Road sense information determination method, device, vehicle and storage medium

Abstract

The embodiments of the present application provide a method, device, vehicle and storage medium for determining road feel information, which relate to the field of vehicle control. The method includes: determining the front wheel steering angle and vehicle speed of the vehicle, determining the front wheel yaw velocity of the vehicle based on the front wheel steering angle and vehicle speed, obtaining the front wheel lateral force and front wheel sideslip angle of the vehicle based on the front wheel steering angle, vehicle speed and front wheel yaw velocity of the vehicle, obtaining the rack force based on the front wheel lateral force and the front wheel sideslip angle, and providing road feel information to an upward steering system based on the rack force, which can make up for the shortcomings of the vehicle dynamics model in estimating the rack force, thereby improving the authenticity of the road feel information and enhancing the driving experience.

Description

Technical Field

[0001] The present application relates to the field of vehicle control, and more specifically, to a method, device, vehicle and storage medium for determining road sense information. Background Art

[0002] In the prior art, road feel information is usually transmitted through rack force feedback to enhance the driver's operating experience and safety. In order to estimate the rack force, existing methods mainly rely on steering gear dynamics models or vehicle dynamics models for estimation. These models calculate the expected rack force value by simulating the dynamic behavior of the vehicle and steering system. However, these models have certain limitations when estimating rack force. Specifically, methods based on steering gear dynamics models or vehicle dynamics models can better reflect the changes in rack force caused by steering operations, but it is difficult to accurately capture the changes in rack force caused by uneven road surfaces or obstacles.

[0003] In actual driving, vehicles are affected by various road conditions, such as high speed, bumps, potholes or ramps, which can cause additional rack forces. However, when dealing with such rack forces caused by uneven roads or obstacles, the steering gear dynamics model or vehicle dynamics model in the prior art lacks detailed modeling of these specific situations, resulting in inaccurate estimated rack forces. Therefore, although the existing estimation methods can reflect the changes in rack forces caused by driving operations to a certain extent, they cannot comprehensively and accurately estimate the rack forces under all influencing factors, thus affecting the authenticity of road feel information and the improvement of driving experience. Summary of the invention

[0004] The purpose of the present application is to provide a method, device, vehicle and storage medium for determining road sense information, which can improve the authenticity of road sense information.

[0005] In order to achieve the above purpose, the technical solution adopted in the embodiment of the present application is as follows:

[0006] In a first aspect, an embodiment of the present application provides a method for determining road sense information, which is applied to a vehicle controller, wherein the vehicle controller is communicatively connected to an upper steering system, and the method comprises:

[0007] Determine the front wheel steering angle and vehicle speed of the vehicle;

[0008] determining a front wheel yaw rate of the vehicle based on the front wheel steering angle and the vehicle speed;

[0009] Based on the front wheel turning angle, the vehicle speed and the front wheel yaw rate of the vehicle, obtaining the front wheel lateral force and the front wheel sideslip angle of the vehicle;

[0010] Obtaining a rack force based on the front wheel lateral force and the front wheel sideslip angle;

[0011] Road feel information is provided to the upper steering system based on the rack force.

[0012] In an optional implementation, the step of determining the front wheel yaw rate of the vehicle based on the front wheel steering angle and the vehicle speed comprises:

[0013] determining a wheelbase of the vehicle, wherein the wheelbase indicates a sum of a front wheelbase of the vehicle and a rear wheelbase of the vehicle;

[0014] determining a characteristic speed of the vehicle;

[0015] The front wheel yaw rate of the vehicle is calculated based on the front wheel turning angle, vehicle speed, wheelbase, and characteristic vehicle speed.

[0016] In an optional embodiment, the step of obtaining the front wheel lateral force of the vehicle based on the front wheel steering angle, the vehicle speed and the front wheel yaw rate of the vehicle includes:

[0017] Calculating lateral acceleration based on the front wheel yaw rate and the vehicle speed;

[0018] determining a front wheel yaw acceleration based on the front wheel yaw velocity;

[0019] determining the sprung mass, rear wheelbase, and moment of inertia of the vehicle;

[0020] The front wheel lateral force of the vehicle is calculated based on the sprung mass, rear wheelbase, lateral acceleration, moment of inertia, front wheel yaw acceleration and wheelbase.

