Test method and product of steer-by-wire force sense simulation strategy

Abstract

The invention provides a steering-by-wire force sense simulation strategy test method and product, and the method comprises the steps: obtaining a vehicle dynamics model which has a steering-by-wire force sense simulation strategy; acquiring a motion scene used for testing the steer-by-wire force sense simulation strategy; based on the vehicle dynamics model and the motion scene, testing the steer-by-wire force sense simulation strategy to obtain a test result; and when the test result is unqualified, adjusting the steer-by-wire force sense simulation strategy. According to the steering-by-wire force sensing simulation strategy test method and product provided by the invention, based on the vehicle dynamics model with the steering-by-wire force sensing simulation strategy and the motion scene for testing the steering-by-wire force sensing simulation strategy, the steering-by-wire force sensing simulation strategy can be comprehensively and effectively tested; the defects of the steer-by-wire force sense simulation strategy test verification in the technical field of steer-by-wire are overcome.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle steer-by-wire technology, and in particular to a testing method and product for a steer-by-wire force simulation strategy. Background Art

[0002] With the development of vehicle steer-by-wire technology, traditional mechanical steering is increasingly unable to meet the needs of intelligent vehicles. Different from mechanical steering, steer-by-wire eliminates the physical transmission of the intermediate column, has advantages such as a large design range of variable transmission ratios and sufficient operating space, and is gradually entering the public's field of vision. However, due to the constraints of laws, regulations and social ethics, steer-by-wire also requires human intervention. Therefore, when designing a steer-by-wire system, a reasonable force simulation strategy must be considered to enable the driver to feel the real road feel.

[0003] However, the complexity of vehicle driving conditions makes the development of force-sensing simulation strategies difficult. Therefore, it is necessary to test the force-sensing simulation strategies during their development process in order to find problems in the early stages of their development and continuously optimize them. How to conduct comprehensive and effective tests on force-sensing simulation strategies and fill the gap in the field of steer-by-wire technology for testing and verification of force-sensing simulation strategies has become an urgent problem to be solved. Summary of the invention

[0004] The present application provides a method for testing a wire-controlled steering force simulation strategy, comprising: obtaining a vehicle dynamics model, the vehicle dynamics model having a wire-controlled steering force simulation strategy; obtaining a motion scene for testing the wire-controlled steering force simulation strategy; testing the wire-controlled steering force simulation strategy based on the vehicle dynamics model and the motion scene to obtain a test result; and adjusting the wire-controlled steering force simulation strategy when the test result is unqualified.

[0005] In one embodiment, the vehicle dynamics model includes a first dynamics model determined based on a handling stability tire model, and a second dynamics model determined based on a smoothness tire model; the motion scene includes a steering motion scene and a special road motion scene; based on the vehicle dynamics model and the motion scene, the wire-controlled steering force simulation strategy is tested to obtain test results, including: based on the first dynamics model and the steering motion scene, a steering test and a return test are performed on the vehicle to obtain the steering test results and the return test results of the vehicle; based on the second dynamics model and the special road motion scene, a bumpy road test and a discrete impact test are performed on the vehicle to obtain the bumpy road test results and the discrete impact test results of the vehicle; wherein the test results of the wire-controlled steering force simulation strategy include the steering test results, the return test results, the bumpy road test results and the discrete impact test results of the vehicle.

[0006] In one embodiment, a steering test is performed on a vehicle based on the first dynamic model and the steering motion scenario to obtain a steering test result of the vehicle, including: based on the first dynamic model, after controlling the vehicle to travel in a straight line at a first speed in the steering motion scenario for a first preset time, continuing to control the steering wheel of the vehicle to rotate at a second speed so that the vehicle performs a steering motion in the steering motion scenario until the steering wheel of the vehicle reaches a preset position; determining the steering test result of the vehicle according to a first operating condition parameter and / or a first driving score during the process of the steering wheel of the vehicle rotating at the second speed; wherein the first operating condition parameter includes the steering wheel torque and steering wheel angle of the vehicle.

[0007] In one embodiment, the steering test includes a steady-state steering test and a transient steering test; when the steering test is a steady-state steering test, the value range of the second speed is [25 degrees / second, 35 degrees / second]; when the steering test is a transient steering test, the second speed is ≥200 degrees / second.

[0008] In one embodiment, based on the first dynamic model and the steering motion scenario, a return-to-center test is performed on the vehicle to obtain a return-to-center test result of the vehicle, including: based on the first dynamic model, after the time for which the vehicle is controlled to travel in a straight line at a third speed in the steering motion scenario reaches a second preset time, continuing to control the vehicle to perform a right-angle turn or a U-turn in the steering motion scenario; when a first deviation angle between the front of the vehicle and the centerline of a target lane is less than a preset value and the steering wheel of the vehicle is in a released state, controlling the steering wheel of the vehicle to reset; determining the return-to-center test result of the vehicle according to a second operating condition parameter and / or a second driving score of the vehicle; wherein the second operating condition parameter includes the time taken for the steering wheel of the vehicle to reset, the yaw angular velocity overshoot of the vehicle during the steering wheel reset process, and the second deviation angle between the front of the vehicle and the centerline of the target lane after the direction is reset, and the steering wheel angle required to compensate for correcting the second deviation angle; the target lane is the lane where the vehicle completes the right-angle turn or the U-turn.

[0009] In one embodiment, the special road motion scene is an uneven road motion scene; based on the second dynamic model and the special road motion scene, the vehicle is subjected to a bumpy road test to obtain a bumpy road test result of the vehicle, including: based on the second dynamic model, controlling the vehicle to travel in a straight line at a fourth speed in the uneven road motion scene; determining the bumpy road test result of the vehicle according to a third operating condition parameter and / or a third driving score of the vehicle during the straight-line driving in the uneven road motion scene; wherein the third operating condition parameter is the amplitude of the medium and high frequency torque of the steering wheel of the vehicle.

[0010] In one embodiment, the special road motion scene is a road motion scene with an obstacle; based on the second dynamic model and the special road motion scene, a discrete impact test is performed on the vehicle to obtain a discrete impact test result of the vehicle, including: based on the second dynamic model, controlling the vehicle to travel toward the obstacle at a fifth speed in the road motion scene with the obstacle so that the vehicle collides with the obstacle; determining the discrete impact test result of the vehicle according to a fourth operating condition parameter and / or a fourth driving score during the collision between the vehicle and the obstacle; wherein the fourth operating condition parameter is the steering wheel torque of the vehicle.

