Vehicle steering control method and device

Abstract

The invention discloses a vehicle steering control method and device.The method comprises the steps that reference information of a vehicle is obtained, and the reference information comprises steering wheel torque, yaw velocity, accelerator opening degree information and brake opening degree information; outputting control information, wherein the control information is used for indicating the first request torque; wherein the first request torque is determined based on the reference information, and the first request torque is a demand torque which needs to be additionally superposed for controlling steering of the vehicle; a direction of the first requested torque is associated with a steering state of the vehicle, and the steering state of the vehicle is determined based on a desired yaw rate, yaw rate, and steering wheel torque of the vehicle. Therefore, the correctness of the power-assisted steering direction of the vehicle under any working condition can be ensured, and the stability of the vehicle body can be improved even if the vehicle runs on a separated road surface or a road surface with a low adhesion coefficient.

Description

Technical Field

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

[0002] The vehicle's current stability control system (such as automatic anti-lock braking system ABS, traction control system TCS, body electronic stability system ESP, etc.) intervenes in the vehicle's driving by adjusting the braking force or driving force of the wheels.

[0003] However, when the vehicle is braking or driving on a separated road surface or a road surface with a low adhesion coefficient, the vehicle is prone to dangerous conditions such as running off the road or skidding, and may even deviate from the original lane and drive into the other lane, which is extremely dangerous. Summary of the invention

[0004] The present application discloses a vehicle steering control method and device, which can ensure the correctness of the steering assist direction and help improve the stability of the vehicle body when the vehicle is traveling on a separated road surface or a road surface with a low adhesion coefficient.

[0005] In a first aspect, the present application provides a vehicle steering control method, which is applied to a control device, and the method includes: obtaining reference information of the vehicle, the reference information including steering wheel torque, yaw angular velocity, throttle opening information and brake opening information; outputting control information, the control information being used to indicate a first requested torque; wherein the first requested torque is determined based on the reference information, the first requested torque being an additional required torque required to control the steering of the vehicle; the direction of the first requested torque is associated with the steering state of the vehicle, and the steering state of the vehicle is determined based on the desired yaw angular velocity of the vehicle, the yaw angular velocity and the steering wheel torque.

[0006] Here, the control device may be a domain controller of the vehicle or a component within the domain controller, and the component may be, for example, a chip, an integrated circuit, etc. Among them, the domain controller may be a hardware and software integrated platform for supporting body control and chassis control or a controller that provides body control functions, such as a vehicle domain controller (VDC), or a hardware and software integrated platform for supporting chassis control, such as a chassis domain controller. In some possible embodiments, the domain controller may also be a controller that is obtained by integrating the VDC and the mobile data center (MDC) and is capable of providing body control functions and autonomous driving control functions, or a controller (or central computing unit) that is obtained by integrating the VDC, MDC, and the cockpit domain controller (CDC) and is capable of providing body control functions, autonomous driving control functions, and cockpit control functions.

[0007] Here, the control device may also be an electronically controlled steering system of the vehicle or a component in the electronically controlled steering system, and the component may be, for example, a chip, an integrated circuit, etc. The electronically controlled steering system may be, for example, an electric power steering (EPS) system.

[0008] Exemplarily, the first requested torque is the additional required torque that needs to be superimposed to control the steering of the vehicle, which can be understood as: the first requested torque is the torque that needs to be superimposed on the steering wheel side when the control device detects that the current steering state of the vehicle does not meet the driver's intention (which is calculated based on reference information) in order to maintain the stability of the vehicle body as much as possible, that is, the control device expects the electronic steering system to superimpose the torque on the steering wheel side. The superimposed torque on the steering wheel side can also be understood as the required torque superimposed on the basic power-assist torque, wherein the basic power-assist torque is calculated by the vehicle's electronic steering system itself based on the torque signal currently output by the torque sensor.

[0009] Here, the first requested torque can be understood as a vector, that is, it has magnitude and direction. The magnitude of the first requested torque is represented by a numerical value, and the direction of the first requested torque can be represented by positive (+) or negative (-). Correspondingly, the steering wheel torque is also a vector, which has magnitude and direction, and the direction of the steering wheel torque can also be represented by positive (+) or negative (-).

[0010] Exemplarily, the direction of the first requested torque may be defined as: if the first requested torque is used for the vehicle to turn left, the direction of the first requested torque is defined as positive; if the first requested torque is used for the vehicle to turn right, the direction of the first requested torque is defined as negative.

[0011] Exemplarily, the direction of the steering wheel torque may be defined as follows: if the driver turns the steering wheel to the left, that is, the steering wheel torque is used to turn the vehicle to the left, then the direction of the steering wheel torque is defined as positive; if the driver turns the steering wheel to the right, that is, the steering wheel torque is used to turn the vehicle to the right, then the direction of the steering wheel torque is defined as negative. It can be understood that the definition of the direction of the first requested torque must be consistent with the definition of the direction of the steering wheel torque described above. For example, the direction of the torque used to turn the vehicle to the left is defined as positive, and the direction of the torque used to turn the vehicle to the right is defined as negative.