[0021] In an optional embodiment, the step of obtaining the front wheel sideslip angle of the vehicle based on the front wheel turning angle, the vehicle speed and the front wheel yaw rate of the vehicle comprises:

[0022] determining a wheelbase of the vehicle;

[0023] determining a rear wheel slip angle of the vehicle;

[0024] The front wheel sideslip angle of the vehicle is calculated based on the front wheel turning angle, the rear wheel sideslip angle, the wheelbase, the vehicle speed and the front wheel yaw rate.

[0025] In an optional embodiment, the step of determining the rear wheel slip angle of the vehicle comprises:

[0026] determining the sprung mass, front wheelbase, and moment of inertia of the vehicle;

[0027] Calculating lateral acceleration based on the front wheel yaw rate and the vehicle speed;

[0028] determining a front wheel yaw acceleration based on the front wheel yaw velocity;

[0029] Calculating a rear wheel lateral force of the vehicle based on the sprung mass, front wheelbase, moment of inertia, lateral acceleration, front wheel yaw acceleration, and wheelbase;

[0030] determining a rear wheel cornering stiffness of the vehicle;

[0031] Based on the rear wheel lateral force and the rear wheel cornering stiffness, a rear wheel slip angle of the vehicle is obtained.

[0032] In an optional embodiment, the step of obtaining the rack force based on the front wheel lateral force and the front wheel sideslip angle includes:

[0033] Based on the front wheel lateral force and the front wheel sideslip angle, a tire self-aligning torque is obtained;

[0034] Based on the tire aligning torque, a rack force is determined.

[0035] In an optional embodiment, the step of obtaining the tire self-aligning torque based on the front wheel lateral force and the front wheel sideslip angle includes:

[0036] Determining a lateral force corresponding to the front wheel slip angle;

[0037] Determining a mechanical trail and a pneumatic trail of a tire of the vehicle;

[0038] Based on the lateral force, the mechanical trail, the pneumatic trail and the front wheel lateral force, the tire self-aligning torque is obtained.

[0039] In a second aspect, an embodiment of the present application provides a road sense information determination device, which is applied to a vehicle controller, wherein the vehicle controller is communicatively connected to an upper steering system, and the device includes:

[0040] a determination module, configured to determine a front wheel steering angle and a vehicle speed of a vehicle; determine a front wheel yaw rate of the vehicle based on the front wheel steering angle and the vehicle speed; obtain a front wheel lateral force and a front wheel sideslip angle of the vehicle based on the front wheel steering angle, the vehicle speed and the front wheel yaw rate of the vehicle; and obtain a rack force based on the front wheel lateral force and the front wheel sideslip angle;

[0041] A road feeling information determination module is used to provide road feeling information to the upper steering system based on the rack force.

[0042] In a third aspect, an embodiment of the present application provides a vehicle controller, including a memory and a controller, wherein the memory stores a computer program, and the controller implements the steps of the road sense information determination method when executing the computer program.

[0043] In a fourth aspect, an embodiment of the present application provides a storage medium having a computer program stored thereon, which implements the steps of the road sense information determination method when executed by a controller.

[0044] This application has the following beneficial effects:

[0045] The present application determines the front wheel steering angle and vehicle speed of the vehicle, determines the front wheel yaw velocity of the vehicle based on the front wheel steering angle and the vehicle speed, obtains the front wheel lateral force and front wheel sideslip angle of the vehicle based on the front wheel steering angle, the vehicle speed and the front wheel yaw velocity of the vehicle, obtains the rack force based on the front wheel lateral force and the front wheel sideslip angle, and provides road feel information to the upward steering system based on the rack force, which can make up for the shortcomings of the vehicle dynamics model in estimating the rack force, thereby improving the authenticity of the road feel information and enhancing the driving experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0047] Figure 1 A block diagram of a vehicle controller provided in an embodiment of the present application;

