Control method and device of vehicle, vehicle and storage medium

Abstract

The application discloses a control method and device of a vehicle, the vehicle, and a storage medium. In the method, the vehicle determines a target torque based on detection information, and then determines a steering state of a steering wheel based on the detection information and the target torque. The target torque represents a torque value applied to the steering wheel by a driver, and the detection information includes a torque detection value, a rotation angle detection value, a rotation angle request value, and an assist torque expectation value corresponding to the steering wheel. Since the detection information can be obtained by using existing sensors (for example, a torque sensor corresponding to the steering wheel and an angle sensor in an electric power steering system) in the vehicle, the vehicle does not need to additionally set sensors, can avoid misjudgment problems caused by HOD sensors, and improves the detection accuracy of the steering state of the steering wheel. Furthermore, since the HOD sensor does not need to be set, the hardware cost of the vehicle can be saved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic driving, and more particularly to a control method and device of a vehicle, the vehicle and a storage medium. BACKGROUND

[0002] The current automatic driving assistance system has certain limitations in application scenarios, especially in some special situations, such as encountering complex road conditions, the system needs the driver to intervene in the control to ensure the driving safety.

[0003] In order to ensure that the driver can quickly take over the control of the steering wheel at the critical moment, the control system built-in the vehicle monitors the control state of the steering wheel. Once it is detected that the driver does not hold the steering wheel, the system will immediately issue a reminder to prompt the driver to hold the steering wheel again to maintain the driving safety.

[0004] In the related art, a scheme of setting a hands off detection (HOD) sensor on the steering wheel is adopted to identify whether the driver holds the steering wheel, and this scheme can only accurately identify the control state of the steering wheel when the driver holds a specific area (i.e., the setting area of the HOD sensor), which leads to a certain probability of misjudgment. SUMMARY

[0005] The present application provides a control method and device of a vehicle, the vehicle and a storage medium.

[0006] In a first aspect, some embodiments of the present application provide a control method of a vehicle, the vehicle comprising an electric power steering system, the method comprising: step S310, acquiring detection information, the detection information comprising a torque detection value corresponding to the steering wheel, a rotation angle detection value, a rotation angle request value and an assist torque expectation value; wherein the torque detection value is detected by a torque sensor corresponding to the steering wheel, and the assist torque expectation value is a target value of the assist torque determined by the electric power steering system based on the rotation angle request value. Step S320, determining a target torque based on the detection information; the target torque represents a torque value applied by the driver on the steering wheel. Step S330, determining a control state of the steering wheel based on the detection information and the target torque; the control state comprises a holding state held by the driver and a hands-off state not held by the driver.

[0007] In a second aspect, some embodiments of the present application further provide a control device of a vehicle, the vehicle comprising an electric power assisted steering system, the device comprising an obtaining module, a first determining module and a second determining module. The obtaining module is configured to obtain detection information, the detection information comprising a torque detection value corresponding to a steering wheel, a rotation angle detection value, a rotation angle request value and an expected value of an assist torque. The torque detection value is detected by a torque sensor corresponding to the steering wheel, and the expected value of the assist torque is a target value of the assist torque determined by the electric power assisted steering system based on the rotation angle request value. The first determining module is configured to determine a target moment based on the detection information, the target moment representing a moment value of a force applied to the steering wheel by a driver. The second determining module is configured to determine a steering state of the steering wheel based on the detection information and the target moment, the steering state comprising a holding state held by the driver and a hand-off state not held by the driver.

[0008] In a third aspect, some embodiments of the present application further provide a vehicle, comprising an electric power assisted steering system, one or more processors, a memory and one or more application programs. The one or more application programs are stored in the memory and configured to be executed by the one or more processors, and configured to execute the method described above.

[0009] In a fourth aspect, an embodiment of the present application further provides a computer readable storage medium, the computer readable storage medium storing computer program instructions. The computer program instructions can be invoked by a processor to execute the method described above.

[0010] In a fifth aspect, an embodiment of the present application further provides a computer program product, the computer program product being executed to implement the method described above.

[0011] The present application provides a control method and device of a vehicle, the vehicle and a storage medium. In the method, the vehicle determines a target moment based on detection information, and then determines a steering state of a steering wheel based on the detection information and the target moment. The target moment represents a moment value of a force applied to the steering wheel by a driver, and the detection information comprises a torque detection value corresponding to the steering wheel, a rotation angle detection value, a rotation angle request value and an expected value of an assist torque.

[0012] Since the detection information can be obtained by existing sensors in the vehicle (for example, a torque sensor corresponding to the steering wheel and an angle sensor in the electric power assisted steering system), the vehicle does not need to set an additional sensor (for example, the HOD sensor in the related art), which can avoid the misjudgment problem caused by the HOD sensor and improve the detection accuracy of the steering state of the steering wheel. Further, since the HOD sensor does not need to be set, the hardware cost of the vehicle can be saved.

[0013] In addition, the application can determine the target torque corresponding to the steering wheel (i.e., the torque value applied to the steering wheel by the driver) through the detection information, and take the target torque as the judgment basis of the steering wheel corresponding control state, so as to further improve the detection accuracy of the steering wheel control state, and ensure the safety of vehicle driving. BRIEF DESCRIPTION OF DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0015] Figure 1 is a structural schematic diagram of a vehicle provided by an embodiment of the present application.

[0016] Figure 2 is Figure 1 the module block diagram of the control system and the electric power steering system in the vehicle shown in the figure.

[0017] Figure 3 is a flowchart of a control method of a vehicle provided by a first embodiment of the present application.

[0018] Figure 4 is a flowchart of a control method of a vehicle provided by a second embodiment of the present application.

[0019] Figure 5 is a flowchart of a control method of a vehicle provided by a third embodiment of the present application.

[0020] Figure 6 is a flowchart of a control method of a vehicle provided by a fourth embodiment of the present application.

[0021] Figure 7 is a module block diagram of a control device of a vehicle provided by an embodiment of the present application.

[0022] Figure 8 is a module block diagram of a vehicle provided by an embodiment of the present application. DETAILED DESCRIPTION

[0023] The embodiments of the present application will be described in detail below, and examples of the embodiments are shown in the drawings, wherein the same or similar reference signs represent the same or similar elements or elements with the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary, only for explaining the present application, and cannot be understood as a limitation of the present application.

[0024] In order for those skilled in the art to better understand the solutions of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0025] The present application provides a control method and device of a vehicle, the vehicle and a storage medium. In the method, the vehicle determines a target torque based on detection information, and then determines a steering state of a steering wheel based on the detection information and the target torque. The target torque represents a torque value applied to the steering wheel by a driver, and the detection information includes a torque detection value, a rotation angle detection value, a rotation angle request value and an assist torque expectation value corresponding to the steering wheel.

[0026] Since the detection information can be obtained through existing sensors in the vehicle (for example, a torque sensor corresponding to the steering wheel and an angle sensor in an electric power steering system), the vehicle does not need to set additional sensors (for example, the HOD sensor in the related art), which can avoid the misjudgment problem caused by the HOD sensor and improve the detection accuracy of the steering state of the steering wheel. Further, since the HOD sensor does not need to be set, the hardware cost of the vehicle can also be saved.

[0027] In addition, the present application can determine the target torque (i.e., the torque value applied to the steering wheel by the driver) corresponding to the steering wheel through the detection information, and use the target torque as the basis for judging the steering state of the steering wheel, which can further improve the detection accuracy of the steering state of the steering wheel to ensure the safety of the vehicle driving.

[0028] In order to facilitate the detailed description of the solutions of the present application, the application environment in the embodiments of the present application will be introduced first in conjunction with the drawings. Please refer to Figure 1 , Figure 1 The application environment of the control method provided in the present application is shown in the figure. The method is applied to a vehicle 100, which refers to a vehicle driven or pulled by a power device for people to ride or for transporting goods, including but not limited to a small car, a minibus, a bus, etc. In the embodiments of the present application, the vehicle 100 includes a vehicle body 110, a control system 120 and an electric power steering system 130. The control system 120 and the electric power steering system 130 are arranged in the vehicle body 110, and the control system 120 and the electric power steering system 130 (Electric Power Steering, EPS) are electrically connected.