[0011] The present application also provides a testing system for a wire-controlled steering force simulation strategy, comprising a first acquisition module, a second acquisition module and a testing module; the first acquisition module is used to acquire a vehicle dynamics model, the vehicle dynamics model having a wire-controlled steering force simulation strategy; the second acquisition module is used to acquire a motion scene for testing the wire-controlled steering force simulation strategy; the testing module is used to test the wire-controlled steering force simulation strategy based on the vehicle dynamics model and the motion scene, obtain a test result, and adjust the wire-controlled steering force simulation strategy when the test result is unqualified.

[0012] The present application also provides an electronic device, which includes a memory and a processor, wherein the memory stores a computer program, and the processor implements the test method of the above-mentioned wire-controlled steering force simulation strategy when executing the computer program.

[0013] The present application also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the test method of the above-mentioned wire-controlled steering force simulation strategy is implemented.

[0014] The present application provides a testing method and product for a steering-by-wire force simulation strategy, which is based on a vehicle dynamics model with a steering-by-wire force simulation strategy and a motion scenario for testing the steering-by-wire force simulation strategy. The method and product can conduct a comprehensive and effective test on the steering-by-wire force simulation strategy, thus filling the gap in the field of steering-by-wire technology for testing and verifying steering-by-wire force simulation strategies. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a flow chart of an embodiment of a test method for a wire-controlled steering force simulation strategy provided by the present application;

[0016] Figure 2 It is a schematic diagram of a return-to-center test curve of an embodiment of a test method for a wire-controlled steering force simulation strategy provided by the present application;

[0017] Figure 3 It is a specific flow chart of an embodiment of a test method for a wire-controlled steering force simulation strategy provided by the present application;

[0018] Figure 4 It is a structural schematic diagram of an embodiment of a test system for a wire-controlled steering force simulation strategy provided by the present application;

[0019] Figure 5 is a schematic structural diagram of an embodiment of an electronic device provided by the present application;

[0020] Figure 6 It is a structural schematic diagram of another embodiment of the electronic device provided by the present application. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the present application belong to the scope of protection of this application.

[0022] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0023] The test method of the wire-controlled steering force simulation strategy provided in the embodiment of the present application can be applied to the terminal, can also be applied to the server side, and can also be software running in the terminal or the server side. In some embodiments, the terminal can be a smart phone, a tablet computer, a laptop computer, a desktop computer, etc.; the server side can be configured as an independent physical server, or a server cluster or distributed system composed of multiple physical servers, and can also be configured as a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms; the software can be an application of the test method of the wire-controlled steering force simulation strategy, etc., but is not limited to the above forms.

[0024] The test method of the wire control steering force simulation strategy provided in the embodiment of the present application is described in detail below with reference to the accompanying drawings through specific embodiments.

[0025] See also Figure 1 The present application embodiment provides a method for testing a wire-controlled steering force simulation strategy, comprising:

[0026] Step S101: obtaining a vehicle dynamics model, wherein the vehicle dynamics model has a steer-by-wire force simulation strategy;

[0027] Step S102: obtaining a sports scene for testing the steer-by-wire force simulation strategy;

[0028] Step S103: testing the steering-by-wire force simulation strategy based on the vehicle dynamics model and the motion scene to obtain a test result;

[0029] Step S104: When the test result is unqualified, adjusting the steer-by-wire force simulation strategy.

[0030] A testing method for a steering-by-wire force simulation strategy provided in an embodiment of the present application obtains a vehicle dynamics model with a steering-by-wire force simulation strategy and a motion scene for testing the steering-by-wire force simulation strategy, and tests the steering-by-wire force simulation strategy based on the vehicle dynamics model and the motion scene to obtain test results, and adjusts the steering-by-wire force simulation strategy when the test results are unqualified. The method can comprehensively and effectively test the steering-by-wire force simulation strategy, filling the gap in the testing and verification of steering-by-wire force simulation strategies in the field of steering-by-wire.

[0031] Acquiring the vehicle dynamics model in the above step S101 includes:

[0032] Obtain body parameters, suspension system parameters, steering system parameters and tire parameters;

[0033] Based on the torque feedback path of the vehicle steering system, the vehicle dynamics model is determined according to the body parameters, suspension system parameters, steering system parameters and tire parameters.

[0034] In one embodiment, the steering system parameters include parameters of a steering system force feedback model, and the steering system force feedback model has a steering system force sense simulation strategy. Optionally, the steering system force feedback model is:

[0035]

[0036] T sw =T m +T δ +T J +T f +T C +T R

[0037] T m Represents the calculated mechanical feedback torque, J sw Represents the equivalent moment of inertia of the steering wheel angle (SWA) part, θ sw Indicates the steering wheel angle, Indicates the steering wheel speed. is the steering wheel angular acceleration, C sw Indicates the equivalent damping of the steer-by-wire road feel simulation part, K sw represents the equivalent stiffness of the steer-by-wire road feel simulation part, θ m Steering motor angle, i m Steering motor reducer transmission ratio, T sw Represents the feedback torque of the motor, T δ Represents the basic assist torque of the motor, T J Indicates the inertia compensation torque, T f represents the friction compensation torque, T C represents the damping compensation torque, T R Indicates the return torque.

[0038] In one embodiment, the torque feedback path of the vehicle steering system is: tire-road interaction → kingpin torque → tie rod force → motor feedback current → estimated force sense simulation motor request torque, wherein the kingpin torque determines the force transfer calculation through the parameters set by the suspension, and the parameters set by the suspension include the precisely measured kingpin positioning parameters.

[0039] In one embodiment, the tire parameters include parameters of a tire model, and optionally, the tire model may include but is not limited to typical tire models such as a handling stability tire model (Magic Formula model) and a ride comfort tire model (FTire model). Based on the test items of the wire control steering force simulation strategy, the tire model can be flexibly selected to establish a suitable vehicle dynamics model.