[0048] Figure 2 One of the flowcharts of a method for determining road sense information provided in an embodiment of the present application;

[0049] Figure 3 A second flowchart of a method for determining road sense information provided in an embodiment of the present application;

[0050] Figure 4 A third flowchart of a method for determining road sense information provided in an embodiment of the present application;

[0051] Figure 5 A fourth flowchart of a method for determining road sense information provided in an embodiment of the present application;

[0052] Figure 6 A fifth flowchart of a method for determining road sense information provided in an embodiment of the present application;

[0053] Figure 7A sixth flowchart of a method for determining road sense information provided in an embodiment of the present application;

[0054] Figure 8 This is a structural block diagram of a road sense information determination device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0055] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0056] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0057] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0058] In the description of the present application, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. appear to indicate an orientation or position relationship, it is based on the orientation or position relationship shown in the drawings, or is the orientation or position relationship in which the product of the invention is usually placed when used. It is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0059] In addition, the terms “first”, “second”, etc., if used, are merely used to distinguish between the descriptions and should not be understood as indicating or implying relative importance.

[0060] In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0061] After extensive research, it was found that in the prior art, road feel information is usually transmitted through rack force feedback to enhance the driver's operating experience and safety. Existing methods for estimating rack force mainly rely on steering gear dynamics models or vehicle dynamics models for estimation. These models calculate the expected rack force value by simulating the dynamic behavior of the vehicle and steering system. However, these models have certain limitations when estimating rack force. Specifically, methods based on steering gear dynamics models or vehicle dynamics models can better reflect the changes in rack force caused by steering operations, but it is difficult to accurately capture the changes in rack force caused by uneven road surfaces or obstacles, which affects the authenticity of road feel information and the improvement of driving experience.

[0062] In view of the discovery of the above problems, the present embodiment provides a method, device, vehicle and storage medium for determining road feel information, which can determine the front wheel steering angle and vehicle speed of the vehicle, determine the front wheel yaw velocity of the vehicle based on the front wheel steering angle and vehicle speed, obtain the front wheel lateral force and front wheel sideslip angle of the vehicle based on the front wheel steering angle, vehicle speed and front wheel yaw velocity of the vehicle, obtain the rack force based on the front wheel lateral force and the front wheel sideslip angle, and provide road feel information to the upward steering system based on the rack force, which can make up for the shortcomings of the vehicle dynamics model in estimating the rack force, thereby improving the authenticity of the road feel information and enhancing the driving experience. The solution provided in the present embodiment is elaborated in detail below.

[0063] This embodiment provides a vehicle controller that can determine road sense information. In a possible implementation, the vehicle controller can be a user terminal, for example, the vehicle controller can be, but is not limited to, a driving computer, a server, a smart phone, a personal computer (PC), a tablet computer, a personal digital assistant (PDA), a mobile Internet device (MID), etc.

[0064] Please refer to Figure 1 , Figure 1 1 is a schematic diagram of the structure of the vehicle controller 100 provided in the embodiment of the present application. The vehicle controller 100 may also include Figure 1 More or fewer components as shown, or with Figure 1 Different configurations are shown. Figure 1 Each component shown in the figure can be implemented by hardware, software or a combination thereof.

[0065] The vehicle controller 100 includes a road sense information determination device 110 , a memory 120 and a controller 130 .

[0066] The components of the memory 120 and the controller 130 are electrically connected to each other directly or indirectly to realize data transmission or interaction. For example, these components can be electrically connected to each other through one or more communication buses or signal lines. The road sense information determination device 110 includes at least one software function module that can be stored in the memory 120 in the form of software or firmware or solidified in the operating system (OS) of the vehicle controller 100. The controller 130 is used to execute the executable modules stored in the memory 120, such as the software function modules and computer programs included in the road sense information determination device 110.

[0067] The memory 120 may be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable read-only memory (EEPROM), etc. The memory 120 is used to store a program, and the controller 130 executes the program after receiving an execution instruction.