[0029] The control system 120 is configured to process signals and data, and control the vehicle body 110 to work (e.g., to move forward, to brake, to turn, etc.) according to parameters obtained by the processing. Please refer to Figure 2 The control system 120 can include an automated domain control (ADC) 1210, which has a function of determining a planned path. The planned path can include a plurality of trajectory points, and each trajectory point can include corresponding planning information, such as a target position, a target speed, etc. In this embodiment, the planning information further includes a steering angle request value, which represents a target steering angle value of the steering wheel when the vehicle 100 travels to the trajectory point. Specifically, the ADC 1210 can include an AI chip, and the AI chip can store a path planning algorithm (e.g., an A* algorithm, a Dijkstra algorithm, etc.).

[0030] The electric power steering system 130 is a power steering system that relies on an electric motor to provide auxiliary torque, and is configured to provide assist torque to ensure the stability of the vehicle 100. The electric power steering system 130 can include a steering system domain controller 1320, a torque sensor 1340, an angle sensor 1360, and an angular velocity sensor 1380. The torque sensor 1340 is configured to obtain a torque detection value, which represents an actual torque value acting on the steering wheel. The angle sensor 1360 is configured to obtain a steering angle detection value, which represents an actual steering angle value of the steering wheel. The angular velocity sensor 1380 is configured to obtain a steering angular velocity detection value, which represents an actual steering angular velocity value of the steering wheel.

[0031] The steering system domain controller 1320 is electrically connected to the torque sensor 1340, the angle sensor 1360, and the angular velocity sensor 1380, respectively, and is also electrically connected to the ADC 1210.

[0032] In an aspect, the steering system domain controller 1320 is configured to send the torque detection value, the steering angle detection value, and the steering angular velocity detection value to the ADC 1210, so that the ADC 1210 can determine a steering control state of the steering wheel based on the above detection information. The specific determination process of the steering control state will be described in detail in the method embodiments below.

[0033] In another aspect, the steering system domain controller 1320 is further configured to obtain the steering angle request value output by the intelligent driving domain controller 1210, and determine a power-assisted torque expectation value based on the steering angle request value. The power-assisted torque expectation value refers to a target value of the power-assisted torque required to be provided by the electric power-assisted steering system 130. Specifically, a determination algorithm corresponding to the power-assisted torque expectation value can be stored in the steering system domain controller 1320, and the specific implementation of the determination algorithm is not limited in the present embodiment. In addition, the steering system domain controller 1320 in the present embodiment is further configured to send the determined power-assisted torque expectation value to the intelligent driving domain controller 1210 as detection information.

[0034] In some possible embodiments, the vehicle 100 can further include an alarm system 140, which is electrically connected to the intelligent driving domain controller 1210 in the control system 120, and is configured to generate alarm information under the control of the intelligent driving domain controller 1210, the alarm information being used to prompt the driver that the current steering wheel is in a hands-off state. Specifically, the alarm system 140 can include a vehicle display 1410 and a speaker 1430. The alarm information can be text prompt information and warning icons displayed on the vehicle display 1410, and the alarm information can also be prompt sound played through the speaker 1430.

[0035] Please refer to Figure 3 , Figure 3 The control method of the vehicle provided in the first embodiment of the present application is schematically shown, and the method is applied to the vehicle 100 in the above embodiments, and the vehicle includes an electric power-assisted steering system. Specifically, the method can include the following steps.

[0036] In step S310, detection information is obtained.

[0037] In the present embodiment, the detection information can include a torque detection value corresponding to the steering wheel, a steering angle detection value, a steering angle request value, and a power-assisted torque expectation value. The torque detection value is an actual torque value of the steering wheel detected by a torque sensor corresponding to the steering wheel, and the steering angle detection value is an actual steering angle value of the steering wheel detected by an angle sensor corresponding to the steering wheel. The steering angle request value is a target steering angle value corresponding to the steering wheel determined by the intelligent driving domain controller, and the power-assisted torque expectation value is a target value of the power-assisted torque determined by the electric power-assisted steering system based on the steering angle request value.

[0038] As an implementation form, the controller can acquire the detection information every calculation period, that is, acquire the detection information periodically. The calculation period can be a default value in the controller, or can be determined by a developer based on control accuracy or driving safety of the vehicle. For example, the higher the control accuracy of the vehicle, the shorter the calculation period; for example, the higher the driving safety of the vehicle, the shorter the calculation period. Specifically, the calculation period can be 0.01s, 0.02s, 0.05s, 0.1s, and the like, which is not limited in the embodiment.

[0039] It should be noted that the "controller" herein can be an intelligent driving domain controller in the vehicle, corresponding to the "intelligent driving domain controller 1210" in the application environment above. Of course, the controller can also be other control units with computing capability in the vehicle, which is not limited in the embodiment.

[0040] As an implementation form, the controller can acquire the detection information in response to a takeover instruction. The takeover instruction refers to an instruction triggered in the case where the driver needs to take over the control of the steering wheel. For example, when the vehicle encounters complex road conditions (for example, traffic jam, accident, more pedestrians around, and the like), the driver needs to manually drive the vehicle to ensure driving safety. At this time, the controller needs to determine the steering state of the steering wheel through the detection information to ensure that the driver can take over the control of the steering wheel in the first time.

[0041] In step S320, the target torque is determined based on the detection information.

[0042] In the embodiment, the target torque represents the torque value applied by the driver to the steering wheel, that is, the actual torque value applied to the steering wheel. As an implementation form, the controller can pre-store an algorithm corresponding to the target torque, and the controller can calculate the target torque based on the detection information and the corresponding algorithm. Specifically, the determination process of the target torque is described in detail in the following embodiment.

[0043] In step S330, the steering state of the steering wheel is determined based on the detection information and the target torque.

[0044] In the embodiment, the steering state includes a holding state held by the driver and a hand-off state not held by the driver. As an implementation form, the controller can pre-store a judgment logic corresponding to the steering state, and the controller can determine the steering state of the steering wheel based on the detection information, the target torque, and the corresponding judgment logic. Specifically, the judgment logic corresponding to the steering state is described in detail in the following embodiment.

[0045] It is understandable here that the control method provided by the embodiment includes multiple calculation periods, wherein the step S310, the step S320 and the step S330 are sequentially executed to constitute one calculation period, and the corresponding steering wheel control state is determined in each calculation period. In some possible embodiments, after the step S330, the step S340 and the step S350 can be further included.

[0046] The step S340 determines the hand-off duration when the steering wheel control state is the hand-off state.

[0047] As an implementation form, the controller determines the hand-off duration as the time length corresponding to a single calculation period when the steering wheel control state is determined as the hand-off state. If the steering wheel control state determined in the subsequent calculation periods is all the hand-off state, the product of the time length corresponding to a single calculation period and the period number is determined as the hand-off duration. The period number here refers to the number of calculation periods that are continuously determined as the hand-off state. For example, when the time length corresponding to a single calculation period is 0.05s, and 10 continuous calculation periods are all determined as the hand-off state, the hand-off duration is 0.05s*10, that is, 0.5s.

[0048] The step S350 determines the alarm strategy based on the hand-off duration and works based on the alarm strategy.

[0049] As an implementation form, the alarm strategy mapping table can be pre-stored in the controller, and the controller can determine the corresponding alarm strategy by searching the alarm strategy mapping table based on the hand-off duration, and work based on the alarm strategy. Specifically, the alarm strategy mapping table can be summarized by the researchers based on a large amount of driving data. Please refer to Table-1, which shows an alarm strategy mapping table provided by the embodiment.

[0050] Table-1

[0051] Time to drop t off ]] Alert strategy 0.5s < t off ≤1s]]> Textual prompt information displayed on a vehicle display 1s < t off ≤ 3s Textual prompt information displayed on a vehicle display and a prompt tone played by a speaker t off >3s]]> Textual prompt information and warning icons displayed on a vehicle display and a prompt tone played by a speaker

[0052] Exemplarily, when the hand-off duration t off is equal to 2s, the controller can determine the alarm strategy as the vehicle display displays the text prompt information and the speaker plays the prompt sound according to Table-l, and the controller further controls the vehicle display and the speaker to perform the corresponding operation. Specifically, the text prompt information can be “detecting that the current steering wheel is not held”, and the prompt sound can be “please hold the steering wheel”.