[0040] In order to make the driver feel the real road feel, it is necessary not only to perform performance tests such as steering test and self-centering test on the steer-by-wire force feedback strategy, but also to perform functional tests such as bumpy road test and discrete impact test on the steer-by-wire force feedback strategy. In one embodiment, the vehicle dynamics model may include, but is not limited to, a first dynamics model determined based on a handling stability tire model, and a second dynamics model determined based on a ride comfort tire model.

[0041] Taking the test items as performance tests such as steering test and self-centering test as an example, the handling stability tire model can be selected, and the first dynamic model can be determined based on the parameters of the handling stability tire model when other parameters remain unchanged;

[0042] Taking the functional tests such as bumpy road test and discrete impact test as an example, the smooth tire model can be selected, and the second dynamic model can be determined based on the parameters of the smooth tire model when other parameters remain unchanged.

[0043] In the above step S102, the sports scene may include but is not limited to typical sports scenes such as steering sports scenes and special road sports scenes. The sports scene for testing the steer-by-wire force simulation strategy can also be flexibly determined based on the test items of the steer-by-wire force simulation strategy.

[0044] Taking the test items such as steering test and self-centering test as an example, a ground parking lot scene with a large steering range, standard two-way driving lanes, and suitable for low-speed driving can be built to obtain a steering motion scene for steering test, self-centering test and other performance tests of the wire control steering force simulation strategy;

[0045] Taking functional tests such as bumpy road test and discrete impact test as examples, the texture of uneven road surface (road surface used to test the smoothness of vehicle driving) can be modeled and an uneven road motion scene can be built to obtain a special road motion scene for bumpy road test of the wire-controlled steering force simulation strategy. The texture of a road surface with obstacles (such as shoulders) can be modeled and a road motion scene with obstacles can be built to obtain a special road motion scene for discrete impact test of the wire-controlled steering force simulation strategy.

[0046] In actual implementation, the vehicle dynamics model can be compiled into a dynamic driving simulator, and a motion scene can be built in the dynamic driving simulator. The driver can operate the dynamic driving simulator to simulate driving, so as to conduct a virtual test on the wire-controlled steering force simulation strategy.

[0047] The present application is based on the test items of the steering-by-wire force simulation strategy, flexibly determines the tire model for constructing the vehicle dynamics model, and when other parameters remain unchanged, combines the torque feedback path of the vehicle steering system to determine the vehicle dynamics model suitable for the test items of the steering-by-wire force simulation strategy. Further, based on the test items of the steering-by-wire force simulation strategy, the application flexibly determines the motion scenarios for testing the steering-by-wire force simulation strategy, which can not only perform performance tests on the steering-by-wire force simulation strategy, but also perform functional tests on the steering-by-wire force simulation strategy, thereby ensuring the comprehensiveness of the testing of the steering-by-wire force simulation strategy.

[0048] The above step S103: based on the vehicle dynamics model and the motion scene, the steer-by-wire force simulation strategy is tested to obtain the test results, including:

[0049] Based on the first dynamics model and the steering motion scenario, a steering test and a self-centering test are performed on the vehicle to obtain a steering test result and a self-centering test result of the vehicle;

[0050] Based on the second dynamics model and the special road motion scenario, the vehicle is subjected to a bumpy road test and a discrete impact test to obtain the bumpy road test results and the discrete impact test results of the vehicle;

[0051] Among them, the test results of the wire-controlled steering force simulation strategy include vehicle steering test results, return-to-center test results, bumpy road test results and discrete impact test results.

[0052] The present application performs steering tests, self-centering tests and other performance tests on the vehicle based on the first dynamic model determined by the handling stability tire model and the steering motion scenario for performing steering tests, self-centering tests and other performance tests on the steering-by-wire force simulation strategy. The application also performs bumpy road tests, discrete impact tests and other functional tests on the vehicle based on the second dynamic model determined by the smoothness tire model and the special road motion scenario for performing bumpy road tests, discrete impact tests and other functional tests on the vehicle, thereby ensuring the comprehensiveness of the testing of the steering-by-wire force simulation strategy.

[0053] In one embodiment, the vehicle is subjected to a steering test based on the first dynamics model and the steering motion scenario to obtain a steering test result of the vehicle, including:

[0054] Based on the first dynamic model, after the duration of controlling the vehicle to travel in a straight line at a first speed in a turning motion scenario reaches a first preset duration, continue to control the steering wheel of the vehicle to rotate at a second speed so that the vehicle performs a turning motion in the turning motion scenario until the steering wheel of the vehicle reaches a preset position;

[0055] determining a steering test result of the vehicle according to a first operating condition parameter and / or a first driving score during a process in which a steering wheel of the vehicle rotates at a second speed;

[0056] Among them, the first operating condition parameters include the steering wheel torque and steering wheel angle of the vehicle.

[0057] In one embodiment, the driver operates a dynamic driving simulator compiled with a first dynamic model, controls the vehicle to travel at a first speed (such as a speed not higher than 20 km / h) in a steering motion scene at a uniform speed and straight line for a first preset time (such as 3s, 5s, etc.), and then continues to control the steering wheel of the vehicle to rotate left or right at a second speed (such as a speed of 25 degrees / second to 35 degrees / second, a speed not lower than 200 degrees / second, etc.) at a uniform speed, so that the vehicle performs a steering motion in the steering motion scene until the steering wheel of the vehicle reaches a preset position. The steering test result of the vehicle can be determined according to the first driving score of the driver on the force feedback effect of the vehicle during the process of the steering wheel of the vehicle turning left or right at the second speed, and the steering test result of the vehicle can also be determined according to the steering wheel torque and steering wheel angle of the vehicle collected during the process of the steering wheel of the vehicle turning left or right at the second speed, and the first driving score of the driver on the force feedback effect of the vehicle. The steering test result of the vehicle can also be determined comprehensively according to the steering wheel torque and steering wheel angle of the vehicle collected during the process of the steering wheel of the vehicle turning at the second speed, and the first driving score of the driver on the force feedback effect of the vehicle.