[0012] Exemplarily, the direction of the steering wheel torque may also be referred to as the direction of the driver's hand force signal.

[0013] In the above method, the steering state of the vehicle is determined by the difference between the expected yaw rate and the actual yaw rate and the steering wheel torque, thereby determining the direction of the first requested torque for controlling the steering of the vehicle, so that the accuracy of the steering power direction of the vehicle under any steering condition can be ensured. In addition, when determining the first requested torque, information such as throttle opening information and brake opening information is also considered, so that when the vehicle is driving on a separated road boundary or a road with a low adhesion coefficient, even if an acceleration or braking operation is performed, the posture of the vehicle body can be quickly corrected through the correct steering power direction, which is conducive to improving the stability of the vehicle body and improving the yaw characteristics of the vehicle.

[0014] In a possible implementation of the first aspect, when the steering state of the vehicle is understeering, the direction of the first requested torque is the same as the direction of the steering wheel torque; or, when the steering state of the vehicle is oversteering, the direction of the first requested torque is opposite to the direction of the steering wheel torque.

[0015] Further, when the following conditions are met, the steering state of the vehicle is understeering: the product of the difference between the desired yaw angular velocity of the vehicle and the yaw angular velocity and the steering wheel torque is greater than 0; when the following conditions are met, the steering state of the vehicle is oversteering: the product of the difference between the desired yaw angular velocity of the vehicle and the yaw angular velocity and the steering wheel torque is less than 0.

[0016] Exemplarily, the product of the difference between the vehicle's desired yaw rate and the vehicle's yaw rate and the steering wheel torque is greater than 0, including any of the following situations: the direction of the steering wheel torque is positive and the difference between the vehicle's desired yaw rate and the vehicle's yaw rate is greater than 0; and, the direction of the steering wheel torque is negative and the difference between the vehicle's desired yaw rate and the vehicle's yaw rate is less than 0.

[0017] Exemplarily, the product of the difference between the vehicle's desired yaw rate and the vehicle's yaw rate and the steering wheel torque is less than 0, including any of the following situations: the direction of the steering wheel torque is positive and the difference between the vehicle's desired yaw rate and the vehicle's yaw rate is less than 0; and, the direction of the steering wheel torque is negative and the difference between the vehicle's desired yaw rate and the vehicle's yaw rate is greater than 0.

[0018] Implementing the above-mentioned implementation method and determining the direction of the first requested torque in combination with the steering state of the vehicle and the direction of the steering wheel torque can ensure the accuracy of the steering assist direction during vehicle driving, especially when the vehicle is driving or braking on a separated road surface or a road surface with a low adhesion coefficient, which is beneficial to improving the stability of the vehicle body and improving the driving performance of the vehicle.

[0019] In a possible implementation of the first aspect, the control information is used to indicate the first requested torque, including: the control information is used to indicate a corrected first requested torque; wherein the corrected first requested torque is obtained by correcting the first requested torque based on scenario constraints.

[0020] By implementing the above implementation, when the vehicle is in some special scenarios, the first requested torque can also be corrected based on the corresponding scenario constraints to improve the stability of the vehicle body when the vehicle is driving in special scenarios.

[0021] In a possible implementation of the first aspect, the scenario constraint condition is that the steering wheel speed of the vehicle is less than a first preset threshold and lasts for a first time period, and the corrected first requested torque satisfies the requirement of decreasing from the first requested torque toward 0 within the preset time period.

[0022] Exemplarily, in this case, indication information may also be sent, and the indication information is used to indicate that the control information is invalid. Accordingly, after receiving the indication information, the receiving end of the control information may discard the control information or not respond to the control information in response to the indication information. Here, the indication information and the control information may be carried by one message, for example, the indication information is included in the control information. Alternatively, the indication information and the control information may also be carried by different messages, which is not specifically limited here.

[0023] Exemplarily, as a case, the corrected first request torque is 0.

[0024] Here, if the steering wheel speed of the vehicle is less than the first preset threshold and lasts for the first time period, it means that the vehicle is currently in a steering holding scenario or the vehicle enters a steering wheel holding state.

[0025] By implementing the above implementation, when the vehicle is currently in a steering-holding scenario, the first requested torque is corrected to decrease toward 0 within a preset time period, so that even if the driver takes his hands off the steering wheel when the vehicle is driving on a low-adhesion road, the steering wheel can be returned to the correct position in time.

[0026] In a possible implementation of the first aspect, the scenario constraint condition is that the direction of the first requested torque is opposite to the direction of the steering wheel torque and the steering wheel torque is greater than a second preset threshold and lasts for a second time period, and the corrected first requested torque is 0.

[0027] In the process of implementing the above-mentioned implementation method, when the control device requests additional required torque to realize steering assistance, if the torque applied by the driver to the steering wheel is large and lasts for a certain period of time, it means that the driver currently has a strong desire to control the steering wheel. In this case, by correcting the first requested torque to zero, the driver can avoid feeling a jam when controlling the steering wheel, which is beneficial to improving the driving experience.

