the pictures in the corresponding drawings. These exemplary illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are represented as similar elements, unless otherwise stated, and the drawings in the figures do not constitute a proportional limitation.

[0023] Figure 1 It is an exemplary flowchart of a steering control method provided according to some embodiments of the present application;

[0024] Figure 2 It is a schematic diagram of an oncoming road surface condition provided according to some embodiments of the present application;

[0025] Figure 3 It is a schematic diagram of an information collection and processing flow provided according to some embodiments of the present application;

[0026] Figure 4 It is a schematic diagram of a control flow provided according to some embodiments of the present application;

[0027] Figure 5 It is an exemplary diagram of a steering control system provided according to some embodiments of the present application;

[0028] Figure 6 An exemplary structural diagram of the electronic device is disclosed. Detailed Embodiments

[0029] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some, but not all, of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application.

[0030] First Embodiment

[0031] The first embodiment of this application relates to a steering control method. As Figure 1 shown, the method may include the following steps:

[0032] Step S101, when it is recognized that the vehicle has a yaw moment, determine the feedforward value of the front wheel angle compensation according to the yaw moment and the vehicle model; and collect the yaw rate deviation between the actual yaw rate and the ideal yaw rate of the vehicle;

[0033] In a vehicle control system, a steer-by-wire system cancels the limitation of the mechanical connection between the steering wheel and the front wheels, and can actively control the front wheel angle to change the lateral force of the wheels, generating a compensating yaw moment to ensure the stability of the vehicle under non-steady-state conditions, and realizing the correction of the vehicle body attitude during the process imperceptible to the driver.

[0034] Among them, the situation of the occurrence of the yaw moment may be the occurrence of a split-friction road surface condition, or other situations, such as the occurrence of crosswinds on a bridge, etc.

[0035] Figure 2 FIG. is a schematic diagram of a split-friction road surface condition provided according to some embodiments of this application. As Figure 2 shown, when the vehicle brakes on a split-friction road surface, when the braking torques of the left and right wheels are equal, the vehicle can ensure normal driving. However, due to the different road surface adhesion coefficients on the left and right sides, when encountering an emergency braking condition, it is often the braking force on the low-adhesion coefficient side that reaches saturation first, and with the continuous increase of the braking force on the high-adhesion side, the braking forces on both sides of the vehicle become unbalanced, resulting in a large yaw moment.

[0036] In this solution, the identification of the split-friction road surface condition is particularly important. Specifically, it can be identified according to some vehicle mechanics-related data or speed-related data of the vehicle. Moreover, the relevant data of each wheel can also be specifically analyzed to achieve accurate identification of the split-friction road surface condition.

[0037] In this solution, optionally, the method for recognizing that the vehicle has a yaw moment includes:

[0038] Obtain vehicle motion data and vehicle mechanics data;

[0039] Adopt a road surface adhesion coefficient identification algorithm to determine the road surface adhesion coefficient of each wheel according to the vehicle motion data and the vehicle mechanics data;

[0040] Determine whether it is in a split-friction road surface condition according to the road surface adhesion coefficient of each wheel;

[0041] If it is in a split-friction road surface condition, it is determined that the vehicle has a yaw moment.

[0042] Among them, the vehicle motion data may include vehicle longitudinal speed, wheel sideslip angle, wheel longitudinal speed, slip ratio, wheel sideslip angle, vehicle lateral speed, vehicle yaw rate, etc. The vehicle mechanical data may include wheel sideslip force, wheel vertical force, wheel longitudinal force and lateral force, etc. The road surface adhesion coefficient identification algorithm may be to use the normalized Dugoff wheel model to design a road surface adhesion coefficient estimation algorithm based on the extended Kalman filter. This solution can obtain the real-time adhesion coefficient of the wheels, judge the difference in the real-time adhesion coefficients of the wheels, and when the difference in the real-time adhesion coefficients of the wheels is greater than the set threshold, it can be determined that the vehicle is in the split road surface condition. This solution can then combine the brake pedal opening to judge whether it enters the split road surface braking condition; at the same time, output the longitudinal force and lateral force of each wheel, and the average road surface adhesion coefficient.

[0043] Through such settings, this solution can accurately identify whether the vehicle is in the split road surface condition based on the collected motion data and mechanical data, so as to determine the compensation intervention timing of the by-wire system and improve the timeliness and safety of vehicle control.