[0068] Please refer to Figure 2 , Figure 2 For application Figure 1 A flowchart of a method for determining road sense information of a vehicle controller 100 is provided, and the method including each step is described in detail below.

[0069] The road sense information determination method is applied to a vehicle controller, and the vehicle controller is in communication with an upper steering system.

[0070] S201: Determine the front wheel turning angle and vehicle speed of the vehicle.

[0071] The steering angle of the front wheels of a vehicle can be determined using a steering angle sensor, which is usually installed on the steering wheel. It can detect the angle of rotation of the steering wheel and convert this data into electrical signals and output them to the vehicle controller. By reading the output signal of the SAS, the vehicle controller can accurately know the current steering wheel rotation angle and then calculate the actual steering angle of the front wheels.

[0072] The determination of the vehicle wheel angle can also be based on the use of wheel encoders to indirectly estimate the steering angle of the front wheels using encoders installed near the wheels.

[0073] S202: Determine the front wheel yaw rate of the vehicle based on the front wheel steering angle and the vehicle speed.

[0074] The front wheel yaw rate refers to the angular velocity of the front wheel rotating around the vehicle's vertical axis (i.e. the vertical axis passing through the center of the vehicle). The front wheel yaw rate directly affects the vehicle's steering response.

[0075] Determining the yaw rate of the front wheels of a vehicle can make the road feel information more realistic. For example, uneven road surfaces can cause vibrations and impacts on the vehicle, which are transmitted to the front wheels through the suspension system, thereby affecting the yaw rate of the front wheels. Uneven road surfaces can cause changes in the tire contact force, thereby affecting the lateral force and yaw rate of the front wheels. Slippery roads can reduce the tire grip, making the front wheels more likely to slip, thereby increasing the yaw rate. When driving at high speeds, the water film effect may cause the front wheels to partially or completely lose contact with the road, causing severe yaw. Road surfaces of different materials have different friction coefficients, and changes in the friction coefficient will affect the lateral force and yaw rate of the front wheels. Changes in road surface temperature will also affect the friction coefficient, thereby affecting the dynamic response of the front wheels. The lateral slope of the road surface will affect the center of gravity distribution of the vehicle, thereby affecting the lateral force and yaw rate of the front wheels. The longitudinal slope will affect the front and rear weight distribution of the vehicle, thereby affecting the contact force and yaw rate of the front wheels.

[0076] S203: Based on the front wheel turning angle, the vehicle speed and the front wheel yaw rate of the vehicle, the front wheel lateral force and the front wheel sideslip angle of the vehicle are obtained.

[0077] The front wheel lateral force refers to the force exerted on the front wheel in the lateral direction (i.e. perpendicular to the vehicle's forward direction). This force is mainly generated by the friction between the tire and the ground, and is used to resist the centrifugal force of the vehicle when turning, so that the vehicle can travel along the predetermined path.

[0078] Different road conditions will have different effects on the lateral force of the front wheels. For example, the unevenness of the road surface will cause the vehicle to vibrate and impact, and these vibrations will be transmitted to the front wheels through the suspension system, affecting the lateral force of the front wheels. Uneven roads will cause changes in the tire's ground contact force, thereby affecting the lateral force of the front wheels. Slippery roads will reduce the tire's grip, making the front wheels more likely to slide, thereby reducing the lateral force of the front wheels. When driving at high speeds, the water film effect may cause the front wheels to partially or completely lose ground contact, causing serious side slip. Road surfaces of different materials have different friction coefficients, and changes in the friction coefficient will affect the lateral force of the front wheels. Changes in road surface temperature will also affect the friction coefficient, thereby affecting the lateral force of the front wheels. The lateral slope of the road surface will affect the distribution of the center of gravity of the vehicle, thereby affecting the lateral force of the front wheels. The longitudinal slope will affect the front and rear weight distribution of the vehicle, thereby affecting the ground contact force and lateral force of the front wheels. The roughness of the road surface will affect the contact area between the tire and the road surface, thereby affecting the lateral force of the front wheels. Different texture types (such as grooves, particles, etc.) will affect the grip of the tire and thus affect the lateral force of the front wheel.