[0028] In a possible implementation of the first aspect, the first requested torque is determined based on the reference information when the following conditions are met: the absolute value of the difference between the desired yaw rate of the vehicle and the yaw rate is not less than a second preset threshold and the steering wheel torque of the vehicle is not greater than a third preset threshold.

[0029] By implementing the above implementation method, trigger conditions are set for determining the first requested torque. The absolute value of the difference between the vehicle's expected yaw angular velocity and the above yaw angular velocity is not less than the second preset threshold value, which means that the vehicle's current yaw deviation must reach a certain level. The vehicle's steering wheel torque is not greater than the third preset threshold value, which means that the driver's current willingness to control driving is not high or the driver is not currently controlling the steering wheel. Only when these conditions are met does the control device intervene to control the vehicle to improve the stability of the vehicle body. This also avoids the control device from frequently executing the calculation of the first requested torque, saving the consumption of computing resources.

[0030] In a possible implementation manner of the first aspect, the control device is deployed in a domain controller of the vehicle, and the output control information includes: sending the control information to an electronic steering system of the vehicle.

[0031] In implementing the above implementation, the control device may be a component within a domain controller of the vehicle, that is, the control device may be deployed independently of the electronic steering system.

[0032] In a possible implementation manner of the first aspect, the method further includes: receiving feedback information from the electronically controlled steering system, where the feedback information indicates a working state of the electronically controlled steering system, and the feedback information is a response to the control information.

[0033] Here, the working state of the electronically controlled steering system includes normal and fault, and the fault can be further divided into temporary fault and permanent fault. Exemplarily, when the feedback information indicates that the working state of the electronically controlled steering system is normal, the feedback information can also include the steering torque responded by the electronically controlled steering system.

[0034] By implementing the above implementation manner, when the control device is deployed independently of the electronically controlled steering system, it can also receive feedback of the electronically controlled steering system on the control information, thereby knowing the working status of the electronically controlled steering system.

[0035] In a possible implementation manner of the first aspect, the control device is deployed in an electronic steering system of the vehicle.

[0036] By implementing the above implementation, the control device can be integrated into the vehicle's electronic steering system.

[0037] Optionally, the obtaining of the reference information of the vehicle includes: obtaining the reference information of the vehicle when a power steering function is in an on state.

[0038] By implementing the above implementation method, the vehicle steering control method provided in the present application is deployed as a newly added steering assist function, and is enabled only when the steering assist function is in the turned-on state.

[0039] In a second aspect, the present application provides a device for vehicle steering control, which is a control device or is included in a control device, and the device includes: a receiving module for vehicle reference information, the reference information including steering wheel torque, yaw angular velocity, throttle opening information and brake opening information; an output module for outputting control information, the control information is used to indicate a first requested torque; wherein the first requested torque is determined by a processing module based on the reference information, the first requested torque is an additional required torque required to control the steering of the vehicle; the direction of the first requested torque is associated with the steering state of the vehicle, and the steering state of the vehicle is determined based on the desired yaw angular velocity of the vehicle, the yaw angular velocity and the steering wheel torque.

[0040] In a possible implementation of the second aspect, when the steering state of the vehicle is understeering, the direction of the first requested torque is the same as the direction of the steering wheel torque; or, when the steering state of the vehicle is oversteering, the direction of the first requested torque is opposite to the direction of the steering wheel torque.

[0041] In a possible implementation of the second aspect, when the following conditions are met, the steering state of the vehicle is understeering: the product of the difference between the desired yaw angular velocity of the vehicle and the yaw angular velocity and the steering wheel torque is greater than 0; when the following conditions are met, the steering state of the vehicle is oversteering: the product of the difference between the desired yaw angular velocity of the vehicle and the yaw angular velocity and the steering wheel torque is less than 0.

[0042] In a possible implementation of the second aspect, the control information is used to indicate the first requested torque, including: the control information is used to indicate a corrected first requested torque; wherein the corrected first requested torque is obtained by correcting the first requested torque based on scenario constraints.

[0043] In a possible implementation of the second aspect, the scenario constraint condition is that the steering wheel speed of the vehicle is less than a first preset threshold and lasts for a first time period, and the corrected first requested torque satisfies the requirement of decreasing from the first requested torque toward 0 within the preset time period.

[0044] In a possible implementation of the second aspect, the scenario constraint condition is that the direction of the first requested torque is opposite to the direction of the steering wheel torque and the steering wheel torque is greater than a second preset threshold and lasts for a second time period, and the corrected first requested torque is 0.

[0045] In a possible implementation of the second aspect, the first requested torque is determined by the processing module based on the reference information when the following conditions are met: the absolute value of the difference between the desired yaw rate of the vehicle and the yaw rate is not less than a second preset threshold and the steering wheel torque of the vehicle is not greater than a third preset threshold.