[0044] In this solution, optionally, a road surface adhesion coefficient identification algorithm is adopted to determine the road surface adhesion coefficient of each wheel according to the vehicle motion data and the vehicle mechanical data, including:

[0045] Adopt the Dugoff wheel model to design a road surface adhesion coefficient calculation algorithm based on the extended Kalman filter, and determine the road surface adhesion coefficient of each wheel according to the vehicle motion data and the vehicle mechanical data.

[0046] Specifically, taking the Dugoff wheel model as the research object, the wheel model establishment formula is as follows:

[0047]

[0048]

[0049] In the formula, is the wheel longitudinal driving / braking force, is the wheel sideslip force, is the wheel vertical force, represents each wheel; is the road surface adhesion coefficient; is the wheel longitudinal stiffness, is the wheel sideslip stiffness; is the wheel sideslip angle, is the wheel slip ratio; is the function definition formula for judging the wheel state, is the state coefficient value at this time; is the wheel longitudinal vehicle speed, is the vehicle speed influence factor.

[0050] Normalize and transform the Dugoff tire model:

[0051]

[0052] In the formula, and represent the normalized longitudinal and lateral tire forces respectively, which are independent of the road adhesion coefficient.

[0053] When using the Dugoff tire model to calculate the tire forces, the slip ratio, tire sideslip angle and tire vertical force are also required as inputs. Other dynamic equations are needed to calculate these input quantities. The formulas are as follows:

[0054]

[0055] In the formula, is the front wheel steering angle of the vehicle; is the lateral speed of the vehicle; is the yaw rate of the vehicle; and 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 longitudinal acceleration of the vehicle, is the lateral acceleration of the vehicle, is the track width of the vehicle; is the wheel rotational speed, is the rolling radius of the wheel; is the longitudinal speed of the wheel center in the wheel coordinate system; is the sideslip angle of the left front wheel; is the sideslip angle of the right front wheel; is the sideslip angle of the left rear wheel; is the sideslip angle of the right rear wheel; 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 vehicle speed, is the slip ratio of a certain wheel, is the vehicle mass, is the gravitational acceleration, is the wheelbase of the vehicle.

[0056] Using the normalized Dugoff tire model, design a road adhesion coefficient estimation algorithm based on the extended Kalman filter to estimate the adhesion coefficients of the roads where the four wheels are traveling. The state variables, output variables and input variables of the extended Kalman filter algorithm are as follows:

[0057]

[0058] The state - space equation is as follows:

[0059]

[0060] Wherein, is the derivative of the yaw rate, is the state variable of the extended Kalman filter; is the output of the extended Kalman filter; is the input of the extended Kalman filter; is the measurement noise; is the process noise; is the time term; is the road surface adhesion coefficient corresponding to the left front wheel; is the road surface adhesion coefficient corresponding to the right front wheel; is the road surface adhesion coefficient corresponding to the left rear wheel; is the road surface 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 wheel tire; is the normalized longitudinal force of the right front wheel tire; is the normalized longitudinal force of the right rear wheel tire; is the normalized lateral force of the left rear wheel tire; is the normalized tire lateral force of each wheel; is the normalized lateral force of the left front wheel tire; is the normalized lateral force of the right front wheel tire; is the normalized lateral force of the right rear wheel tire; is the normalized lateral force of the left rear wheel tire;

[0061] In the formula:

[0062]

[0063] Wherein, is the moment of inertia of the wheel rotating about the z - axis; is the corresponding term in the matrix;

[0064] The real - time adhesion coefficient of the wheel is obtained by the observer, and judge , and , the difference between them, and then combine with the brake pedal opening to judge whether to enter the braking condition on the split road surface; meanwhile, output the longitudinal force and lateral force of each wheel, and the average road surface adhesion coefficient .

[0065] From the above solution, it can be determined whether the vehicle is in the oncoming road condition. Thus, the accuracy of the vehicle front wheel control intervention can be determined more precisely, improving the timeliness and scientific nature of vehicle control and avoiding potential safety hazards in vehicle operation caused by mis-triggering.

[0066] In the case of being in the oncoming road condition, it is necessary to obtain the feedforward value of the front wheel angle compensation and, in addition, obtain the deviation of the vehicle yaw rate.