[0058] The present application is based on a first dynamic model. After controlling the vehicle to travel in a straight line at a first speed in a steering motion scenario for a first preset time, the vehicle's steering wheel continues to be controlled to rotate at a second speed, so that the vehicle performs a steering motion in the steering motion scenario until the vehicle's steering wheel reaches a preset position. The vehicle's steering test result is determined based on a first operating condition parameter and / or a first driving score during the vehicle's steering wheel rotating at the second speed, thereby ensuring the effectiveness of the steering test of the wire-controlled steering force simulation strategy.

[0059] In one embodiment, determining the steering test result of the vehicle at the second speed according to the first operating condition parameter during the process of the steering wheel of the vehicle rotating at the second speed includes:

[0060] Determine a steering wheel torque-steering wheel angle curve of the vehicle according to the steering wheel torque and steering wheel angle of the vehicle;

[0061] A steering test result of the vehicle is determined based on a steering wheel torque-steering wheel angle curve of the vehicle at the second speed.

[0062] Optionally, the steering test may include, but is not limited to, a steady-state steering test and a transient steering test. Optionally, when the steering test is a steady-state steering test, the second speed has a value range of [25 degrees / second, 35 degrees / second], and when the steering test is a transient steering test, the second speed is ≥200 degrees / second.

[0063] For example, the driver operates a dynamic driving simulator compiled with the first dynamic model, controls the vehicle to drive at a constant speed of 15 km / h in a steering motion scene for 5 seconds, and then continues to control the steering wheel of the vehicle to turn left or right at a speed of 30 degrees / second until the steering wheel of the vehicle reaches the limit position. In the process of controlling the steering wheel of the vehicle to turn left or right, the driver determines the first driving score of the vehicle by feeling the linearity of the steering wheel force and the steering wheel angle. At the same time, according to the collected steering wheel torque and steering wheel angle of the vehicle, the steering wheel torque-steering wheel angle curve of the vehicle is drawn, and the slope of the steering wheel torque-steering wheel angle curve within the preset steering wheel angle range (such as -5 degrees to +5 degrees) is calculated. If the first driving score does not meet the standard, and / or the slope of the steering wheel torque-steering wheel angle curve within the preset steering wheel angle range does not meet the standard, then a steady-state steering test result indicating that the vehicle steady-state steering test fails is obtained; if the first driving score meets the standard, and the slope of the steering wheel torque-steering wheel angle curve within the preset steering wheel angle range meets the standard, then a steady-state steering test result indicating that the vehicle steady-state steering test passes is obtained. It is worth mentioning that in order to further ensure the validity of the vehicle steady-state steering test results, parameters such as vehicle speed, steering wheel speed, and time can be kept unchanged, and only the steering direction of the steering wheel can be changed to repeat the above-mentioned steady-state steering test process, and the vehicle is subjected to no less than three steady-state steering tests to recheck the vehicle's steady-state steering test results and ensure the validity of the vehicle's steady-state steering test results.

[0064] For example, the driver operates a dynamic driving simulator compiled with the first dynamic model, controls the vehicle to drive at a constant speed of 15 km / h in a steering motion scene for 5 seconds, and then continues to control the steering wheel of the vehicle to turn left or right quickly at a speed of 200 degrees / second, and fixes the vehicle for a few seconds after the steering wheel reaches a preset position (set according to the steering wheel angle range commonly used when the vehicle is driving at low speed). In the process of controlling the steering wheel of the vehicle to turn left or right, the driver evaluates the transient response characteristics of the wire control steering force simulation strategy by feeling whether the change in the steering wheel force is in line with expectations, determines the first driving score of the vehicle, and draws the vehicle's steering wheel torque-steering wheel angle curve based on the collected vehicle's steering wheel torque and steering wheel angle, and analyzes the vehicle's steering wheel torque-steering wheel angle curve to determine whether the steering wheel torque has fluctuations such as burrs and jitters when the steering wheel angle changes rapidly. If the first driving score does not meet the standard, and / or the steering wheel torque does not fluctuate with burrs, jitters, etc. when the steering wheel angle changes rapidly, a transient steering test result indicating that the vehicle transient steering test fails is obtained; if the first driving score meets the standard, and the steering wheel torque fluctuates with burrs, jitters, etc. when the steering wheel angle changes rapidly, a transient steering test result indicating that the vehicle transient steering test passes is obtained. It is worth mentioning that in order to further ensure the validity of the vehicle's transient steering test results, parameters such as vehicle speed, steering wheel speed, and time can be kept unchanged, and only the steering direction of the steering wheel can be changed to repeat the above-mentioned steady-state steering test process, and the vehicle is subjected to no less than three transient steering tests to recheck the vehicle's transient steering test results and ensure the validity of the vehicle's transient steering test results.

[0065] The present application determines a steady-state steering test result of the vehicle based on the slope of a steering wheel torque-steering wheel angle curve within a preset steering wheel angle range when the steering wheel of the vehicle rotates at a second speed, and / or a first driving score, so as to ensure the effectiveness of a steady-state steering test on a steering-by-wire force simulation strategy. The present application also determines a transient steering test result of the vehicle based on a steering wheel torque-steering wheel angle curve when the steering wheel of the vehicle rotates at the second speed, by determining the fluctuation of the steering wheel torque when the steering wheel angle changes rapidly, and / or the first driving score, so as to ensure the effectiveness of a transient steering test on a steering-by-wire force simulation strategy, and ensure the comprehensiveness and effectiveness of a steering test on a steering-by-wire force simulation strategy.

[0066] In one embodiment, the vehicle is subjected to a return-to-center test based on the first dynamics model and the steering motion scenario to obtain a return-to-center test result of the vehicle, including:

[0067] Based on the first dynamics model, after the duration of controlling the vehicle to travel in a straight line at a third speed in a turning motion scenario reaches a second preset duration, continuing to control the vehicle to perform a right-angle turn or a U-turn in the turning motion scenario;

[0068] When a first deviation angle between the front of the vehicle and the center line of the target lane is less than a preset value and the steering wheel of the vehicle is in a released state, controlling the steering wheel of the vehicle to reset;

[0069] Determining a return-to-center test result of the vehicle according to a second operating condition parameter and / or a second driving score of the vehicle;

[0070] Among them, the second operating condition parameters include the time taken for the vehicle's steering wheel to reset, the vehicle's yaw angular velocity overshoot during the steering wheel reset process, the second deviation angle between the vehicle's front and the center line of the target lane after the steering wheel reset, and the steering wheel angle required to compensate for the second deviation angle; the target lane is the lane where the vehicle completes a right-angle turn or a U-turn.