[0046] In a possible implementation manner of the second aspect, the control device is deployed in a domain controller of the vehicle, and the output module is specifically used to send the control information to an electronic steering system of the vehicle.

[0047] In a possible implementation manner of the second aspect, the receiving module is further used to: receive feedback information from the electronically controlled steering system, where the feedback information indicates a working state of the electronically controlled steering system, and the feedback information is a response to the control information.

[0048] In a possible implementation of the second aspect, the control device is deployed in an electronic steering system of the vehicle.

[0049] Optionally, the receiving module is specifically used to: obtain reference information of the vehicle when the functional mode is in an on state.

[0050] In a third aspect, the present application provides a device for vehicle steering control, the device comprising a processor and a memory, wherein the memory is used to store program instructions; the processor calls the program instructions in the memory so that the device executes the method in the first aspect or any possible implementation of the first aspect.

[0051] In a fourth aspect, the present application provides a communication system for vehicle steering control, the communication system comprising a control device and an electronically controlled steering system, wherein the control device is used to execute the method in the above-mentioned first aspect or any possible embodiment of the first aspect.

[0052] In a fifth aspect, the present application provides a vehicle, comprising a device as described in the second aspect or any possible implementation of the second aspect, or comprising a device as described in the third aspect, or comprising the communication system described in the fourth aspect.

[0053] In a sixth aspect, the present application provides a computer-readable storage medium, comprising computer instructions, which, when executed by a processor, implement the method in the above-mentioned first aspect or any possible implementation manner of the first aspect.

[0054] In a seventh aspect, the present application provides a computer program product, which, when executed by a processor, implements the method in the first aspect or any possible embodiment of the first aspect. The computer program product, for example, may be a software installation package, and when the method provided by any possible design of the first aspect is needed, the computer program product may be downloaded and executed on a processor to implement the method in the first aspect or any possible embodiment of the first aspect.

[0055] The technical effects of the second to seventh aspects are the same as those of the first aspect, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 is a structural schematic diagram of a control device provided in an embodiment of the present application;

[0057] Figure 2 is a flow chart of a vehicle steering control method provided by an embodiment of the present application;

[0058] Figure 3 is a flow chart of another vehicle steering control method provided in an embodiment of the present application;

[0059] Figure 4 is a flow chart of another vehicle steering control method provided in an embodiment of the present application;

[0060] Figure 5It is a structural diagram of a computing device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0061] It should be noted that the prefixes such as "first" and "second" used in this application are only used to distinguish different description objects, and have no limiting effect on the position, order, priority, quantity or content of the described objects. For example, if the described object is a "field", the ordinal number before the "field" in the "first field" and the "second field" does not limit the position or order between the "fields". "First" and "second" do not limit whether the "fields" they modify are in the same message, nor do they limit the order of the "first field" and the "second field". For another example, if the described object is a "level", the ordinal number before the "level" in the "first level" and the "second level" does not limit the priority between the "levels". For another example, the number of described objects is not limited by the prefix and can be one or more. Taking "first device" as an example, the number of "devices" can be one or more. In addition, the objects modified by different prefixes can be the same or different. For example, if the object being described is a "device", then the "first device" and the "second device" can be the same device, the same type of device, or different types of devices; for another example, if the object being described is "information", then the "first information" and the "second information" can be information of the same content or information of different contents. In short, the use of prefixes used to distinguish the described objects in the embodiments of the present application does not constitute a limitation on the described objects. For the statement of the described objects, refer to the description in the context of the claims or embodiments, and no unnecessary limitation should be constituted due to the use of such prefixes.

[0062] It should be noted that the description methods such as "at least one of a1, a2, ... and an" used in the embodiments of the present application include the situation where any one of a1, a2, ... and an exists alone, and also include any combination of any multiple of a1, a2, ... and an, and each situation can exist alone. For example, the description method of "at least one of a, b and c" includes the situation where a is alone, b is alone, c is alone, a combination of a and b, a combination of a and c, b and c, or a combination of abc.

[0063] To facilitate understanding, the following first introduces relevant terms that may be involved in the embodiments of the present application.

[0064] (1) Adhesion coefficient

[0065] The adhesion coefficient refers to the ratio of adhesion to the normal pressure of the wheel (i.e., the direction perpendicular to the road surface). The adhesion coefficient can also be regarded as the static friction coefficient between the tire and the road surface. The adhesion coefficient can also represent the adhesion ability of the tire on the road surface. Specifically, the larger the adhesion coefficient, the greater the adhesion available to the vehicle, and the less likely the vehicle is to slip, that is, the better the stability of the vehicle.

[0066] The size of the adhesion coefficient is related to the type of road surface and its dryness, as well as the tire structure, tread pattern and vehicle speed. It is understandable that the adhesion coefficient of dry, good asphalt or concrete roads is larger, while the adhesion coefficient of ice is smaller.