[0053] In some possible embodiments, after step S330, if the steering wheel control state is in the holding state, then the next calculation cycle is entered, that is, steps S310, S320 and S330 are executed again to update the steering wheel control state, so as to realize real-time detection of the control state.

[0054] The control method of the vehicle provided in the embodiments of the present application can avoid the misjudgment problem caused by the HOD sensor, improve the detection accuracy of the steering wheel control state, and further improve the detection accuracy of the steering wheel control state by taking the target torque as the basis for judging the steering wheel control state, so as to ensure the safety of vehicle driving.

[0055] Please refer to Figure 4 , Figure 4 The control method of the vehicle provided in the embodiments of the present application can avoid the misjudgment problem caused by the HOD sensor, improve the detection accuracy of the steering wheel control state, and further improve the detection accuracy of the steering wheel control state by taking the target torque as the basis for judging the steering wheel control state, so as to ensure the safety of vehicle driving.

[0056] In step S410, detection information is obtained.

[0057] Specifically, the implementation of step S410 can refer to the related description in step S310, and details are not described herein.

[0058] In step S420, a target torque is determined based on the detection information.

[0059] It should be noted that in the related art, the torque detection value output by the torque sensor is directly taken as the torque applied by the driver to the steering wheel (that is, the target torque), and then it is judged whether the driver controls the steering wheel. Since in the actual driving process of the vehicle, the righting torque of the road acting on the wheel and the assist torque provided by the electric power steering system also act on the steering wheel, the torque detection value output by the torque sensor is actually the coupling result of the righting torque, the assist torque and the torque applied by the driver, which leads to the misjudgment and omission of the above technical solution, and the overall recognition accuracy of the solution is not high.

[0060] In the embodiment, the controller determines the road return torque value and the assist torque correction value respectively based on the detection information, and corrects the torque detection value based on the road return torque value and the assist torque correction value, thereby improving the calculation accuracy of the target torque and reducing the probability of misjudgment and missed judgment.

[0061] Therefore, the embodiment can accurately determine the target torque corresponding to the steering wheel (i.e., the torque value applied to the steering wheel by the driver) based on the detection information, and use the target torque as the basis for judging the steering state of the steering wheel, thereby further improving the detection accuracy of the steering state of the steering wheel to ensure the safety of vehicle driving. Specifically, step S420 can include steps S4210 to S4250.

[0062] In step S4210, the road return torque value is determined based on the steering angle request value, the steering angle detection value, and the assist torque expectation value.

[0063] In the embodiment, the road return torque value represents the return torque of the road acting on the steering wheel of the vehicle. Specifically, the road return torque value refers to the torque that the steering wheel generates automatically during driving due to the friction between the steering wheel and the road, which acts on the steering wheel of the vehicle. The determination process of the road return torque value is described below.

[0064] As an implementation, step S4210 can include step S4212 and step S4214.

[0065] In step S4212, in the case where the steering angle request value is equal to 0 and the steering angle detection value is equal to 0, the maximum value between the assist torque expectation value and the return torque preset value is determined as the road return torque value.

[0066] In the embodiment, in the case where θ Req = 0 and θ Act = 0, the controller can determine the road return torque value by the following formula.

[0067] T Road = max(T6, T EPS_Act ).

[0068] wherein θ Req is the steering angle request value, θ Act is the steering angle detection value, θ Req = 0 and θ Act = 0 indicates that the vehicle is currently driving on a straight road and there is no steering demand. T Road is the road return torque value, and T EPS_ActTo assist the torque expectation value, T6 is a return torque preset value, which represents the minimum return torque of the steering wheel of the vehicle on the straight road. Specifically, T6 can be a default value in the controller, which can be summarized by the R&D personnel based on a large amount of experimental data, or can be set by the R&D personnel according to the detection accuracy of the torque sensor. For example, T6 can be greater than or equal to 0.2 Nm, for example, T6 can be 0.2 Nm, 0.25 Nm, 0.3 Nm, etc.

[0069] It should be noted here that in the present embodiment and the following embodiments, the torque value or the moment value is a positive value by default, which indicates that the direction of the torque value or the moment value is "left". The torque value or the moment value can also be negative, which indicates that the direction of the torque value or the moment value is "right". In addition, the R&D personnel can also define the direction of the torque value or the moment value in other ways, such as "left negative right positive", which is not limited in the present embodiment.

[0070] Step S4214, in the case that the steering angle request value is greater than 0 or the steering angle detection value is greater than 0, the road return torque value corresponding to the last calculation period is determined as the road return torque value.

[0071] In the present embodiment, in the case that θ Req >0 or θ Act >0, it indicates that the vehicle is in a steering state, or the vehicle has a steering demand, and the controller can determine the road return torque value by the following formula.

[0072] T Road = T last .

[0073] Wherein, T last is the road return torque value corresponding to the last calculation period. Since the actual steering angle value is usually fixed during vehicle steering, the controller can determine the road return torque value corresponding to the last calculation period as the road return torque value corresponding to the current calculation period. In addition, if the current calculation period is the first calculation period, there is no last calculation period, in this case, the controller determines the return torque preset value as the road return torque value, that is, T Road = T6.

[0074] As another embodiment, the controller can directly use the assist torque expectation value as the road return torque value, that is, T Road = T EPS_Act , to reduce the calculation amount of the controller and save the calculation resources of the controller.

[0075] The present embodiment provides a calculation method of the road return torque value, which can provide a correction basis for the subsequent process of determining the target torque of the controller, to improve the calculation accuracy of the target torque.

[0076] Step S4230, determining the assist torque correction value based on the steering angle request value and the assist torque expectation value.

[0077] It should be noted that the assist torque expectation value is a target value corresponding to the assist torque determined by the EPS. In the actual driving process of the vehicle, there may be a certain gap between the assist torque expectation value and the actual assist torque provided by the EPS. Therefore, the controller needs to correct the assist torque expectation value so that the assist torque correction value obtained by correction can accurately reflect the actual assist torque provided by the EPS.

[0078] As an implementation manner, step S4230 can include steps S4232 to S4236.

[0079] Step S4232, determining the assist torque experience value based on the steering angle request value and the preset assist torque mapping relationship.

[0080] In the embodiment, the assist torque mapping relationship represents the corresponding relationship between different steering angle request values and different assist torque experience values when the vehicle drives on a straight flat road. The "straight flat road" here refers to a road with a large straightness and good flatness. Specifically, the assist torque mapping relationship can be an assist torque mapping table or an assist torque mapping function, which can be summarized by the R&D personnel based on a large amount of driving data, and the embodiment does not make specific limitation on the assist torque mapping relationship.

[0081] As an implementation manner, the assist torque mapping relationship can be an assist torque mapping table θ Req -T EPS_Table The assist torque mapping table can be pre-stored in the controller, and the controller can determine the corresponding assist torque experience value by looking up the preset assist torque mapping table when the steering angle request value is determined.

[0082] Step S4234, in the case where the assist torque expectation value is greater than or equal to the difference between the assist torque experience value and the first correction value, and the assist torque expectation value is less than or equal to the sum of the assist torque experience value and the second correction value, the assist torque expectation value is determined as the assist torque correction value.

[0083] In the embodiment, in the case where T EPS_Table -T1≤T EPS_Act ≤T EPS_Table +T2, the controller can determine the assist torque correction value by the following formula.

[0084] T EPS =T EPS_Act .

[0085] Wherein, T EPS_ActT is a torque assist expected value, T EPS_Table T is a torque assist experience value, T EPS T is a torque assist correction value. T1 is a first correction value, which represents a torque assist correction lower limit value corresponding to the electric power steering system, and T2 is a second correction value, which represents a torque assist correction upper limit value corresponding to the electric power steering system.