[0067] Among them, the determination method of the feedforward value of the front wheel angle compensation includes:

[0068] For the yaw moment of the vehicle caused by uneven braking force, therefore, it can be determined by the following formula:

[0069]

[0070] The ideal state is:

[0071]

[0072] Among them, is the sideslip angle of the center of mass; is the cornering stiffness of the front wheels; is the cornering stiffness of the rear wheels; is the yaw moment of the vehicle caused by uneven braking force;

[0073] Therefore, the feedforward value of the compensation front wheel angle can be inversely deduced as follows:

[0074]

[0075] Among them, the deviation of the vehicle yaw rate can be the lateral swing of the vehicle caused by the difference in the real-time adhesion coefficients of each wheel.

[0076] In this embodiment, optionally, obtaining the deviation of the vehicle yaw rate includes:

[0077] Establishing a steady-state vehicle two-degree-of-freedom model to determine the ideal yaw rate of the vehicle;

[0078] Collecting the real-time yaw rate of the vehicle;

[0079] Determining the deviation of the vehicle yaw rate according to the real-time yaw rate and the ideal yaw rate.

[0080] First, establish a steady-state vehicle two-degree-of-freedom model:

[0081]

[0082] Let , , the ideal yaw rate of the vehicle under steady state is obtained,

[0083]

[0084] In the formula, is the steering wheel angle corresponding to the driver; is the steer-by-wire transmission ratio; is the vehicle stability factor, and its calculation formula is as follows:

[0085]

[0086] Due to the limitation of the road surface adhesion coefficient, the maximum ideal yaw rate has a limitation, which is:

[0087]

[0088] Thus, the ideal yaw rate of the vehicle can be finally obtained :

[0089]

[0090] Finally, the vehicle yaw rate deviation can be determined according to the real-time yaw rate and the ideal yaw rate , and the specific formula is as follows:

[0091]

[0092] Step S102, determine the compensation steering feedback value according to the yaw rate deviation;

[0093] After obtaining the yaw rate deviation, the compensation steering feedback value can be determined based on the yaw rate deviation.

[0094] In this embodiment, optionally, determining the compensation steering feedback value according to the yaw rate deviation includes:

[0095] Calculate the yaw moment according to the yaw rate deviation;

[0096] Based on the yaw moment and the moment of the vehicle in the ideal state, determine the compensation steering feedback value.

[0097] Combined with the ideal yaw rate in the ideal state and the moment in the ideal state described above, for the yaw rate error, PID control is adopted to calculate the compensation corner feedback value , and the formula is as follows:

[0098]

[0099] Among them, is the PID control proportional coefficient; is the integral coefficient of PID control; is the differential coefficient of PID control;

[0100] Step S103: Modify the feedforward value of the front wheel angle compensation according to the compensated steering feedback value, and determine the target steering angle value for the steer-by-wire front wheel angle control;

[0101] Specifically, the modification method can be to superimpose the two. For example, the feedforward value of the compensated steering angle and the compensated steering feedback value are superimposed to become the target of the steer-by-wire front wheel angle control .

[0102]

[0103] Step S104: Control the vehicle front wheels based on the target steering angle value.

[0104] It can be understood that during the control process based on the real-time collected data, real-time control can be performed based on the obtained results. However, 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.

[0105] In this embodiment, optionally, after controlling the vehicle front wheels based on the target steering angle value, the method further includes:

[0106] Continuously obtain the real-time yaw rate of the vehicle and continuously collect the steering wheel angle of the vehicle;

[0107] Iteratively update the yaw rate deviation according to the real-time yaw rate, and determine the target steering angle value for the steer-by-wire front wheel angle control according to the iteratively updated yaw rate deviation and the real-time steering wheel angle.

[0108] After this solution determines the superimposed compensation angle of the front wheels, it iteratively updates the yaw rate deviation in real time and further compensates and corrects, so that the vehicle can be ensured to be in a stable state under the cross-pavement condition, improving the driving safety.

[0109] The technical solution provided in this embodiment determines the feedforward value of the front wheel angle compensation according to the yaw moment and the vehicle model when it is recognized that the vehicle has a yaw moment; and collects the yaw rate deviation between the actual yaw rate and the ideal yaw rate of the vehicle; determines the compensation steering feedback value according to the yaw rate deviation; corrects the feedforward value of the front wheel angle compensation according to the compensation steering feedback value to determine the target angle value for controlling the front wheel of the steer-by-wire system; and controls the front wheels of the vehicle based on the target angle value. By adopting this solution, under the open road condition, feedforward compensation for the front wheel angle and steering compensation according to the yaw rate can be performed to eliminate the severe yaw of the vehicle before the driver perceives danger and improve the vehicle stability.