[0067] (2) Separated road surface

[0068] A split road surface can also be called a split road surface. A split road surface refers to a road surface where the adhesion coefficients of the wheels on both sides of the vehicle are quite different. For example, one wheel is on a high adhesion coefficient road surface such as an asphalt road surface, and the other wheel is on a low adhesion coefficient road surface such as an icy road surface.

[0069] (3) Yaw angular velocity

[0070] The yaw rate can also be called the yaw rate. The yaw rate refers to the deflection of the vehicle around the vertical axis. The greater the deflection, the greater the yaw rate, and the greater the probability of vehicle instability. For example, vehicle instability refers to the vehicle skidding, tail swinging, etc.

[0071] (4) Electronic steering

[0072] Electronic steering uses electronic signals as carriers and utilizes wires to transmit instructions to actuators, thereby avoiding complex mechanical transmission interfaces, reducing weight, improving efficiency, and achieving more intelligent control functions, among other purposes.

[0073] The technical solution in this application will be described below in conjunction with the accompanying drawings.

[0074] See also Figure 1 , Figure 1 1 is a schematic diagram of a control device provided in an embodiment of the present application. The control device is used to assist a vehicle in steering control. The control device can be implemented by hardware, software, or a combination of hardware and software.

[0075] Exemplarily, the control device is applicable to a vehicle equipped with an electronically controlled steering system. The vehicle may be, for example, an autonomous driving vehicle, where autonomous driving is not limited to partial autonomous driving, conditional autonomous driving, highly autonomous driving, or fully autonomous driving, and those skilled in the art will appreciate that any non-fully manual driving system that provides intelligent driving may be covered under this concept.

[0076] like Figure 1 As shown, the control device includes a receiving module, a processing module and an output module. The modules in the control device can communicate with each other wirelessly or wiredly. Among them, the receiving module is used to obtain reference information of the vehicle, and the reference information includes steering wheel torque, yaw rate, throttle opening information and brake opening information; the processing module is used to determine the first requested torque according to the reference information, and the first requested torque is used to control the steering, wherein the direction of the first requested torque is associated with the steering state of the vehicle, and the steering state of the vehicle is determined based on the desired yaw rate, yaw rate and steering wheel torque of the vehicle; the output module is used to output control information, and the control information is used to indicate the first requested torque. In some possible embodiments, the processing module is also used to correct the first requested torque according to the scene constraints, and the control information is used to indicate the corrected first requested torque.

[0077] Exemplarily, when the processing module is implemented by hardware, the number of executors required to implement the functions of the processing module is not limited. For example, it can be implemented by a single executor, or it can be implemented by multiple executors and each executor is used to implement part of the functions of the processing module, which is not specifically limited here.

[0078] In one implementation, the control device may be a domain controller of the vehicle or a component within the domain controller of the vehicle, and the component may be, for example, a chip, an integrated circuit, etc. Among them, the domain controller may be a hardware and software integrated platform for supporting body control and chassis control or a controller that provides body control functions, such as a vehicle domain controller (VDC), or a hardware and software integrated platform for supporting chassis control, such as a chassis domain controller. In some possible embodiments, the domain controller may also be a controller that is obtained by integrating the VDC and the mobile data center (MDC) and is capable of providing body control functions and autonomous driving control functions, or a controller (or central computing unit) that is obtained by integrating the VDC, MDC and the cockpit domain controller (CDC) and is capable of providing body control functions, autonomous driving control functions and cockpit control functions.

[0079] In another implementation, the control device may be an electronic steering system of the vehicle or a component in the electronic steering system, and the component may be, for example, a chip, an integrated circuit, etc. The electronic steering system may be, for example, an electric power steering (EPS) system. Here, the electric power steering is not limited to front wheel steering, but may also be rear wheel steering or corner module independent steering, which is not specifically limited here.

[0080] Figure 1 The communication system shown can be applied to a variety of application scenarios, such as the following application scenarios: mobile internet (MI), self driving, transportation safety, smart city, etc.

[0081] It should be noted that Figure 1 This is only an exemplary architecture diagram, but not limited to Figure 1 The structure shown is only Figure 1 The form shown. Figure 1 It can also include Figure 1 More or fewer modules are shown, for example, the processing module can be further divided into a requested steering torque calculation module and a requested steering torque correction module based on its function. In addition, the method provided in the embodiment of the present application can be applied to Figure 1 The processing device shown, of course, the method provided in the embodiment of the present application can also be applied to other processing devices, and the embodiment of the present application is not limited to this.

[0082] See also Figure 2 , Figure 2 is a flow chart of a vehicle steering control method provided in an embodiment of the present application. The method can be applied, for example, to Figure 1 The control device shown. The method includes but is not limited to the following steps:

[0083] S201: Acquire reference information of the vehicle, the reference information including steering wheel torque, yaw angular velocity, throttle opening information and brake opening information.