[0086] Specifically, T1 and T2 can be experience correction values determined by the R&D personnel by comprehensively considering factors such as road curvature, road surface conditions, and steering response speed. Illustratively, T1 can be less than or equal to 0.5 Nm, for example, T1 can be 0.3 Nm, 0.4 Nm, 0.5 Nm, etc. T2 can be greater than 0.5 Nm, for example, T2 can be 0.6 Nm, 0.8 Nm, 1.0 Nm, etc.

[0087] Step S4236, in the case where the torque assist expected value is less than the difference between the torque assist experience value and the first correction value, or the torque assist expected value is greater than the sum of the torque assist experience value and the second correction value, the torque assist experience value is determined as the torque assist correction value.

[0088] In this embodiment, in the case where T EPS_Act <T EPS_Table -T1 or T EPS_Act >T EPS_Table +T2, the controller can determine the torque assist correction value by the following formula.

[0089] T EPS =T EPS_Table .

[0090] Therefore, in this embodiment, the controller corrects the torque assist expected value by the torque assist experience value, so that the torque assist correction value determined can accurately reflect the actual torque assist provided by the EPS.

[0091] As another implementation, the controller can directly take the torque assist expected value as the torque assist correction value, to reduce the calculation amount of the controller and save the calculation resources of the controller.

[0092] This embodiment provides a calculation method of the torque assist correction value, which can provide a correction basis for the subsequent process of the controller to determine the target torque, to improve the calculation accuracy of the target torque.

[0093] Step S4250, determining the target torque based on the torque detection value, the road surface return torque value, and the torque assist correction value.

[0094] As an implementation, step S4250 can include step S4252 and step S4254.

[0095] Step S4252, the torque detection value is filtered to determine the torque detection correction value.

[0096] In this embodiment, the controller can be pre-stored with a digital filter (for example, a Butterworth filter, a Chebyshev filter, etc.), and the controller can perform low-pass filtering on the torque detection value through the digital filter to eliminate high-frequency noise (for example, environmental noise caused by road surface undulation vibration) in the torque detection value, so that the determined torque detection correction value can be more accurate.

[0097] It is not difficult to understand here that when the controller filters the torque detection value, it will simultaneously read the previous N torque detection values corresponding to the previous N calculation periods, and form a torque detection value sequence with the previous N torque detection values and the torque detection value corresponding to the current calculation period, and then filter the torque detection value sequence to determine the torque detection correction value.

[0098] It should be noted here that steps S4210, S4230 and S4252 do not have a sequence when executed, for example, steps S4210, S4230 and S4252 can be executed simultaneously by the controller, or can be executed sequentially by the controller.

[0099] Step S4254, the torque detection correction value is subtracted from the road surface return torque value and the assist torque correction value to determine the target torque.

[0100] In this embodiment, the controller can determine the target torque by the following formula.

[0101] T Hand = T SAS_flt -T Road -T EPS .

[0102] Where T Hand is the target torque, T SAS_flt is the torque detection correction value, which represents the combined torque of the driver's hand holding torque (i.e., target torque), EPS assist torque (i.e., assist torque correction value) and road surface return torque applied to the steering column corresponding to the steering wheel.

[0103] In this embodiment, the controller will again correct the torque detection correction value based on the road surface return torque value and the assist torque correction value, thereby improving the calculation accuracy of the target torque and reducing the probability of misjudgment and omission by the controller.

[0104] As another implementation, the controller can directly determine the target torque as the result of sequentially subtracting the road return torque value and the assist torque correction value from the torque detection value. In this case, the controller does not need to filter the torque detection value, thereby reducing the calculation amount of the controller and saving the calculation resources of the controller.

[0105] At step S430, the steering state of the steering wheel is determined based on the detection information and the target torque.

[0106] The embodiments of the present application provide a control method of a vehicle. The control method specifically introduces the determination process of the target torque, and takes the target torque as the judgment basis of the corresponding steering state of the steering wheel, so as to further improve the detection accuracy of the steering state of the steering wheel, thereby ensuring the safety of the vehicle driving.

[0107] Please refer to Figure 5 , Figure 5 The control method of the vehicle provided by the third embodiment of the present application is schematically shown. The method is applied to the vehicle 100 of the above-mentioned embodiments, and the vehicle includes an electric power steering system. Specifically, the method introduces the determination process of the steering state of the steering wheel in detail, which can include the following steps.

[0108] At step S510, detection information is obtained.

[0109] In the embodiment, the detection information further includes a steering angle speed detection value. The steering angle speed detection value is an actual steering angle speed value of the steering wheel detected by the angle speed sensor corresponding to the steering wheel. Specifically, the implementation of step S510 can refer to the related introduction in step S310, and will not be described here.

[0110] At step S520, a target torque is determined based on the detection information.

[0111] Specifically, the implementation of step S520 can refer to the related introduction in step S420, and will not be described here.

[0112] At step S530, the steering state of the steering wheel is determined based on the detection information and the target torque.

[0113] In the embodiment, step S530 can include step S5310 to step S5330.

[0114] At step S5310, a torque detection correction value is determined by filtering a torque detection value.

[0115] Specifically, the implementation of step S5310 can refer to the related introduction in step S4252, and will not be described here.

[0116] Step S5320: acquiring a first duration that any one of the torque detection correction value, the rotation angle speed detection value, and the target torque meets a corresponding detection condition.

[0117] In this embodiment, the detection condition is a condition required to be met when the steering wheel is in a holding state.

[0118] As an implementation manner, the controller acquires the first duration when the torque detection correction value meets a corresponding detection condition. Specifically, the detection condition corresponding to the torque detection correction value is that the torque detection correction value is greater than a boost torque preset value, that is, T SAS_flt > T3.

[0119] wherein T SAS_flt is the torque detection correction value, and T3 is the boost torque preset value, which represents the maximum boost torque that the electric power steering system can provide. Specifically, T3 can be determined by a developer according to the corresponding functional parameters of the electric power steering system. For example, T3 can be greater than or equal to 4 Nm, for example, T3 can be 4 Nm, 5 Nm, 6 Nm, etc.

[0120] It is not difficult to understand here that if the torque detection correction value is greater than the boost torque preset value, it means that the total torque value applied to the steering wheel exceeds the maximum torque value that the EPS can assist when the ADC requests the EPS control angle, that is, there is still other torque (i.e., the torque applied by the driver) acting on the steering wheel.

[0121] As another implementation manner, the controller acquires the first duration when the rotation angle speed detection value meets a corresponding detection condition. Specifically, the detection condition corresponding to the rotation angle speed detection value is that the rotation angle speed detection value is greater than a rotation angle speed preset value, that is, δ Act > δ1.

[0122] wherein δ Act is the rotation angle speed detection value, and δ1 is the rotation angle speed preset value, which represents the maximum rotation angle speed that the electric power steering system can respond to. Specifically, δ1 can be determined by a developer according to the corresponding functional parameters of the electric power steering system. For example, δ1 can be greater than or equal to 80° / s, for example, δ1 can be 80° / s, 100° / s, 120° / s, etc.

[0123] It is not difficult to understand here that if the rotation angle speed detection value is greater than the rotation angle speed preset value, it means that the actual rotation angle speed value corresponding to the steering wheel exceeds the maximum rotation angle speed that the EPS can respond to when the ADC requests the EPS control angle, that is, there is still other torque (i.e., the torque applied by the driver) acting on the steering wheel.

[0124] As a further implementation, the controller obtains the first duration when the target torque meets a corresponding detection condition. Specifically, the detection condition corresponding to the target torque is that the target torque is greater than a first preset value, i.e., T Hand >T4.

[0125] wherein T Hand is the target torque, and T4 is the first preset value, which represents a minimum torque value exerted on the steering wheel by the driver when the electric power steering system does not provide a boost torque. In other words, the first preset value refers to the torque value exerted on the steering wheel by the driver when the driver is only holding the steering wheel. Specifically, T4 can be summarized by the R&D personnel based on a large amount of test data. For example, T4 can be greater than or equal to 0.5 Nm, such as 0.5 Nm, 0.6 Nm, 0.7 Nm, etc.

[0126] It is not difficult to understand here that if the target torque is greater than the first preset value, it indicates that the current driver is holding the steering wheel.