[0110] Based on the above embodiment, optionally, before correcting the feedforward value of the front wheel angle compensation according to the compensation steering feedback value to determine the target angle value for controlling the front wheel of the steer-by-wire system, the method further includes:

[0111] Collect the steering wheel angle of the vehicle;

[0112] Based on the steering wheel transmission ratio, determine the theoretical front wheel angle according to the steering wheel angle;

[0113] Correspondingly, correcting the feedforward value of the front wheel angle compensation according to the compensation steering feedback value to determine the target angle value for controlling the front wheel of the steer-by-wire system includes:

[0114] Correct the feedforward value of the front wheel angle compensation according to the compensation steering feedback value, and superimpose the theoretical front wheel angle to obtain the target angle value for controlling the front wheel of the steer-by-wire system.

[0115] It can be understood that the above embodiment is calculated based on the condition that the steering wheel of the vehicle has no rotation angle. However, in the actual scenario, the driver often has a certain rotation angle control of the steering wheel. Therefore, the steering wheel angle of the vehicle is also collected in this solution.

[0116] Specifically, the feedforward value of the compensation angle, the feedback value, and the theoretical position angle of the steering wheel converted by the transmission ratio can be superimposed to become the target for controlling the front wheel angle of the steer-by-wire system:

[0117]

[0118] When the vehicle brakes on a split road surface, due to the different road surface adhesion coefficients on the left and right sides, the braking forces on both sides of the vehicle will be unbalanced, resulting in a sharp yaw motion of the vehicle, which causes the vehicle to deviate from the expected driving path and easily leads to traffic accidents. At this time, the steering gear compensation steering control method under steer-by-wire 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 compensation yaw moment to offset the abnormal yaw caused by the braking force imbalance and ensure the stability of the vehicle. While the lower steering gear is performing compensation steering control, the position of the upper steering gear remains silent, thus helping the driver eliminate the sharp yaw of the vehicle before perceiving danger and improving the vehicle stability.

[0119] Figure 3 It is a schematic diagram of an information collection and processing process provided according to some embodiments of the present application. Figure 4 It is a schematic diagram of a control process provided according to some embodiments of the present application. As Figure 3 and Figure 4 shown, the present solution includes the following steps:

[0120] Step 1, collect the vehicle motion information and the wheel motion information, and identify whether the vehicle is in the split road surface condition through the road surface adhesion coefficient identification algorithm.

[0121] Step 2, calculate the yaw moment, and calculate the feedforward value of the front wheel angle compensation through a two-degree-of-freedom vehicle model.

[0122] Step 3, collect the steering wheel angle, and identify the body attitude required by the driver through the vehicle two-degree-of-freedom model.

[0123] Step 4, collect the actual yaw angular velocity of the vehicle, subtract it from the ideal yaw angular velocity to obtain the yaw angular velocity deviation of the vehicle.

[0124] Step 5, take the yaw angular velocity deviation as the target, and calculate the feedback value of the steer-by-wire front wheel compensation steering.

[0125] Step 6, superimpose the feedforward value of the front wheel compensation angle, the feedback value, and the theoretical position obtained by converting the steering wheel through the transmission ratio to form the target of the steer-by-wire front wheel angle control.

[0126] Step 7, after superimposing the compensation angle of the front wheel, iteratively update the yaw angular velocity deviation in real time and further compensate and correct it.

[0127] This solution adopts a compensation steering control method for the lower steering gear in the steer-by-wire system, which can actively correct the front wheel angle, make full use of the lateral force of the wheels on the high-adhesion side, thereby generating a compensating yaw moment to offset the abnormal yaw caused by the braking force imbalance and ensure the stability of the vehicle. While the lower steering gear is performing compensation steering control, the position of the upper steering gear remains silent, thus helping the driver eliminate the severe yaw of the vehicle before perceiving danger and improving the vehicle stability.

[0128] Second Embodiment

[0129] The embodiment of the present application relates to a steering control system. As Figure 5 shown, the steering control system includes:

[0130] A data acquisition module 510, configured to determine a feedforward value for compensating the front wheel angle according to the yaw moment and the vehicle model when it is recognized that the vehicle has a yaw moment; and acquire the yaw rate deviation between the actual yaw rate and the ideal yaw rate of the vehicle.

[0131] A compensation steering feedback value determination module 520, configured to determine a compensation steering feedback value according to the yaw rate deviation.