[0084] Here, the steering wheel torque is the moment or torque applied by the driver to the steering wheel when the driver turns the steering wheel. The steering wheel torque can be understood as a vector, that is, it has magnitude and direction. Among them, the magnitude of the steering wheel torque is represented by a numerical value, and the direction of the first requested torque can be represented by positive (+) or negative (-). In some possible embodiments, the direction of the steering wheel torque can also be referred to as the direction of the driver's hand force signal.

[0085] For example, the direction of the steering wheel torque may be defined as follows: if the driver turns the steering wheel to the left, that is, the steering wheel torque is used to turn the vehicle to the left, then the direction of the steering wheel torque is defined as positive; if the driver turns the steering wheel to the right, that is, the steering wheel torque is used to turn the vehicle to the right, then the direction of the steering wheel torque is defined as negative. In some possible embodiments, if the driver turns the steering wheel to the left, the direction of the corresponding steering wheel torque may also be defined as negative; if the driver turns the steering wheel to the right, then the direction of the corresponding steering wheel torque may be defined as positive, which is not specifically limited herein.

[0086] For example, the steering wheel torque may be acquired by the control device from a steering wheel torque sensor.

[0087] Here, the yaw rate may also be referred to as the actual yaw rate. The yaw rate may be obtained by the control device from an inertial measurement unit (IMU) or a yaw rate sensor of the vehicle, or may be calculated based on the steering wheel angle and vehicle speed of the vehicle, or may be obtained by using a wheel speed difference estimation method, or may be obtained by other methods, which are not specifically limited here.

[0088] Here, the throttle opening information is used to indicate the opening angle of the engine throttle. The throttle opening information can be obtained by the control device from a throttle position sensor or an accelerator pedal sensor, for example.

[0089] Here, the brake opening information is used to indicate the force or opening of the brake pedal applied by the driver. The brake opening information can be obtained by the control device from the pedal displacement sensor, for example.

[0090] In some possible embodiments, the reference information of the vehicle further includes at least one of a steering wheel angle, a steering wheel speed, and a vehicle speed, etc. The steering wheel angle may be obtained by the control device from a steering wheel angle sensor, and the vehicle speed may be obtained by the control device from a wheel speed sensor or an inertial measurement unit.

[0091] S202: Determine a first requested torque according to reference information, where the first requested torque is an additional required torque required to control vehicle steering, and a direction of the first requested torque is associated with a steering state of the vehicle.

[0092] Exemplarily, the first requested torque is the additional required torque that needs to be superimposed on controlling the vehicle steering, which can be understood as: the first requested torque is the torque that needs to be superimposed on the steering wheel side when the control device detects that the current steering state of the vehicle does not meet the driver's intention (which is calculated based on reference information) in order to maintain the stability of the vehicle as much as possible. The superimposed torque on the steering wheel side can also be understood as the required torque superimposed on the basic assist torque, wherein the basic assist torque is calculated by the vehicle's electronic steering system itself based on the torque signal currently output by the torque sensor.

[0093] Exemplarily, the electronically controlled steering system may be an electric power steering (EPS) system, which is a power steering system in which an electric power steering machine provides steering assistance.

[0094] Here, the first requested torque can be understood as a vector, that is, having a magnitude and a direction. The magnitude of the first requested torque is represented by a numerical value, and the direction of the first requested torque can be represented by positive (+) or negative (-).

[0095] Here, the desired yaw rate of the vehicle may also be referred to as a reference yaw rate of the vehicle or a reference value of the yaw rate.

[0096] Exemplarily, the definition of the direction of the first requested torque may be: if the first requested torque is used for the vehicle to turn left, the direction of the first requested torque is defined as positive; if the first requested torque is used for the vehicle to turn right, the direction of the first requested torque is defined as negative. It can be understood that the definition of the direction of the first requested torque and the definition of the direction of the steering wheel torque described above generally need to be kept consistent. For example, the directions of the torques used to turn the vehicle left (such as the steering wheel torque and the first requested torque) are both defined as positive, and the directions of the torques used to turn the vehicle right are both defined as negative. In some possible embodiments, the direction of the torque used to turn the vehicle left may also be defined as negative, and the direction of the torque used to turn the vehicle right is defined as positive.

[0097] In one implementation, determining a first requested torque based on reference information includes: obtaining a desired yaw rate of the vehicle based on throttle opening information, brake opening information, a steering wheel angle, and a vehicle speed; and determining the first requested torque based on the desired yaw rate, yaw rate, and steering wheel torque of the vehicle.

[0098] Here, the magnitude of the first request torque is associated with the difference between the desired yaw rate and the yaw rate of the vehicle. For example, the greater the absolute value of the difference between the desired yaw rate and the yaw rate of the vehicle, the greater the magnitude of the first request torque.

[0099] Here, the direction of the first requested torque is associated with the steering state of the vehicle, which can be understood as: the direction of the first requested torque is determined based on the steering state of the vehicle and the direction of the steering wheel torque.

[0100] The steering state of the vehicle includes at least one of understeering and oversteering.