[0071] In one embodiment, the driver operates a dynamic driving simulator compiled with a first dynamic model to control the vehicle to travel in a straight line at a uniform speed in a turning motion scenario at a third speed (such as a vehicle speed not higher than 20 km / h) for a first preset time (such as 3s, 5s, etc.), so that after the vehicle arrives at the intersection, the driver continues to control the vehicle to make a right-angle turn or a U-turn at a low speed (such as a vehicle speed not higher than 20 km / h), so that the vehicle performs a right-angle turn or a U-turn in the turning motion scenario, and when a first deviation angle between the front of the vehicle and the center line of the lane where the vehicle completes the right-angle turn or the U-turn is less than a preset value (such as a deviation angle <10 degrees), and the driver stops operating the dynamic driving simulator to release the steering wheel of the vehicle, the steering wheel of the vehicle is reset by the return control of the motor. The vehicle's return-to-center test result can be determined according to a second driving score determined by the driver based on the time taken for the vehicle's steering wheel to be reset and the reset effect. The vehicle's return-to-center test result can also be determined according to the time taken for the steering wheel to be reset, the vehicle's yaw rate overshoot during the steering wheel reset process, the second deviation angle between the vehicle's front and the center line of the target lane after the steering wheel is reset, and the steering wheel angle required to be compensated for correcting the second deviation angle. The vehicle's return-to-center test result can also be determined according to the time taken for the steering wheel to be reset, the vehicle's yaw rate overshoot during the steering wheel reset process, the second deviation angle between the vehicle's front and the center line of the target lane after the steering wheel is reset, and the steering wheel angle required to be compensated for correcting the second deviation angle. The vehicle's return-to-center test result is comprehensively determined in combination with the second driving score determined by the driver based on the time taken for the vehicle's steering wheel to be reset and the reset effect.

[0072] Based on the first dynamic model, the present application controls the vehicle to travel in a straight line at a third speed in a turning motion scenario for a second preset time, and then continues to control the vehicle to perform a right-angle turn or a U-turn in the turning motion scenario. When a first deviation angle between the front of the vehicle and the center line of the target lane is less than a preset value and the steering wheel is in a released state, the steering wheel of the vehicle is controlled to reset, and the vehicle's return-to-center test result is determined based on the vehicle's second operating condition parameters and / or the second driving score, thereby ensuring the effectiveness of the return-to-center test on the wire-controlled steering force simulation strategy.

[0073] In one embodiment, determining a return-to-center test result of the vehicle according to a second operating condition parameter of the vehicle includes:

[0074] If any of the following operating parameters, including the time taken for the vehicle's steering wheel to reset, the vehicle's yaw rate overshoot during the steering wheel reset process, the second deviation angle between the vehicle's front and the centerline of the target lane after the steering wheel reset, and the steering wheel angle required to compensate for the second deviation angle, does not meet the standard, the vehicle's self-centering test result is unqualified;

[0075] The vehicle's return-to-center test is qualified when all operating parameters, including the time taken for the vehicle's steering wheel to reset, the vehicle's yaw rate overshoot during the steering wheel reset process, the second deviation angle between the vehicle's front and the center line of the target lane after the steering wheel reset, and the steering wheel angle required to compensate for the second deviation angle, meet the standards.

[0076] Optionally, according to the relationship between the vehicle yaw angular velocity and time during the vehicle steering wheel reset process, a graph such as Figure 2 In the return test curve shown in FIG. 1 , the time taken for the vehicle's steering wheel to reset is equal to the time taken for the vehicle's yaw rate to change from D0 to 0 in the yaw rate-time curve (i.e. Figure 2 stabilization time in .

[0077] Optionally, the yaw rate overshoot of the vehicle during the steering wheel resetting process is determined by the following formula:

[0078]

[0079] Wherein, C is the yaw rate overshoot of the vehicle during the steering wheel resetting process, D0 is the initial yaw rate of the vehicle collected during the steering wheel resetting process, and D1 is the peak value of the first yaw rate of the vehicle collected during the steering wheel resetting process except the initial yaw rate.

[0080] The time taken for the steering wheel of the vehicle of the present application to reset, the overshoot of the yaw angular velocity of the vehicle during the steering wheel reset process, the second deviation angle between the front of the vehicle and the center line of the target lane obtained after the steering wheel reset, the steering wheel angle required to compensate for the second deviation angle, and / or the second driving score are used to determine the vehicle's return-to-center test result, thereby ensuring the effectiveness of the return-to-center test of the wire-controlled steering force simulation strategy.

[0081] In one embodiment, the special road motion scene is an uneven road motion scene, and the bumpy road test is performed on the vehicle based on the second dynamics model and the special road motion scene to obtain the bumpy road test result of the vehicle, including:

[0082] Based on the second dynamics model, controlling the vehicle to travel straight at a fourth speed in an uneven road motion scene;

[0083] Determining a bumpy road test result of the vehicle according to a third operating condition parameter and / or a third driving score during the straight-line driving of the vehicle in a sports scene on an uneven road;

[0084] Among them, the third operating condition parameter is the amplitude of the medium and high frequency torque of the steering wheel of the vehicle.

[0085] Exemplarily, the driver operates a dynamic driving simulator compiled with a second dynamic model to control the vehicle to maintain a uniform straight-line driving on an uneven road surface at a fourth speed (e.g., a speed not higher than 20 km / h). The excitation of the vehicle tire and the uneven road surface causes the tire force transmission to generate vibration of the rack force, thereby generating posture vibration. The third driving score determined by the driver can be used to evaluate the vibration isolation ability of the wire control steering force simulation strategy during the vehicle's uniform straight-line driving on the uneven road surface, and the bumpy road test result of the vehicle can also be determined according to the amplitude of the medium and high frequency torque of the steering wheel of the vehicle during the vehicle's uniform straight-line driving on the uneven road surface. The bumpy road test result of the vehicle can also be determined according to the amplitude of the medium and high frequency torque of the steering wheel of the vehicle during the vehicle's uniform straight-line driving on the uneven road surface and the third driving score. Optionally, the amplitude of the medium and high frequency torque of the steering wheel of the vehicle is obtained by performing a fast Fourier transform on the force data of the steering wheel.