[0127] In the present embodiment, the controller obtains the first duration when T SAS_flt >T3 or δ Act >δ1 or T Hand >T4 is met. As an implementation, the controller determines the duration corresponding to a single calculation period as the first duration when T SAS_flt >T3 or δ Act >δ1 or T Hand >T4 is met. If T SAS_flt >T3 or δ Act >δ1 or T Hand >T4 is still met in subsequent calculation periods, the product between the duration corresponding to a single calculation period and the number of periods is determined as the first duration. The number of periods here refers to the number of calculation periods that continuously meet T SAS_flt >T3 or δ Act >δ1 or T Hand >T4. For example, when the duration corresponding to a single calculation period is 0.05 s, and T SAS_flt >T3 or δ Act >δ1 or T Hand >T4 is continuously met for 3 calculation periods, the determined first duration is 0.05 s*3, i.e., 0.15 s.

[0128] In some other possible embodiments, the controller obtains the first duration when T SAS_flt >T3 or δ Act >δ1 or T HandIn the case of T4, the steering wheel control state can be directly determined as the holding state, so as to reduce the calculation amount of the controller and save the calculation resources of the controller.

[0129] In step S5330, in the case that the first duration is greater than or equal to the first preset duration, the steering wheel control state is determined as the holding state.

[0130] In this embodiment, the controller determines the steering wheel control state as the holding state in the case that t last_1 ≥ t1. last_1 The first duration is t, and the first preset duration is t1. t1 can be summarized by the R&D personnel according to a large amount of test data. For example, t1 can be greater than or equal to 0.1s, for example, t1 can be 0.1s, 0.15s, 0.2s, etc.

[0131] It should be noted that the first preset duration is greater than the duration corresponding to a single calculation period. Therefore, the controller determines the steering wheel control state as the holding state in the case that the first duration is greater than or equal to the first preset duration, which can ensure that the continuous multiple calculation periods satisfy T SAS_flt T3 or δ Act δ1 or T Hand T4, so as to ensure the signal stability of T SAS_flt , δ Act and T Hand , and improve the reliability of the control state determined by the controller.

[0132] In some possible embodiments, step S530 can further include step S5340.

[0133] In step S5340, in the case that the torque detection correction value and the steering angle speed detection value and the target torque do not satisfy the corresponding detection conditions, or the first duration is less than the first preset duration, if the target torque is less than the second preset value and the steering angle detection value is equal to the steering angle request value, the steering wheel control state is determined as the hand-off state.

[0134] As an implementation manner, the controller determines the steering wheel control state as the hand-off state in the case that T SAS_flt ≤ T3 and δ Act ≤ δ1 and T Hand ≤ T4, if T Hand < T5 and θ Act = θ Req .

[0135] As another implementation manner, the controller determines the steering wheel control state as the hand-off state in the case that t last_1 < t1, if T Hand < T5 and θ Act = θReq determines that the steering state of the steering wheel is the hand-off state.

[0136] T5 is a second preset value, which represents a minimum torque value of the steering wheel in the case that the driver does not hold the steering wheel. That is, the second preset value refers to the minimum torque value of the steering wheel caused by vehicle factors (e.g., the assist torque of the EPS) in the case that the driver does not hold the steering wheel when the actual steering angle (i.e., the steering angle detection value) is equal to the ADC request steering angle (i.e., the steering angle request value). T5 can be summarized by a large number of test data by a researcher. For example, T5 can be greater than or equal to 0.1 Nm, for example, T5 can be 0.1 Nm, 0.2 Nm, 0.3 Nm, and the like.

[0137] Therefore, in the case that the target torque is less than the second preset value and the steering angle detection value is equal to the steering angle request value, the controller can directly determine that the steering state of the steering wheel is the hand-off state.

[0138] In some possible embodiments, step S530 can further include step S5350 and step S5360.

[0139] Step S5350: obtaining a second duration that satisfies one of the following conditions: the target torque is greater than or equal to the second preset value, or the steering angle detection value is not equal to the steering angle request value.

[0140] As an implementation manner, the controller obtains the second duration in the case that T Hand ≥ T5. As another implementation manner, the controller obtains the second duration in the case that θ Act ≠ θ Req .

[0141] In the present embodiment, the controller determines the duration corresponding to a single calculation cycle as the second duration in the case that T Hand ≥ T5 or θ Act ≠ θ Req . If T Hand ≥ T5 or θ Act ≠ θ Req is still satisfied in subsequent calculation cycles, the product between the duration corresponding to a single calculation cycle and the number of cycles is determined as the second duration. Here, the number of cycles refers to the number of calculation cycles that continuously satisfy T Hand ≥ T5 or θ Act ≠ θ Req . For example, in the case that the duration corresponding to a single calculation cycle is 0.05 s, and 5 consecutive calculation cycles satisfy T Hand ≥ T5 or θ Act ≠ θ Req .In the case that the first duration is less than the first preset duration, the steering wheel control state is determined as the steering wheel control state corresponding to the last calculation period.

[0142] It should be noted that step S5350 is a subsequent step executed by the controller in the case that neither the torque detection correction value nor the rotation speed detection value nor the target torque meets the corresponding detection condition, or the first duration is less than the first preset duration, which is a parallel branch of step S5340.

[0143] Step S5360, in the case that the second duration is less than the second preset duration, the steering wheel control state is determined as the steering wheel control state corresponding to the last calculation period.

[0144] In the embodiment, the controller determines the steering wheel control state as the steering wheel control state corresponding to the last calculation period in the case that t last_2 <t2, wherein t last_2 is the second duration, and t2 is the second preset duration. t2 can be summarized by the researchers according to a large amount of test data. For example, t2 can be greater than or equal to 0.1s, such as 0.1s, 0.15s, 0.2s, etc.

[0145] It should be noted that the second preset duration is greater than the duration corresponding to a single calculation period, so as to ensure the stability of the T Hand ≥T5 judgment condition, and improve the reliability of the control state determined by the controller. In addition, since the second duration is less than the second preset duration, the controller cannot guarantee the stability of the signal detection, and thus cannot accurately determine the steering wheel control state. Therefore, the steering wheel control state is determined as the steering wheel control state corresponding to the last calculation period. If there is no last calculation period, the steering wheel control state is determined as the holding state (i.e. default not to be taken off).

[0146] In some possible embodiments, after step S5350, steps S5370 to S5374 can also be included.

[0147] Step S5370, in the case that the second duration is greater than or equal to the second preset duration, the electric power steering system is controlled to work at the target rotation request value.

[0148] In the embodiment, the controller determines the steering wheel control state as the steering wheel control state corresponding to the last calculation period in the case that t last_2 ≥t2, which means that there are continuous multiple calculation periods determining that T Hand ≥T5 or θ Act ≠θ Req In this case, the controller actively controls the electric power steering system to apply the target rotation request value θ Req_testThe angle direction of the target steering angle request value is the same as the direction of the assist torque expectation value. Specifically, the target steering angle request value can be pre-stored in the controller, which can be summarized by the R&D personnel according to a large amount of test data. Exemplarily, θ Req_test may be greater than or equal to 0.2°, for example, θ Req_test may be 0.2°, 0.3°, 0.4°, and the like.

[0149] The controller in this embodiment actively intervenes in the steering wheel torque by controlling the electric power steering system to work at the target steering angle request value, thereby breaking the state that whether the steering wheel is held cannot be accurately judged. It should be noted that the angle direction of the target steering angle request value is the same as the direction of the assist torque expectation value, which can avoid the target steering angle request value from having a significant impact on the travel trajectory of the vehicle, so as to ensure the stability of the vehicle driving. Of course, the specific value of the target steering angle request value cannot be too small, so as to ensure that the torque of the steering wheel held by the driver is affected.

[0150] Step S5372, steps S510 and S520 are executed again to update the target torque.

[0151] It can be understood that, since the electric power steering system works at the target steering angle request value, the assist torque of the electric power steering system acting on the steering wheel changes, and in this case, if the driver holds the steering wheel, the torque of the steering wheel exerted by the driver also changes. Therefore, the controller executes steps S510 and S520 again to update the target torque.

[0152] Step S5374, in the case that the updated target torque is less than the second preset value, it is determined that the steering wheel control state is the hand-off state.