[0101] Exemplarily, if the product of the difference between the vehicle's desired yaw rate and the vehicle's yaw rate and the steering wheel torque is greater than 0, the vehicle's steering state is understeering; if the product of the difference between the vehicle's desired yaw rate and the vehicle's yaw rate and the steering wheel torque is less than 0, the vehicle's steering state is oversteering.

[0102] Further, the product of the difference between the desired yaw rate of the vehicle and the yaw rate of the vehicle and the steering wheel torque is greater than 0, including any of the following situations:

[0103] (1) the direction of the steering wheel torque is positive and the difference between the desired yaw rate of the vehicle and the yaw rate of the vehicle is greater than 0; and

[0104] (2) The direction of the steering wheel torque is negative, and the difference between the desired yaw rate of the vehicle and the yaw rate of the vehicle is less than 0.

[0105] Further, the product of the difference between the desired yaw rate of the vehicle and the yaw rate of the vehicle and the steering wheel torque is less than 0, including any of the following situations:

[0106] (1) The direction of the steering wheel torque is positive and the difference between the desired yaw rate of the vehicle and the yaw rate of the vehicle is less than 0; and

[0107] (2) The direction of the steering wheel torque is negative, and the difference between the desired yaw rate of the vehicle and the yaw rate of the vehicle is greater than 0.

[0108] In one implementation, the direction of the first requested torque is determined based on the steering state of the vehicle and the direction of the steering wheel torque. When the steering state of the vehicle is understeering, the direction of the first requested torque is the same as the direction of the steering wheel torque; or when the steering state of the vehicle is oversteering, the direction of the first requested torque is opposite to the direction of the steering wheel torque. Thus, the direction of the requested torque for vehicle steering is determined in combination with the steering state of the vehicle and the direction of the steering wheel torque (or the direction of the driver's hand force signal), which can ensure the accuracy of the steering assist direction during vehicle driving, especially when the vehicle is driving or braking on a separated road surface or a road surface with a low adhesion coefficient, which is conducive to improving the stability of the vehicle body and improving the driving performance of the vehicle.

[0109] In some possible embodiments, a trigger condition may be set for the execution of the operation of determining the first requested torque according to the reference information, so that the control device can avoid frequently executing the calculation of the first requested torque, saving the consumption of computing resources. Exemplarily, when the absolute value of the difference between the desired yaw rate of the vehicle and the above-mentioned yaw rate is not less than the preset threshold value 1 and the steering wheel torque of the vehicle is not greater than the preset threshold value 2, the first requested torque is determined according to the reference information. It can be understood that in addition to the absolute value of the difference between the desired yaw rate of the vehicle and the above-mentioned yaw rate is not less than the preset threshold value 1 and the steering wheel torque of the vehicle is not greater than the preset threshold value 2, the trigger condition may also include that the electronic steering system of the vehicle is not faulty.

[0110] For example, if the absolute value of the difference between the desired yaw rate of the vehicle and the above yaw rate is not less than the preset threshold value 1, and the steering wheel torque is zero, the direction of the first requested torque can be determined by the difference between the desired yaw rate of the vehicle and the yaw rate of the vehicle, that is, when the difference between the desired yaw rate of the vehicle and the yaw rate is greater than 0, the direction of the first requested torque is positive; when the difference between the desired yaw rate of the vehicle and the yaw rate is less than 0, the direction of the first requested torque is negative. Here, the definition of the direction of the first requested torque can refer to the description of the above corresponding content, which will not be repeated here.

[0111] It can be seen from the above trigger conditions that the absolute value of the difference between the vehicle's expected yaw angular velocity and the above yaw angular velocity is not less than the preset threshold value, which means that the vehicle's current yaw deviation must reach a certain level; the vehicle's steering wheel torque is not greater than the preset threshold value, which means that the driver's current willingness to control driving is not high or the driver is not currently controlling the steering wheel. In this case, the control device will actively intervene in the control of the vehicle to ensure the stability of the vehicle body.

[0112] Here, the preset threshold 1 and the preset threshold 2 may be set by the user based on experience, or may be factory default settings.

[0113] In some possible embodiments, after the first requested torque is obtained, the first requested torque may be modified based on at least one of a scenario constraint and a functional constraint.

[0114] In one implementation, it may be determined whether the vehicle is currently in a special scene. If it is determined that the vehicle is in a special scene, the first requested torque may be corrected according to the scene constraints of the special scene.

[0115] Exemplarily, the first requested torque is modified according to the scene constraint of the special scene, including: when the steering wheel speed of the vehicle is less than the preset threshold value three and lasts for a first time period, the first requested torque is modified so that the first requested torque decreases in the direction of 0 within the preset time period. As a case, the magnitude of the first requested torque can also be directly modified to 0. In this way, when the vehicle is currently in the steering wheel holding state, even if the driver takes his hands off the steering wheel when the vehicle is driving on a low-adhesion road, the steering wheel can be returned to the normal position in time.