[0086] The present application is based on the second dynamic model to control the vehicle to travel in a straight line at a fourth speed in an uneven road motion scenario, and determines the bumpy road test result of the vehicle according to the third operating condition parameters and / or the third driving score of the vehicle during the straight-line driving in the uneven road motion scenario, thereby ensuring the effectiveness of the bumpy road test of the wire-controlled steering force simulation strategy.

[0087] In one embodiment, determining the bumpy road test result of the vehicle according to the third operating condition parameter of the vehicle in a straight-line driving process in an uneven road motion scene includes:

[0088] If the reduction in the amplitude of the medium and high frequency torque of the steering wheel of the vehicle relative to the reference amplitude meets the standard during the straight-line driving of the vehicle on the uneven road motion scene, a bumpy road test result indicating that the vehicle has passed the bumpy road test is obtained;

[0089] If the reduction in the amplitude of the mid- and high-frequency torque of the vehicle's steering wheel relative to the reference amplitude does not meet the standard during the vehicle's straight-line driving on an uneven road motion scenario, a bumpy road test result indicating that the vehicle has failed the bumpy road test is obtained.

[0090] Optionally, the reference amplitude is the amplitude of the mid-high frequency torque of the steering wheel of a vehicle with a traditional mechanical steering system in a straight-line driving process on an uneven road motion scene. Under the effective effect of the wire steering force simulation strategy, the amplitude of the mid-high frequency torque of the steering wheel of a vehicle with a wire steering system will be significantly reduced relative to the amplitude of the mid-high frequency torque of the steering wheel of a vehicle with a mechanical steering system.

[0091] Exemplarily, the driver operates a dynamic driving simulator compiled with a second dynamic model, controls the vehicle to maintain a uniform straight line driving at a speed of 10 km / h on an uneven road surface, and the driver determines the third driving score by evaluating the vibration isolation capability of the wire-controlled steering force simulation strategy, and simultaneously obtains the amplitude of the medium and high frequency torque of the vehicle steering wheel, and compares it with the amplitude of the medium and high frequency torque of the vehicle steering wheel of the traditional mechanical steering system to determine the reduction range of the amplitude of the medium and high frequency torque of the vehicle steering wheel. If the third driving score does not meet the standard, and / or the reduction range of the amplitude of the medium and high frequency torque of the vehicle steering wheel is less than or equal to the preset range, a bumpy road test result indicating that the vehicle has failed the bumpy road test is obtained; if the third driving score meets the standard, and the reduction range of the amplitude of the medium and high frequency torque of the vehicle steering wheel is greater than the preset range, a bumpy road test result indicating that the vehicle has passed the bumpy road test is obtained.

[0092] The present application determines the vehicle bumpy road test result based on the reduction in the amplitude of the medium and high frequency torque of the steering wheel of the vehicle when the vehicle is driving in a straight line at a fourth speed in an uneven road motion scenario, and / or the third driving score, to ensure the effectiveness of the bumpy road test of the wire-controlled steering force simulation strategy.

[0093] In one embodiment, the special road motion scene is a road motion scene with obstacles. The discrete impact test is performed on the vehicle based on the second dynamic model and the special road motion scene to obtain the discrete impact test result of the vehicle, including:

[0094] Based on the second dynamic model, controlling the vehicle to move toward the obstacle at a fifth speed in a road motion scene where the obstacle is set, so that the vehicle collides with the obstacle;

[0095] Determining a discrete impact test result of the vehicle according to a fourth operating condition parameter and / or a fourth driving score during a collision between the vehicle and an obstacle;

[0096] Among them, the fourth operating condition parameter is the steering wheel torque of the vehicle.

[0097] Exemplarily, the driver operates a dynamic driving simulator compiled with the second dynamic model, controls the vehicle to travel at a fifth speed (e.g., a speed not higher than 20 km / h) on a road surface provided with a 10 mm protrusion toward the protrusion, and causes the vehicle to collide with an obstacle, so as to simulate the working condition of the vehicle suddenly hitting the obstacle. The discrete impact test result of the vehicle can be determined based on the fourth driving score determined by evaluating the force feedback effect of the steering wheel by the driver when the vehicle collides with the obstacle, and the discrete impact test result of the vehicle can also be determined based on the steering wheel torque of the vehicle when the vehicle collides with the obstacle. The discrete impact test result of the vehicle can also be determined based on the steering wheel torque of the vehicle when the vehicle collides with the obstacle and the fourth driving score.

[0098] Based on the second dynamic model, the present application controls the vehicle to travel towards the obstacle at a fifth speed in a road motion scenario with an obstacle so that the vehicle collides with the obstacle, and determines the discrete impact test result of the vehicle according to the fourth operating condition parameters and / or the fourth driving score during the collision between the vehicle and the obstacle, thereby ensuring the effectiveness of the discrete impact test of the wire-controlled steering force simulation strategy.

[0099] In one embodiment, determining a discrete impact test result of the vehicle according to a fourth operating condition parameter during a collision between the vehicle and an obstacle includes:

[0100] According to the relationship between the steering wheel torque and time during the collision between the vehicle and the obstacle, a steering wheel torque-time curve is determined;

[0101] If there is a pulse on the steering wheel torque-time curve and the pulse amplitude meets the standard, a discrete impact test result indicating that the vehicle discrete impact test is qualified is obtained;

[0102] If there are pulses on the steering wheel torque-time curve but the pulse amplitude does not meet the standard, and / or there are no pulses on the steering wheel torque-time curve, a discrete impact test result indicating that the vehicle discrete impact test fails is obtained.