[0079] The front wheel slip angle refers to the angle between the actual driving direction of the front wheel and the forward direction of the vehicle. The slip angle is caused by the lateral deformation of the tire when the vehicle turns.

[0080] Different road conditions will have different effects on the front wheel sideslip angle and the front wheel lateral force. Therefore, in order to provide more realistic feedback of road feel information, it is necessary to determine the front wheel lateral force and the front wheel sideslip angle.

[0081] S204: Obtain rack force based on the front wheel lateral force and the front wheel sideslip angle.

[0082] Rack force provides the driver with feedback on road conditions. Through the change of rack force, the driver can sense the unevenness of the road and the grip of the tires, so as to better control the vehicle.

[0083] S205: Providing road feeling information to the steering system based on the rack force.

[0084] The method of determining the rack force based on the vehicle dynamic model is to obtain the rack force based on the stiffness coefficient of the steering system, the damping coefficient of the steering system, the steering wheel angle, the speed of the steering wheel angle and the additional force of the road load. The rack force estimated by the existing vehicle dynamic model cannot truly feedback the road conditions. Therefore, based on the road feel information determination method of the present application, the parameters corresponding to the road feel information can be determined from multiple dimensions, and the rack force can be determined based on the parameters affecting the road feel information, which can provide the driver with more realistic road feel information.

[0085] There are many ways to determine the front wheel yaw rate of the vehicle based on the front wheel angle and the vehicle speed. In one implementation, Figure 3As shown, the following steps are included:

[0086] S301: Determine the wheelbase of the vehicle.

[0087] Among them, the wheelbase indicates the sum of the front wheelbase of the vehicle and the rear wheelbase of the vehicle.

[0088] S302: Determine a characteristic speed of the vehicle.

[0089] S303: Calculate the front wheel yaw rate of the vehicle based on the front wheel steering angle, vehicle speed, wheelbase, and characteristic vehicle speed.

[0090] It should be noted that the characteristic speed of a vehicle represents the speed at which the vehicle is stable.

[0091] The front wheel yaw rate can be calculated as:

[0092] Calculate a first ratio of the vehicle speed to the characteristic vehicle speed, determine the square of the first ratio, determine a first product of the square of the first ratio and the wheelbase, calculate a first sum of the first product and the wheelbase, calculate a second ratio of the vehicle speed to the first sum, and calculate a second product of the front wheel turning angle and the second ratio as the front wheel yaw rate.

[0093] Specifically, the front wheel yaw rate satisfies the following formula:

[0094] = ;

[0095] in, is the front wheel yaw velocity, is the front wheel turning angle, is the vehicle speed, is the characteristic speed.

[0096] There are many ways to obtain the front wheel lateral force of the vehicle based on the front wheel turning angle, vehicle speed and front wheel yaw rate of the vehicle. In one implementation, Figure 4 As shown, the following steps are included:

[0097] S401: Calculate lateral acceleration based on the front wheel yaw rate and vehicle speed.

[0098] Based on the front wheel yaw rate and vehicle speed, the lateral acceleration can be calculated as follows:

[0099] The third product of the front wheel yaw rate and the vehicle speed is calculated as the lateral acceleration.

[0100] S402: Determine the front wheel yaw acceleration based on the front wheel yaw velocity.

[0101] S403: Determine the sprung mass, rear wheelbase, and moment of inertia of the vehicle.

[0102] The sprung mass of a vehicle refers to the part above the vehicle's suspension system, which includes the body, engine, transmission system, and interior trim. The sprung mass has an important impact on the vehicle's driving performance, comfort, and handling.

[0103] The rear wheelbase of a vehicle indicates the wheelbase between the rear wheels of the vehicle.

[0104] S404: Calculate the front wheel lateral force of the vehicle based on the sprung mass, the rear wheelbase, the lateral acceleration, the moment of inertia, the front wheel yaw angular acceleration and the wheelbase.