[0153] In this embodiment, the controller determines that the steering wheel control state is the hand-off state when T Hand_new is satisfied. Wherein, T Hand_new is the updated target torque.

[0154] It can be understood that, in the case that the electric power steering system actively intervenes in the steering wheel angle, the updated target torque is still less than the second preset value, which indicates that the driver does not hold the steering wheel, and the controller can determine that the steering wheel control state is the hand-off state.

[0155] In some possible embodiments, after step S5372, steps S5380 to S5382 can also be included.

[0156] Step S5380: Obtain a third duration that satisfies the updated target torque being greater than or equal to the second preset value and less than the first preset value.

[0157] In this embodiment, the controller obtains the third duration when T5≤T Hand_new <T4 is satisfied. As an implementation, the controller determines the duration corresponding to a single calculation period as the third duration when T5≤T Hand_new <T4 is satisfied. If T5≤T Hand_new <T4 is still satisfied in subsequent calculation periods, the controller determines the product between the duration corresponding to a single calculation period and the number of calculation periods as the third duration. Here, the number of calculation periods refers to the number of calculation periods that satisfy T5≤T Hand_new <T4 continuously. For example, if the duration corresponding to a single calculation period is 0.05 s, and T5≤T Hand_new <T4 is satisfied in four continuous calculation periods, the third duration is determined as 0.05 s*4, i.e., 0.2 s.

[0158] Step S5382: Determine the steering wheel control state as the hand-off state when the third duration is greater than or equal to a third preset duration.

[0159] In this embodiment, the controller determines the steering wheel control state as the hand-off state when t last_3 ≥t3 is satisfied. Here, t last_3 is the third duration, and t3 is the third preset duration. t3 can be obtained by researchers based on a large amount of test data. For example, t3 can be greater than or equal to 0.1 s, such as 0.1 s, 0.2 s, 0.3 s, etc.

[0160] It should be noted that the third preset duration is greater than the duration corresponding to a single calculation period, so as to ensure the stability of the T5≤T Hand_new <T4 judgment condition, and improve the reliability of the control state determined by the controller. Since the third duration is greater than or equal to the third preset duration, the controller determines T5≤T Hand_new <T4 in multiple calculation periods, the controller can determine the steering wheel control state as the hand-off state.

[0161] In some possible embodiments, step S5380 can be followed by step S5390.

[0162] Step S5390: Determine the steering wheel control state as the steering wheel control state corresponding to the previous calculation period when the updated target torque is greater than or equal to the first torque value, or the third duration is less than the third preset duration.

[0163] As an implementation, the controller determines the steering wheel operation state as the steering wheel operation state corresponding to the last calculation period when T Hand_new As another implementation, the controller determines the steering wheel operation state as the steering wheel operation state corresponding to the last calculation period when t last_3 As another implementation, the controller determines the steering wheel operation state as the steering wheel operation state corresponding to the last calculation period when t

[0164] It is not difficult to understand that, since the third duration is less than the third preset duration, the controller cannot guarantee the stability of signal detection, and thus cannot accurately determine the steering wheel operation state, and thus determines the steering wheel operation state as the steering wheel operation state corresponding to the last calculation period. If there is no last calculation period, the steering wheel operation state is determined as the holding state (i.e., default not to be taken off).

[0165] The embodiment of the application provides a control method of a vehicle, which specifically introduces the determination process of the steering wheel operation state, improves the detection accuracy of the steering wheel operation state, and ensures the safety of vehicle driving.

[0166] Please refer to Figure 6 , Figure 6 The embodiment of the application provides a control method of a vehicle, which specifically introduces the determination process of the steering wheel operation state, improves the detection accuracy of the steering wheel operation state, and ensures the safety of vehicle driving.

[0167] Step S600, obtaining detection information.

[0168] The detection information in the embodiment includes a torque detection value T SAS , an angle detection value θ Act , an angle speed detection value δ Act , an angle request value θ Req , and an assist torque expectation value T EPS_Act of the steering wheel. Specifically, the implementation of step S600 can refer to the related description in step S310, and details are not described herein.

[0169] Step S610, determining T SAS_flt .

[0170] Step S612, determining T Road .

[0171] Step S614, determining T EPS .

[0172] Step S620, determining T Hand .

[0173] Specifically, the implementation of the step S610, the step S612, the step S614 and the step S620 can refer to the relevant introduction in the step S4252, the step S4210, the step S4230 and the step S4254 respectively, which will not be repeated here.

[0174] The step S630 judges whether T SAS_flt >T3 or δ Act >δ1 or T Hand >T4, and t last_1 ≥t1. If yes, the step S632 is executed; if no, the step S640 is executed.

[0175] The step S632 determines that the hand is not off.

[0176] Specifically, the implementation of the step S630 and the step S632 can refer to the relevant introduction in the step S5320 and the step S5330, which will not be repeated here.

[0177] The step S640 judges whether T Hand <T5 and θ Act =θ Req . If yes, the step S642 is executed; if no, the step S650 is executed.

[0178] The step S642 determines that the hand is off.

[0179] Specifically, the implementation of the step S640 and the step S642 can refer to the relevant introduction in the step S5340, which will not be repeated here.

[0180] The step S650 judges whether t last_2 ≥t2. If yes, the step S652 is executed; if no, the step S660 is executed.

[0181] The step S652 requests the ESP to execute θ Req_test by the ADC.

[0182] Specifically, the implementation of the step S650 and the step S652 can refer to the relevant introduction in the step S5370, which will not be repeated here.

[0183] The step S654 judges whether T Hand_new <T5. If yes, the step S642 is executed; if no, the step S656 is executed.

[0184] The step S656 judges whether T Hand_new <T4 and t last_3 ≥t3. If yes, the step S642 is executed; if no, the step S660 is executed.

[0185] Specifically, the implementation of steps S654 and S656 can refer to the related description in steps S5374, S5380, and S5382, which will not be repeated here.

[0186] In step S660, the hand-off state determination of the last period is maintained.

[0187] The control method of the vehicle provided in the embodiments of the present application can avoid the misjudgment problem caused by the HOD sensor, improve the detection accuracy of the steering wheel control state, and further save the hardware cost of the vehicle. In addition, the target torque of the steering wheel (i.e., the torque value applied to the steering wheel by the driver) can be determined based on the detection information, and the target torque can be used as the basis for determining the control state of the steering wheel, which can further improve the detection accuracy of the steering wheel control state and ensure the safety of the vehicle driving.

[0188] Please refer to Figure 7 , Figure 7 The control device 700 of the vehicle provided in the embodiments of the present application is schematically shown, which is applied to the vehicle 100 of the above embodiments and includes an electric power steering system. Specifically, the device 700 can include an acquisition module 710, a first determination module 720, and a second determination module 730. The acquisition module 710 is configured to acquire detection information, which includes a torque detection value of the steering wheel, a rotation angle detection value, a rotation angle request value, and an assist torque expectation value. The torque detection value is detected by a torque sensor corresponding to the steering wheel, and the assist torque expectation value is a target value of the assist torque determined by the electric power steering system based on the rotation angle request value. The first determination module 720 is configured to determine a target torque based on the detection information, and the target torque represents a torque value applied to the steering wheel by the driver. The second determination module 730 is configured to determine a control state of the steering wheel based on the detection information and the target torque, and the control state includes a holding state held by the driver and a hand-off state not held by the driver.

[0189] In some possible embodiments, the first determination module 720 is specifically configured to determine a road return torque value based on the rotation angle request value, the rotation angle detection value, and the assist torque expectation value, wherein the road return torque value represents a return torque of the road acting on the steering wheel of the vehicle; determine an assist torque correction value based on the rotation angle request value and the assist torque expectation value; and determine the target torque based on the torque detection value, the road return torque value, and the assist torque correction value.

[0190] In some possible embodiments, the first determining module 720 is specifically configured to filter the torque detection value to determine a torque detection correction value; and determine the target torque as a result of sequentially subtracting the road return torque value and the assist torque correction value from the torque detection correction value.