[0103] Exemplarily, the driver operates a dynamic driving simulator compiled with a second dynamic model, controls the vehicle to travel at a speed of 10 km / h, on a road surface provided with a 10 mm protrusion toward the protrusion. In the process of controlling the vehicle to travel toward the protrusion on a road surface provided with a 10 mm protrusion, the driver determines the fifth driving score of the vehicle according to whether the force feedback of the steering wheel meets expectations, and draws a steering wheel torque-time curve according to the relationship between the steering wheel torque and time during the collision between the vehicle and the obstacle. If the fifth driving score of the vehicle does not meet the standard, and / or there is a pulse on the steering wheel torque-time curve but the pulse amplitude does not meet the standard, and / or there is no pulse on the steering wheel torque-time curve, then a discrete impact test result of the vehicle failing the discrete impact test is obtained; if the fifth driving score of the vehicle meets the standard, and there is a pulse on the steering wheel torque-time curve and the pulse amplitude meets the standard, then a discrete impact test result of the vehicle passing the discrete impact test is obtained.

[0104] The present application determines the discrete impact test result of the vehicle based on whether there is a pulse in the steering wheel torque-time curve during a collision between the vehicle and an obstacle and whether the pulse amplitude meets the standard, and / or the fifth driving score, thereby ensuring the effectiveness of the discrete impact test of the wire-controlled steering force simulation strategy.

[0105] Figure 3 The present invention provides a specific flow chart of an embodiment of a method for testing a wire-controlled steering force simulation strategy. The present invention provides a method for testing a wire-controlled steering force simulation strategy, comprising:

[0106] Step S201: obtaining a vehicle dynamics model, wherein the vehicle dynamics model has a steer-by-wire force simulation strategy;

[0107] Step S202: obtaining a sports scene for testing the steer-by-wire force simulation strategy;

[0108] Step S203: Based on the vehicle dynamics model and the motion scene, a steady-state steering test, a transient steering test, a return test, a bumpy road test, and a discrete impact test are performed on the wire steering force simulation strategy to obtain steady-state steering test results, transient steering test results, return test results, bumpy road test results, and discrete impact test results;

[0109] Step S204: determining whether the steady-state steering test result, the transient steering test result, the return-to-center test result, the bumpy road test result, and the discrete impact test result are all qualified;

[0110] If any one of the steady-state steering test result, the transient steering test result, the self-centering test result, the bumpy road test result and the discrete impact test result is unqualified, then executing step S205: adjusting the wire steering force simulation strategy according to the unqualified test result, and updating the vehicle dynamics model, then returning to executing step S201, and then continuing to execute step S203;

[0111] If the steady-state steering test results, transient steering test results, self-centering test results, bumpy road test results and discrete impact test results are all qualified, step S206 is executed: the steer-by-wire force simulation strategy is kept unchanged to obtain the final steer-by-wire force simulation strategy.

[0112] A testing method for a steering-by-wire force simulation strategy provided in an embodiment of the present application includes several parts, including building a vehicle dynamics model, constructing a motion scene, a steady-state steering test, a transient steering test, a return-to-center test, a bumpy road test, a discrete impact test and final strategy generation. It not only provides a specific testing method for performance tests such as steady-state steering test, transient steering test and return-to-center test with steering wheel angle for the steering-by-wire force simulation strategy, but also provides a specific testing method for functional tests such as bumpy road test and discrete impact test for the steering-by-wire force simulation strategy, which can ensure the comprehensiveness and effectiveness of the force simulation strategy test, especially the comprehensiveness and effectiveness of the force simulation strategy test at low speed.

[0113] See also Figure 4 The embodiment of the present application also provides a test system 400 for a wire-controlled steering force simulation strategy, which can implement the test method of the above-mentioned wire-controlled steering force simulation strategy. The system includes: a first acquisition module 401, a second acquisition module 402 and a test module 403.

[0114] The first acquisition module 401 is used to acquire a vehicle dynamics model, and the vehicle dynamics model has a wire-controlled steering force simulation strategy;

[0115] The second acquisition module 402 is used to acquire a sport scene for testing the steer-by-wire force simulation strategy;

[0116] The testing module 403 is used to test the steering-by-wire force simulation strategy based on the vehicle dynamics model and the motion scene, obtain the test result, and adjust the steering-by-wire force simulation strategy when the test result is unqualified.

[0117] The test system for the wire-controlled steering force simulation strategy provided in the embodiment of the present application can implement each step of the test method embodiment of the wire-controlled steering force simulation strategy described above, and can achieve the same technical effect. To avoid repetition, it will not be described here.

[0118] Alternatively, if Figure 5As shown, the embodiment of the present application also provides an electronic device 500, including a processor 501 and a memory 502, the memory 502 stores a program or instruction that can be run on the processor 501, and the program or instruction is executed by the processor 501 to implement the various steps of the test method embodiment of the above-mentioned wire control steering force simulation strategy, and can achieve the same technical effect, to avoid repetition, it will not be repeated here. It should be noted that the electronic device in the embodiment of the present application includes the above-mentioned mobile electronic device and non-mobile electronic device.

[0119] Figure 6 A schematic diagram of the hardware structure of an electronic device for implementing an embodiment of the present application is provided, wherein the electronic device includes:

[0120] The processor 601 may be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of the present application;

[0121] The memory 602 may be implemented in the form of a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 602 may store an operating system and other application programs. When the technical solution provided in the embodiment of this specification is implemented by software or firmware, the relevant program code is stored in the memory 602, and the processor 601 calls and executes the test method of the wire control steering force simulation strategy in the embodiment of this application;

[0122] Input / output interface 603, used to implement information input and output;

[0123] Communication interface 604, used to realize communication interaction between the device and other devices, which can be realized by wired mode (such as USB, network cable, etc.) or wireless mode (such as mobile network, WIFI, Bluetooth, etc.);

[0124] Bus 605 , which transmits information between various components of the device (e.g., processor 601 , memory 602 , input / output interface 603 , and communication interface 604 );

[0125] The processor 601 , the memory 602 , the input / output interface 603 and the communication interface 604 are connected to each other in communication within the device via a bus 605 .

[0126] The electronic device provided in the embodiment of the present application can implement each step of the above-mentioned test method embodiment of the wire-controlled steering force simulation strategy, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0127] An embodiment of the present application also provides a computer-readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the various steps of the test method embodiment of the above-mentioned wire-controlled steering force simulation strategy are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0128] The processor is the processor in the electronic device described in the above embodiment. The computer-readable storage medium includes a computer-readable storage medium such as a computer read-only memory ROM, a random access memory RAM, a magnetic disk or an optical disk.