[0132] A target angle value determination module 530, configured to correct the feedforward value for compensating the front wheel angle according to the compensation steering feedback value to determine the target angle value for controlling the front wheel angle in the steer-by-wire system.

[0133] A vehicle control module 540, configured to control the front wheels of the vehicle based on the target angle value.

[0134] In the technical solution provided by this embodiment, when it is recognized that the vehicle has a yaw moment, a feedforward value for compensating the front wheel angle is determined according to the yaw moment and the vehicle model; and the yaw rate deviation between the actual yaw rate and the ideal yaw rate of the vehicle is acquired; a compensation steering feedback value is determined according to the yaw rate deviation; the feedforward value for compensating the front wheel angle is corrected according to the compensation steering feedback value to determine the target angle value for controlling the front wheel angle in the steer-by-wire system; and the front wheels of the vehicle are controlled based on the target angle value. By adopting this solution, in the case of a split-friction road surface condition, feedforward compensation for the front wheel angle and steering compensation according to the yaw rate can be performed to eliminate the severe yaw of the vehicle before the driver perceives danger and improve the vehicle stability.

[0135] It can be understood that the steering control system provided by this embodiment has corresponding functional modules and beneficial effects as those of the above-mentioned steering control method, which will not be elaborated here.

[0136] Third Embodiment

[0137] The embodiment of the present application relates to a vehicle. The vehicle includes:

[0138] One or more processors; and

[0139] A memory storing computer program instructions, which when executed cause the processor to perform the steps of the steering control method provided in the above embodiments.

[0140] It can be understood that the vehicle provided in this embodiment has corresponding functional modules and beneficial effects to the above steering control method, which will not be elaborated here.

[0141] In addition, some embodiments of the present application also provide an electronic device. The electronic device can be various forms of digital computers, such as, laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and so on. The electronic device can also be various forms of mobile devices, such as, personal digital processors, cellular phones, smart phones, wearable devices, and other similar computing devices.

[0142] The electronic device includes: one or more processors; and a memory storing computer program instructions, which when executed cause the processor to perform 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. As Figure 6 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. Each component is interconnected using different buses and can be mounted on a common motherboard or otherwise installed as needed. The processor can process instructions executed within the electronic device, including instructions stored in the memory 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 together with multiple memories and multiple memories. Similarly, multiple electronic devices can be connected, and each device provides part of the necessary operations (for example, as a server array, a set of blade servers, or a multi-processor system). Among them, the components, their connections and relationships, and their functions shown herein are only examples and are not intended to limit the implementation of the present application described and / or claimed herein.

[0143] 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 can be connected through a bus or other means, Figure 6 taking connection through the bus as an example.

[0144] The input device 603 can receive input digital or character information and generate key signal inputs related to the user settings and function controls of the electronic device, such as input devices like touchscreens, keypads, mice, trackpads, touchpads, pointing sticks, one or more mouse buttons, trackballs, joysticks, etc. The output device 604 can include display devices, auxiliary lighting devices (e.g., LEDs), and tactile feedback devices (e.g., vibration motors), etc. The display device can include, but is not limited to, liquid crystal displays (LCDs), light-emitting diode (LED) displays, and plasma displays. In some embodiments, the display device can be a touchscreen.

[0145] To provide interaction with the user, the electronic device can be a computer. The computer has: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and a pointing device (e.g., a mouse or a trackball), through which the user can provide inputs to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and inputs from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0146] In the embodiments of the present application, computer programs / instructions are stored on a computer-readable medium. When the computer programs / instructions are executed by a processor, the steps of the methods provided in any one or more of the above embodiments are implemented. The computer-readable medium can be included in the electronic device described in the above embodiments; or it can exist separately without being assembled into the device. The above computer-readable medium carries one or more computer-readable instructions.

[0147] The memory 602 can be used as a non-transitory computer-readable storage medium and can be used to store non-transitory software programs, non-transitory computer-executable programs, and modules. The processor 601 executes various functional applications and data processing of the server by running the non-transitory software programs, instructions, and modules stored in the memory 602, so as to implement the program instructions / modules corresponding to the methods provided in any one or more of the above embodiments of the present application.

[0148] The memory 602 may include a program storage area and a data storage area. Among them, the program storage area may store an operating system and application programs required for at least one function; the data storage area may store data created according to the use of the electronic device and the like. In addition, the memory 602 may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices. In some embodiments, the memory 602 may optionally include a memory remotely provided with respect to the processor 601, and these remote memories may be connected to the electronic device through 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.