[0105] The front wheel lateral force of the vehicle can be calculated as follows:

[0106] Calculate the fourth product of the sprung mass, the rear wheelbase, and the lateral acceleration, calculate the fifth product of the moment of inertia and the front wheel yaw acceleration, calculate the second sum of the fourth product and the fifth product, determine the reciprocal of the wheelbase, and calculate the sixth product of the second sum and the reciprocal of the wheelbase as the front wheel lateral force of the vehicle.

[0107] Specifically, the front wheel lateral force of the vehicle satisfies the following formula:

[0108] = ;

[0109] in, is the lateral force of the front wheel, is the sprung mass, is the rear wheelbase, is the lateral acceleration, is the moment of inertia, is the front wheel yaw acceleration, is the wheelbase.

[0110] There are many ways to obtain the front wheel sideslip angle of the vehicle based on the front wheel turning angle, vehicle speed and front wheel yaw rate of the vehicle. In one implementation, Figure 5 As shown, the following steps are included:

[0111] S501: Determine the wheelbase of the vehicle.

[0112] S502: Determine the rear wheel slip angle of the vehicle.

[0113] S503: Calculate the front wheel slip angle of the vehicle based on the front wheel turning angle, the rear wheel slip angle, the wheelbase, the vehicle speed and the front wheel yaw rate.

[0114] The method for calculating the front wheel slip angle of the vehicle can be: calculating the third sum of the front wheel turning angle and the rear wheel slip angle, calculating the seventh product of the wheelbase and the front wheel yaw velocity, calculating the third ratio of the seventh product to the vehicle speed, and calculating the difference between the third sum and the third ratio as the front wheel slip angle of the vehicle.

[0115] Specifically, the front wheel slip angle of the vehicle satisfies the following formula:

[0116] = ;

[0117] in, is the front wheel slip angle, is the rear wheel slip angle, is the front wheel turning angle, is the wheelbase, is the front wheel yaw rate, For vehicle speed.

[0118] There are many ways to determine the rear wheel slip angle of the vehicle. In one implementation, Figure 6 As shown, the following steps are included:

[0119] S601: Determine the sprung mass, front wheelbase, and moment of inertia of the vehicle.

[0120] S602: Calculate lateral acceleration based on the front wheel yaw rate and the vehicle speed.

[0121] S603: Determine the front wheel yaw acceleration based on the front wheel yaw velocity.

[0122] S604: Calculate the rear wheel lateral force of the vehicle based on the sprung mass, the front wheelbase, the moment of inertia, the lateral acceleration, the front wheel yaw angular acceleration, and the wheelbase.

[0123] S605: Determine the rear wheel cornering stiffness of the vehicle.

[0124] S606: Obtain a rear wheel slip angle of the vehicle based on the rear wheel lateral force and the rear wheel cornering stiffness.

[0125] The rear wheel slip angle of the vehicle may be calculated by calculating a fourth ratio of the rear wheel lateral force to the rear wheel cornering stiffness as the rear wheel slip angle of the vehicle.

[0126] Specifically, the rear wheel slip angle satisfies the following formula:

[0127] = ;in, is the rear wheel slip angle, is the rear wheel lateral force, is the rear wheel cornering stiffness.

[0128] The rear wheel lateral force of the vehicle may be determined by calculating the eighth product of the sprung mass, the front wheelbase and the lateral acceleration, calculating the ninth product of the moment of inertia and the front wheel yaw acceleration, calculating the first difference between the eighth product and the ninth product, and calculating the tenth product of the first difference and the reciprocal of the wheelbase as the rear wheel lateral force.

[0129] Specifically, the rear wheel lateral force satisfies the following formula:

[0130] = ;

[0131] in, is the rear wheel lateral force, is the sprung mass, is the front wheelbase, is the lateral acceleration, is the moment of inertia, is the front wheel yaw acceleration, is the wheelbase.

[0132] There are many ways to obtain the rack force based on the front wheel lateral force and the front wheel sideslip angle. In one implementation, Figure 7 As shown, the following steps are included:

[0133] S701: Obtaining a tire aligning torque based on the front wheel lateral force and the front wheel sideslip angle.