[0129] An embodiment of the present application further provides a chip, which includes a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the various steps of the above-mentioned test method embodiment of the wire-controlled steering force simulation strategy, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0130] It should be understood that the chip mentioned in the embodiments of the present application can also be called a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.

[0131] An embodiment of the present application provides a computer program product, which is stored in a storage medium. The program product is executed by at least one processor to implement the various steps of the test method embodiment of the wire-controlled steering force simulation strategy as described above, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0132] It should be noted that, in this article, the terms "comprise", "include" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise one..." do not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0133] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a computer software product, which is stored in a storage medium (such as ROM / RAM, a disk, or an optical disk), and includes a number of instructions for a terminal (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0134] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

Claims

1. A test method for a steer-by-wire force simulation strategy, characterized in that: include: Acquiring a vehicle dynamics model, wherein the vehicle dynamics model has a steer-by-wire force simulation strategy; Acquiring a motion scenario for testing the steer-by-wire force simulation strategy; Based on the vehicle dynamics model and the motion scenario, the steering-by-wire force simulation strategy is tested to obtain a test result; When the test result is unqualified, the steer-by-wire force simulation strategy is adjusted.

2. The testing method according to claim 1, characterized in that: The vehicle dynamics model includes a first dynamics model determined based on a handling stability tire model, and a second dynamics model determined based on a ride comfort tire model; the motion scene includes a steering motion scene and a special road motion scene; The testing of the steering-by-wire force simulation strategy based on the vehicle dynamics model and the motion scenario to obtain a test result includes: Based on the first dynamics model and the steering motion scenario, performing a steering test and a return-to-center test on the vehicle to obtain a steering test result and a return-to-center test result of the vehicle; Based on the second dynamic model and the special road motion scenario, performing a bumpy road test and a discrete impact test on the vehicle to obtain a bumpy road test result and a discrete impact test result of the vehicle; Among them, the test results of the wire-controlled steering force simulation strategy include the steering test results, the return test results, the bumpy road test results and the discrete impact test results of the vehicle.

3. The testing method according to claim 2, characterized in that: Based on the first dynamics model and the steering motion scenario, a steering test is performed on the vehicle to obtain a steering test result of the vehicle, including: Based on the first dynamic model, after the duration of controlling the vehicle to travel in a straight line at a first speed in the turning motion scenario reaches a first preset duration, continuing to control the steering wheel of the vehicle to rotate at a second speed so that the vehicle performs a turning motion in the turning motion scenario until the steering wheel of the vehicle reaches a preset position; determining a steering test result of the vehicle according to a first operating condition parameter and / or a first driving score during a process in which a steering wheel of the vehicle rotates at a second speed; Wherein, the first operating condition parameter includes the steering wheel torque and steering wheel angle of the vehicle.

4. The testing method according to claim 3, characterized in that: The steering test includes a steady-state steering test and a transient steering test; When the steering test is a steady-state steering test, the value range of the second speed is [25 degrees / second, 35 degrees / second]; When the steering test is a transient steering test, the second speed is ≥ 200 degrees / second.

5. The testing method according to claim 2, characterized in that: Based on the first dynamics model and the steering motion scenario, a return-to-center test is performed on the vehicle to obtain a return-to-center test result of the vehicle, including: Based on the first dynamics model, after the duration of controlling the vehicle to travel in a straight line at a third speed in the turning motion scenario reaches a second preset duration, continuing to control the vehicle to perform a right-angle turn or a U-turn in the turning motion scenario; When a first deviation angle between the front of the vehicle and the center line of the target lane is smaller than a preset value and the steering wheel of the vehicle is in a released state, controlling the steering wheel of the vehicle to reset; Determining a return-to-center test result of the vehicle according to a second operating condition parameter and / or a second driving score of the vehicle; Among them, the second operating condition parameters include the time taken for the steering wheel of the vehicle to reset, the yaw rate overshoot of the vehicle during the steering wheel reset process, the second deviation angle between the front of the vehicle and the center line of the target lane after the direction is reset, and the steering wheel angle required to compensate for correcting the second deviation angle; the target lane is the lane where the vehicle completes a right-angle turn or a U-turn.

6. The testing method according to claim 2, characterized in that: The special road sports scene is an uneven road sports scene; Based on the second dynamic model and the special road motion scene, a bumpy road test is performed on the vehicle to obtain a bumpy road test result of the vehicle, including: Based on the second dynamic model, controlling the vehicle to travel straight at a fourth speed in the uneven road motion scene; Determining a bumpy road test result of the vehicle according to a third operating condition parameter and / or a third driving score of the vehicle during straight-line driving in the uneven road motion scene; Among them, the third operating condition parameter is the amplitude of the medium and high frequency torque of the steering wheel of the vehicle.

7. The testing method according to claim 2, characterized in that: The special road motion scene is a road motion scene with obstacles. Based on the second dynamic model and the special road motion scene, a discrete impact test is performed on the vehicle to obtain a discrete impact test result of the vehicle, including: Based on the second dynamic model, controlling the vehicle to travel toward the obstacle at a fifth speed in the road motion scene where the obstacle is disposed, so that the vehicle collides with the obstacle; determining a discrete impact test result of the vehicle according to a fourth operating condition parameter and / or a fourth driving score during a collision between the vehicle and the obstacle; Wherein, the fourth operating condition parameter is the steering wheel torque of the vehicle.

8. A test system for a steer-by-wire force simulation strategy, characterized in that: It includes a first acquisition module, a second acquisition module and a test module; The first acquisition module is used to acquire a vehicle dynamics model, wherein the vehicle dynamics model has a steer-by-wire force simulation strategy; The second acquisition module is used to acquire a motion scene for testing the steering-by-wire force simulation strategy; The testing module is used to test the steering-by-wire force simulation strategy based on the vehicle dynamics model and the motion scene to obtain a test result, and to adjust the steering-by-wire force simulation strategy when the test result is unqualified.

9. An electronic device, characterized in that: The electronic device comprises a memory and a processor, wherein the memory stores a computer program, and the processor implements the test method of the wire control steering force simulation strategy as claimed in any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the test method of the steer-by-wire force simulation strategy according to any one of claims 1 to 7 is implemented.

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