[0149] 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 two. The computer-readable medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples of the computer-readable storage medium may include but are not limited to: an electrical connection having 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), or a 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, the computer-readable medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0150] A computer-readable medium includes both permanent and non-permanent, removable and non-removable media and can store information by any method or technology. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase change 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 technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices, or any other non-transmission medium that can store information accessible by a computing device.

[0151] Computer program code for performing the operations of this application can be written in one or more programming languages or combinations thereof. The programming languages include object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, executed as a stand-alone 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 can 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 can be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0152] In the above embodiments, it can be implemented in whole or in part 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 can be used. In some embodiments, the software program of the present application can be executed by a processor to implement the above steps or functions. Similarly, the software program of the present application (including related data structures) can 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 can be implemented by hardware, for example, as a circuit that cooperates with the processor to execute each step or function.

[0153] The computer program product provided by the embodiments of the present application includes one or more computer programs / instructions. When the computer program / instructions are executed by a processor, they wholly or partly generate the processes or functions described in the embodiments of the present application. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can 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 can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wirelessly (such as infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains one or more integrated available media. The available medium can be a magnetic medium (such as a floppy disk, a hard disk, a magnetic tape), an optical medium (such as a DVD), or a semiconductor medium (such as a solid state disk (SSD)), etc.

[0154] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of devices, methods, and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagram may represent a module, a segment of a program, or a part of code that contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, as well as combinations of blocks in the block diagram and / or flowchart, may be implemented by a dedicated hardware-based system that performs the specified functions or operations, or may be implemented by a combination of dedicated hardware and computer instructions.

[0155] The scope of the present application is defined by the appended claims rather than the above description. Therefore, all changes that fall within the meaning and scope of the equivalent elements of the claims are intended to be included in the present application. Any reference numerals in the claims should not be construed as limiting the claims involved. In addition, it is obvious that the term "including" does not exclude other units or steps, and the singular does not exclude the plural. The multiple units or devices stated in the apparatus claims may also be implemented by one unit or device through software or hardware. The terms "first", "second", etc. are only used for distinguishing descriptions and do not represent any specific order, nor can they be understood as indicating or implying relative importance.

[0156] As described above, the above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed in the present application can easily mention changes or substitutions, which should all be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims, and the above embodiments should be regarded as exemplary and non-limiting.

Claims

1. A steering control method, characterized in that: include: Obtain vehicle motion data and vehicle mechanics data; A road adhesion coefficient calculation algorithm based on extended Kalman filtering is designed using a Dugoff wheel model, and a road adhesion coefficient of each wheel is determined according to the vehicle motion data and 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 is detected on the vehicle; 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; Calculating a yaw moment according to the yaw rate deviation; determining a compensating steering feedback value based on the yaw moment and a moment of the vehicle in an ideal state; 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 compensation steering feedback value, and the front wheel theoretical steering angle is superimposed to obtain a target steering angle value of the front wheel angle control of the wire control steering; 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 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.

3. The method according to claim 1, 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.

4. A steering control system, characterized in that: include: Data acquisition module, used to obtain vehicle motion data and vehicle mechanical data; A road adhesion coefficient calculation algorithm based on extended Kalman filtering is designed by using the Dugoff wheel model, and the road adhesion coefficient of each wheel is determined according to the vehicle motion data and the vehicle mechanical data; and whether the vehicle is in a split road condition is determined according to the road adhesion coefficient of each wheel; If the vehicle is on an open road, it is determined that a yaw moment is detected on the vehicle; 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; a compensation steering feedback value determination module, used for calculating the yaw moment according to the yaw rate deviation; determining the compensation steering feedback value based on the yaw moment and the moment of the vehicle in an ideal state; a target angle value determination module, used for collecting the steering wheel angle of the vehicle; Based on the steering wheel transmission ratio, the theoretical front wheel angle is determined according to the steering wheel angle; The method further comprises: correcting the front wheel steering angle compensation feedforward value according to the compensation steering feedback value to determine the target steering angle value of the steer-by-wire front wheel angle control, comprising: correcting the front wheel steering angle compensation feedforward value according to the compensation steering feedback value, and superimposing the front wheel theoretical steering angle to obtain the target steering angle value of the steer-by-wire front wheel angle control; correcting the front wheel steering angle compensation feedforward value according to the compensation steering feedback value to determine the target steering angle value of 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.

5. 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 3.

6. 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 3 are implemented.

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