[0134] S702: Determine the rack force based on the tire aligning torque.

[0135] There is a linear relationship between the tire self-aligning torque and the rack force. When the tire self-aligning torque is larger, the rack force is also larger, and vice versa. Therefore, the corresponding rack force can be determined based on the linear relationship between the tire self-aligning torque and the rack force.

[0136] Based on the front wheel lateral force and the front wheel sideslip angle, the tire self-aligning torque is obtained: the lateral force corresponding to the front wheel sideslip angle is determined, the mechanical trail and pneumatic trail of the vehicle tire are determined, and the tire self-aligning torque is obtained based on the lateral force, mechanical trail, pneumatic trail and the front wheel lateral force.

[0137] The tire aligning torque satisfies the following formula:

[0138] = ;

[0139] in, is the tire aligning torque, is the lateral force on the front wheel, Pneumatic tire trailing distance, is the mechanical drag, is the lateral force corresponding to the front wheel slip angle.

[0140] Please refer to Figure 8 The present application embodiment also provides an application Figure 1 The road sense information determining device 110 of the vehicle controller 100 includes:

[0141] The determination module 111 is used to determine the front wheel steering angle and the vehicle speed of the vehicle; determine the front wheel yaw rate of the vehicle based on the front wheel steering angle and the vehicle speed; obtain the front wheel lateral force and the front wheel sideslip angle of the vehicle based on the front wheel steering angle, the vehicle speed and the front wheel yaw rate of the vehicle; obtain the rack force based on the front wheel lateral force and the front wheel sideslip angle;

[0142] The road feeling information determination module 112 is configured to provide road feeling information to the upper steering system based on the rack force.

[0143] The present application also provides a vehicle controller 100, which includes a controller 130 and a memory 120. The memory 120 stores computer executable instructions, and when the computer executable instructions are executed by the controller 130, the road sense information determination method is implemented.

[0144] The embodiment of the present application further provides a storage medium, wherein the storage medium stores a computer program, and when the computer program is executed by the controller 130, the road sense information determination method is implemented.

[0145] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to the multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or the flowchart, and the combination of boxes in the block diagram and / or the flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0146] In addition, each functional module in each embodiment of the present application can be integrated together to form an independent part, or each module can exist separately, or two or more modules can be integrated to form an independent part. If the function is implemented in the form of a software functional module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a disk or an optical disk.

[0147] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also 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 a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0148] The above are only various implementations of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for determining road feeling information, characterized in that: Applied to a vehicle controller, the vehicle controller being communicatively connected to an upper steering system, the method comprising: Determine the front wheel steering angle and vehicle speed of the vehicle; determining a front wheel yaw rate of the vehicle based on the front wheel steering angle and the vehicle speed; Based on the front wheel turning angle, the vehicle speed and the front wheel yaw rate of the vehicle, obtaining the front wheel lateral force and the front wheel sideslip angle of the vehicle; Obtaining a rack force based on the front wheel lateral force and the front wheel sideslip angle; Providing road feeling information to the upper steering system based on the rack force; the step of determining the front wheel yaw rate of the vehicle based on the front wheel steering angle and the vehicle speed comprises: determining a wheelbase of the vehicle, wherein the wheelbase indicates a sum of a front wheelbase of the vehicle and a rear wheelbase of the vehicle; determining a characteristic speed of the vehicle; The steps of calculating the front wheel yaw rate of the vehicle based on the front wheel steering angle, the vehicle speed, the wheelbase, and the characteristic vehicle speed; and obtaining the front wheel lateral force of the vehicle based on the front wheel steering angle, the vehicle speed, and the front wheel yaw rate of the vehicle include: Calculating lateral acceleration based on the front wheel yaw rate and the vehicle speed; determining a front wheel yaw acceleration based on the front wheel yaw velocity; determining the sprung mass, rear wheelbase, and moment of inertia of the vehicle; The steps of calculating the front wheel lateral force of the vehicle based on the sprung mass, rear wheelbase, lateral acceleration, moment of inertia, front wheel yaw angular acceleration and wheelbase; and obtaining the front wheel sideslip angle of the vehicle based on the front wheel steering angle, the vehicle speed and the front wheel yaw angular velocity of the vehicle include: determining a wheelbase of the vehicle; determining a rear wheel slip angle of the vehicle; The front wheel sideslip angle of the vehicle is calculated based on the front wheel turning angle, the rear wheel sideslip angle, the wheelbase, the vehicle speed and the front wheel yaw rate.