[0191] In some possible embodiments, the device 700 includes a plurality of calculation periods, and the step S310, the step S320 and the step S330 are sequentially executed to constitute one calculation period, and the corresponding steering wheel operating state is determined in each calculation period. The first determining module 720 is specifically configured to, in a case where the steering angle request value is equal to 0 and the steering angle detection value is equal to 0, determine the maximum value between the assist torque expected value and a return torque preset value as the road return torque value, wherein the return torque preset value represents the minimum return torque of the steering wheel of the vehicle on a straight road; and in a case where the steering angle request value is greater than 0 or the steering angle detection value is greater than 0, determine the road return torque value corresponding to the last calculation period as the road return torque value.

[0192] In some possible embodiments, the first determining module 720 is specifically configured to determine the assist torque experience value based on the steering angle request value and a preset assist torque mapping relationship, wherein the assist torque mapping relationship represents the corresponding relationship between different steering angle request values and different assist torque experience values when the vehicle runs on a straight road; and in a case where the assist torque expected value is greater than or equal to the difference between the assist torque experience value and a first correction value, and the assist torque expected value is less than or equal to the sum of the assist torque experience value and a second correction value, determine the assist torque expected value as the assist torque correction value, wherein the first correction value represents a lower limit value of the assist torque correction corresponding to the electric power steering system, and the second correction value represents an upper limit value of the assist torque correction corresponding to the electric power steering system; and in a case where the assist torque expected value is less than the difference between the assist torque experience value and the first correction value, or the assist torque expected value is greater than the sum of the assist torque experience value and the second correction value, determine the assist torque experience value as the assist torque correction value.

[0193] In some possible embodiments, the detection information further includes a steering angle speed detection value, and the second determining module 730 is specifically configured to filter the torque detection value to determine a torque detection correction value; acquire a first duration in which any one of the torque detection correction value, the steering angle speed detection value and the target torque satisfies a corresponding detection condition; and in a case where the first duration is greater than or equal to a first preset duration, determine that the steering wheel is in the holding state.

[0194] In some possible embodiments, the detection condition corresponding to the torque detection correction value is that the torque detection correction value is greater than or equal to a boost torque preset value, where the boost torque preset value represents a maximum boost torque that the electric power steering system can provide. The detection condition corresponding to the steering angle velocity detection value is that the steering angle velocity detection value is greater than or equal to a steering angle velocity preset value, where the steering angle velocity preset value represents a maximum steering angle velocity that the electric power steering system can respond to. The detection condition corresponding to the target torque is that the target torque is greater than or equal to a first preset value, where the first preset value represents a minimum torque value that a driver applies to the steering wheel in a case where the electric power steering system does not provide a boost torque.

[0195] In some possible embodiments, the second determination module 730 is specifically configured to, in a case where none of the torque detection correction value, the steering angle velocity detection value, and the target torque meets the corresponding detection condition, or the first duration is less than the first preset duration, determine that the steering wheel control state is the hands-off state if the target torque is less than a second preset value and the steering angle detection value is equal to the steering angle request value, where the second preset value represents a minimum torque value of the steering wheel in a case where the driver does not hold the steering wheel.

[0196] In some possible embodiments, the device 700 includes a plurality of calculation periods, and the steps S310, S320, and S330 are sequentially executed to constitute one calculation period, and the corresponding steering wheel control state is determined in each calculation period. The second determination module 730 is specifically configured to acquire a second duration that meets the condition that the target torque is greater than or equal to the second preset value or the condition that the steering angle detection value is not equal to the steering angle request value, and determine the steering wheel control state as the steering wheel control state corresponding to the last calculation period in a case where the second duration is less than a second preset duration.

[0197] In some possible embodiments, the second determination module 730 is specifically configured to, in a case where the second duration is greater than or equal to the second preset duration, control the electric power steering system to work at a target steering angle request value, where the direction of the target steering angle request value is the same as the direction of the boost torque expectation value, and then execute the steps S310 and S320 again to update the target torque, and determine that the steering wheel control state is the hands-off state in a case where the updated target torque is less than the second preset value.

[0198] In some possible embodiments, the second determination module 730 is specifically configured to acquire a third duration that meets the condition that the updated target torque is greater than or equal to the second preset value and less than a first preset value, and determine that the steering wheel control state is the hands-off state in a case where the third duration is greater than or equal to a third preset duration, where the first preset value represents a minimum torque value that a driver applies to the steering wheel in a case where the electric power steering system does not provide a boost torque.

[0199] In some possible implementation, the second determining module 730 is specifically configured to determine the steering wheel control state as the steering wheel control state corresponding to the last calculation period, in the case that the updated target torque is greater than or equal to the first torque value, or the third duration is less than the third preset duration.

[0200] In some possible implementation, the device 700 can further include a third determining module (not shown in the figure), which is configured to determine a hand-off duration in the case that the steering wheel control state is the hand-off state; determine an alarm strategy based on the hand-off duration and work based on the alarm strategy.

[0201] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the above-described device and module can refer to the corresponding process in the foregoing method embodiments, which will not be described here.

[0202] In several embodiments provided in the present application, the coupling between the modules can be electrical, mechanical or other forms of coupling.

[0203] In addition, each functional module in each embodiment of the present application can be integrated in a control module, or each module can exist physically alone, or two or more modules can be integrated in one module. The integrated module can be realized in the form of hardware or in the form of a software functional module.

[0204] The control device of the vehicle provided in the embodiments of the present application can avoid the misjudgment problem caused by the HOD sensor and improve the detection accuracy of the steering wheel control state, because the detection information can be obtained through the existing sensors in the vehicle (for example, the torque sensor corresponding to the steering wheel and the angle sensor in the electric power steering system), and the vehicle does not need to set an additional sensor (for example, the HOD sensor in the related art). Further, the hardware cost of the vehicle can be saved because the HOD sensor is not needed. In addition, the target torque (i.e., the torque value applied to the steering wheel by the driver) corresponding to the steering wheel can be determined by the device through the detection information, and the target torque can be used as the basis for judging the steering wheel control state, which can further improve the detection accuracy of the steering wheel control state and ensure the safety of the vehicle driving.

[0205] Please refer to Figure 8 , Figure 8The embodiments of the present application also provide a vehicle 800, which can include an electric power steering system 810, one or more processors 820, a memory 830, and one or more application programs. The one or more application programs are stored in the memory 830 and configured to be executed by the one or more processors 820, and the one or more application programs are configured to perform the methods described in the above embodiments.

[0206] The processor 820 can include one or more processing cores. The processor 820 connects various parts within the battery management system through various interfaces and lines, and performs various functions of the battery management system and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory 830, and calling data stored in the memory 830. Alternatively, the processor 820 can be implemented in at least one of a hardware form of a digital signal processing (DSP), a field-programmable gate array (FPGA), and a programmable logic array (PLA). The processor 820 can integrate a combination of one or more of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. Among them, the CPU mainly processes the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing display content; and the modem is used for processing wireless communication. It can be understood that the above-mentioned modem can also not be integrated into the processor 820, but can be realized by a separate communication chip.

[0207] The memory 830 can include a random access memory (RAM) and can also include a read-only memory (ROM). The memory 830 can be used to store instructions, programs, codes, code sets or instruction sets. The memory 830 can include a program storage area and a data storage area, wherein the program storage area can store instructions for implementing an operating system, instructions for implementing at least one function (for example, touch function, sound playing function, image playing function, etc.), instructions for implementing various method embodiments described above, etc. The data storage area can also store data created by the electronic device in use (for example, phonebook, audio and video data, chat record data), etc.

[0208] The embodiment of the present application further provides a computer readable storage medium (not shown in the figure) having computer program instructions (not shown in the figure) stored therein, the computer program instructions being invokable by a processor to execute the method described in the above embodiment.

[0209] The computer readable storage medium can be, for example, a flash memory, an Electrically Erasable Programmable Read-Only Memory (EEPROM), an Electrical Programmable Read Only Memory (EPROM), a hard disk or a Read-Only Memory (ROM). Alternatively, the computer readable storage medium comprises a Non-transitory Computer-readable Storage Medium. The computer readable storage medium has storage space for computer program instructions to execute any of the above methods. These computer program instructions can be read from or written to one or more computer program products.

[0210] The above is only a preferred embodiment of the present application, and does not limit the present application in any form. Although the present application has been disclosed as above with a preferred embodiment, it is not intended to limit the present application. Any person skilled in the art can make slight changes or modifications to the above disclosed technical content to obtain equivalent embodiments with equivalent changes, without departing from the scope of the technical solution of the present application. Any modification, change, equivalent change and modification of the above embodiment, which does not depart from the technical solution of the present application, is still within the scope of the technical solution of the present application.

Claims

1. A control method of a vehicle, characterized by, The vehicle comprises an electric power steering system, and the method comprises: In step S310, detection information is acquired, the detection information comprising a torque detection value corresponding to a steering wheel, a rotation angle detection value, a rotation angle request value and an expected value of a power steering torque; wherein the torque detection value is detected by a torque sensor corresponding to the steering wheel, and the expected value of the power steering torque is a target value of the power steering torque determined by the electric power steering system based on the rotation angle request value; In step S320, a target torque is determined based on the detection information; the target torque represents a torque value applied to the steering wheel by a driver; the determination of the target torque based on the detection information specifically comprises: determining a road return torque value based on the rotation angle request value, the rotation angle detection value and the expected value of the power steering torque; wherein the road return torque value represents a return torque of a road acting on a steering wheel of the vehicle; determining a power steering torque correction value based on the rotation angle request value and the expected value of the power steering torque; and determining the target torque based on the torque detection value, the road return torque value and the power steering torque correction value; In step S330, a steering state of the steering wheel is determined based on the detection information and the target torque; the steering state comprises a holding state held by the driver and a hand-off state not held by the driver.

2. The method of claim 1, wherein, The determination of the target torque based on the torque detection value, the road return torque value and the power steering torque correction value comprises: filtering the torque detection value to determine a torque detection correction value; determining the target torque by subtracting the road return torque value and the power steering torque correction value from the torque detection correction value in sequence.

3. The method of claim 1, wherein, The method comprises a plurality of calculation periods, wherein the steps S310, S320 and S330 are executed in sequence to constitute one calculation period, and the steering state of the steering wheel is determined in each calculation period; the determination of the road return torque value based on the rotation angle request value, the rotation angle detection value and the expected value of the power steering torque comprises: in a case where the rotation angle request value is equal to 0 and the rotation angle detection value is equal to 0, determining a maximum value between the expected value of the power steering torque and a return torque preset value as the road return torque value; wherein the return torque preset value represents a minimum return torque of a straight road acting on the steering wheel of the vehicle; in a case where the rotation angle request value is greater than 0 or the rotation angle detection value is greater than 0, determining a road return torque value corresponding to a previous calculation period as the road return torque value.

4. The method of claim 1, wherein, The determination of the power steering torque correction value based on the rotation angle request value and the expected value of the power steering torque comprises: determining a power steering torque experience value based on the rotation angle request value and a preset power steering torque mapping relationship; wherein the power steering torque mapping relationship represents a corresponding relationship between different rotation angle request values and different power steering torque experience values when the vehicle travels on a straight road. determining the assist torque expectation value as the assist torque correction value in a case where the assist torque expectation value is less than a difference between the assist torque experience value and the first correction value or the assist torque expectation value is greater than a sum of the assist torque experience value and the second correction value. determining the assist torque experience value as the assist torque correction value in a case where the assist torque expectation value is less than a difference between the assist torque experience value and the first correction value or the assist torque expectation value is greater than a sum of the assist torque experience value and the second correction value.

5. The method according to any one of claims 1 to 4, characterized in that, The detection information further includes a steering angle speed detection value; and determining the steering state of the steering wheel based on the detection information and the target torque includes: filtering the torque detection value to determine a torque detection correction value; acquiring a first duration that any one of the torque detection correction value, the steering angle speed detection value, and the target torque satisfies a corresponding detection condition; the detection condition is a condition required to be satisfied when the steering wheel is in the holding state; determining that the steering state of the steering wheel is the holding state in a case where the first duration is greater than or equal to a first preset duration.

6. The method of claim 5, wherein, The detection condition corresponding to the torque detection correction value is that the torque detection correction value is greater than an assist torque preset value, wherein the assist torque preset value represents a maximum assist torque that the electric power steering system can provide. The detection condition corresponding to the steering angle speed detection value is that the steering angle speed detection value is greater than a steering angle speed preset value, wherein the steering angle speed preset value represents a maximum steering angle speed that the electric power steering system can respond to. The detection condition corresponding to the target torque is that the target torque is greater than a first preset value, wherein the first preset value represents a minimum torque value that the driver applies to the steering wheel in a case where the electric power steering system does not provide an assist torque.

7. The method of claim 5, wherein, The method further includes: in a case where none of the torque detection correction value, the steering angle speed detection value, and the target torque satisfies the corresponding detection condition or the first duration is less than the first preset duration, determining that the steering state of the steering wheel is the hand-off state if the target torque is less than a second preset value and the steering angle detection value is equal to the steering angle request value; wherein the second preset value represents a minimum torque value of the steering wheel in a case where the driver does not hold the steering wheel.

8. The method of claim 7, wherein, The method includes a plurality of calculation periods, wherein the step S310, the step S320, and the step S330 are sequentially executed to constitute one calculation period, and each calculation period determines a corresponding steering state of the steering wheel; and the method further includes: acquiring a second duration that satisfies any one of the target torque being greater than or equal to the second preset value or the steering angle detection value not being equal to the steering angle request value; and In a case where the second duration is less than a second preset duration, the steering wheel control state is determined as a steering wheel control state corresponding to a previous calculation period.

9. The method of claim 8, wherein, The method further includes: In a case where the second duration is greater than or equal to the second preset duration, the electric power steering system is controlled to work at a target steering angle request value; the target steering angle request value has the same direction as the direction of the assist torque expectation value; Steps S310 and S320 are performed again to update the target torque; In a case where the updated target torque is less than the second preset value, the steering wheel control state is determined as a hand-off state.

10. The method of claim 9, wherein, The method further includes: A third duration is obtained, which satisfies that the updated target torque is greater than or equal to the second preset value and less than a first preset value; the first preset value represents a minimum torque value applied by the driver on the steering wheel in a case where the electric power steering system does not provide an assist torque; In a case where the third duration is greater than or equal to a third preset duration, the steering wheel control state is determined as a hand-off state.

11. The method of claim 10, wherein, The method further includes: In a case where the updated target torque is greater than or equal to the first preset value or the third duration is less than the third preset duration, the steering wheel control state is determined as a steering wheel control state corresponding to a previous calculation period.

12. The method according to any one of claims 1 to 4, characterized in that, The method further includes: In a case where the steering wheel control state is a hand-off state, a hand-off duration is determined; Based on the hand-off duration, an alarm strategy is determined and works based on the alarm strategy.

13. A control device of a vehicle characterized by comprising: The vehicle includes an electric power steering system, and the device includes: An acquisition module is configured to acquire detection information, the detection information including a torque detection value corresponding to a steering wheel, a steering angle detection value, a steering angle request value, and an assist torque expectation value; the torque detection value is detected by a torque sensor corresponding to the steering wheel, and the assist torque expectation value is a target value of an assist torque determined by the electric power steering system based on the steering angle request value; A first determination module is configured to determine a target torque based on the detection information; the target torque represents a torque value applied by a driver on the steering wheel; specifically, the first determination module is configured to determine a road return torque value based on the steering angle request value, the steering angle detection value, and the assist torque expectation value; the road return torque value represents a return torque of a road acting on a steering wheel of the vehicle; determine an assist torque correction value based on the steering angle request value and the assist torque expectation value; and determine the target torque based on the torque detection value, the road return torque value, and the assist torque correction value; and A second determination module is configured to determine a steering wheel control state based on the detection information and the target torque; the control state includes a holding state held by a driver and a hand-off state not held by a driver.

14. A vehicle characterized by comprising: The vehicle includes: An electric power steering system; One or more processors; A memory; and one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, and configured to perform the method of any one of claims 1-12.

15. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer program instructions, and the computer program instructions can be invoked by a processor to execute the method of any one of claims 1-12.

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