2. The method according to claim 1, characterized in that The step of determining the rear wheel slip angle of the vehicle comprises: determining the sprung mass, front wheelbase, and moment of inertia of the vehicle; Calculating lateral acceleration based on the front wheel yaw rate and the vehicle speed; determining a front wheel yaw acceleration based on the front wheel yaw velocity; Calculating a rear wheel lateral force of the vehicle based on the sprung mass, front wheelbase, moment of inertia, lateral acceleration, front wheel yaw acceleration, and wheelbase; determining a rear wheel cornering stiffness of the vehicle; Based on the rear wheel lateral force and the rear wheel cornering stiffness, a rear wheel slip angle of the vehicle is obtained.

3. The method according to claim 1, characterized in that The step of obtaining the rack force based on the front wheel lateral force and the front wheel sideslip angle comprises: Based on the front wheel lateral force and the front wheel sideslip angle, a tire self-aligning torque is obtained; Based on the tire aligning torque, a rack force is determined.

4. The method according to claim 3, characterized in that: The step of obtaining the tire aligning torque based on the front wheel lateral force and the front wheel sideslip angle comprises: Determining a lateral force corresponding to the front wheel slip angle; Determining a mechanical trail and a pneumatic trail of a tire of the vehicle; Based on the lateral force, the mechanical trail, the pneumatic trail and the front wheel lateral force, the tire self-aligning torque is obtained.

5. A road feeling information determination device, characterized in that: Applied to a vehicle controller, the vehicle controller is communicatively connected to an upper steering system, the device comprising: a determination module, configured to determine a front wheel steering angle and a vehicle speed of a vehicle; determine a front wheel yaw rate of the vehicle based on the front wheel steering angle and the vehicle speed; obtain a front wheel lateral force and a front wheel sideslip angle of the vehicle based on the front wheel steering angle, the vehicle speed and the front wheel yaw rate of the vehicle; and obtain a rack force based on the front wheel lateral force and the front wheel sideslip angle; a road feeling information determination module, configured to provide road feeling information to the upper steering system based on the rack force; Wherein, the determining module is also used for: determining a wheelbase of the vehicle, wherein the wheelbase indicates a sum of a front wheelbase of the vehicle and a rear wheelbase of the vehicle; determining a characteristic speed of the vehicle; Calculating the front wheel yaw rate of the vehicle based on the front wheel turning angle, vehicle speed, wheelbase, and characteristic vehicle speed; Calculating lateral acceleration based on the front wheel yaw rate and the vehicle speed; determining a front wheel yaw acceleration based on the front wheel yaw velocity; determining the sprung mass, rear wheelbase, and moment of inertia of the vehicle; Calculating a front wheel lateral force of the vehicle based on the sprung mass, rear wheelbase, lateral acceleration, moment of inertia, front wheel yaw acceleration, and wheelbase; determining a wheelbase of the vehicle; determining a rear wheel slip angle of the vehicle; The front wheel sideslip angle of the vehicle is calculated based on the front wheel turning angle, the rear wheel sideslip angle, the wheelbase, the vehicle speed and the front wheel yaw rate.

6. A vehicle, characterized in that: The invention comprises a vehicle controller and a memory, wherein the memory stores a computer program executable by the vehicle controller, and the vehicle controller can execute the computer program to implement the steps of the method according to any one of claims 1 to 4.

7. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a vehicle controller, the steps of the method according to any one of claims 1 to 4 are implemented.

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