[0116] Here, if the steering wheel speed of the vehicle is less than the preset threshold value three and lasts for the first time period, it means that the vehicle is currently in a special scene and the special scene is a steering holding scene (or called a steering wheel holding scene).

[0117] Here, the preset threshold three, the first duration and the preset duration may be set by the user based on experience.

[0118] Exemplarily, the first requested torque is corrected according to the scene constraint of the special scene, including: when the direction of the first requested torque is opposite to the direction of the steering wheel torque and the steering wheel torque is greater than the preset threshold value four and lasts for a second time, the first requested torque is corrected to 0. In this way, in the process of the control device requesting additional required torque to achieve steering assistance, if the torque applied by the driver to the steering wheel is large and lasts for a certain period of time, it means that the driver currently has a strong desire to control the steering wheel. In this case, by correcting the first requested torque to zero, the driver can avoid feeling stuck when controlling the steering wheel, which is conducive to improving the driving experience.

[0119] Here, if the direction of the first requested torque is opposite to the direction of the steering wheel torque and the steering wheel torque is greater than the preset threshold four and lasts for a second time period, it means that the vehicle is currently in a special scenario and the special scenario is a scenario in which the driver controls the driving according to his own wishes (or called an override scenario).

[0120] Here, the preset threshold four, the second duration, may be set by the user based on experience.

[0121] In one implementation, after obtaining the first requested torque, if it is determined that the vehicle is not currently in the above-mentioned special scenario, the first requested torque may be modified based on the functional constraint condition. Exemplarily, modifying the first requested torque based on the functional constraint condition includes at least one of the following operations: controlling the first requested torque not to exceed the maximum torque value and limiting the first requested torque by a threshold gradient.

[0122] For example, limiting the threshold gradient of the first request torque means that when the difference between the first request torque and the request torque output at the previous moment is greater than a preset change threshold, the first request torque is gradient limited. This is beneficial to reducing the impact of the vehicle during acceleration, braking, etc., and is beneficial to improving driving smoothness and passenger comfort.

[0123] For example, the control device determines that the first requested torque is 3 Newton meters (N·m) based on the current reference information of the vehicle, and the requested torque output by the control device at the previous moment is 1 Newton meter. In order to reduce the impact of the vehicle during driving, the first requested torque is gradient-limited, for example, starting from the correction of the first requested torque to 1.5 Newton meters, it is increased by a gradient of 0.5 Newton meters and gradually changes to 3 Newton meters.

[0124] In another implementation, when the vehicle is in the above-mentioned steering-keeping scenario, the first requested torque may also be corrected based on at least one of the scenario constraint and the functional constraint. For example, the first requested torque may be corrected based on the scenario constraint first, and then the first requested torque corrected by the scenario constraint may be corrected based on the functional constraint.

[0125] For example, the control device determines that the first requested torque is 2 Newton meters based on the vehicle's current reference information, determines that the first requested torque must decrease toward 0 within a preset time period based on the scenario constraints, determines that the first requested torque does not exceed the maximum torque value based on the functional constraints, and requires that the gradient of the first requested torque decreasing toward 0 within the preset time period satisfies the gradient limit corresponding to the functional constraints.

[0126] S203: Output control information, where the control information is used to indicate a first requested torque.

[0127] In one implementation, when the control device is deployed independently of the electric steering system of the vehicle, outputting the control information includes: sending the control information to the electric steering system of the vehicle. Figure 3 The description of the embodiments will not be repeated here.

[0128] In another implementation, when the control device is integrated into an electronically controlled steering system of a vehicle, outputting control information includes: outputting control information to a subsequent device of the control device in the electronically controlled steering system.

[0129] In some possible embodiments, if the first requested torque is corrected in the above S202 , the above control information is used to indicate the first requested torque, including: the control information is used to indicate the corrected first requested torque.

[0130] In some possible embodiments, after the control device outputs the control information, it can also receive feedback information, and the feedback information is used to indicate the working state of the electronically controlled steering system of the vehicle, and the feedback information is a response to the control information. Here, the working state of the electronically controlled steering system is normal or faulty, wherein the fault can also be further subdivided into temporary fault and permanent fault.

[0131] For example, when the feedback information indicates that the working state of the vehicle's electronically controlled steering system is normal, the feedback information also includes the steering torque of the electronically controlled steering system response. Here, the steering torque of the electronically controlled steering system may be the same as or different from the requested torque indicated by the control information, and the embodiment of the present application does not specifically limit this.

[0132] For example, when the feedback information indicates that the working state of the vehicle's electronic steering system is faulty, the control device may no longer output control information or output control information indicating that the requested torque is zero, which is not specifically limited here.

[0133] In one implementation, when the vehicle is in the above-mentioned special scenario, the above-mentioned control information also includes indication information, wherein the indication information is used to indicate that the control information is invalid. The indication information can be represented, for example, by an identifier, a field, etc. In this way, when the receiving end of the control information receives the control information, it can know that the control information is invalid based on the indication information in the control information, so the receiving end of the control information does not need to respond to the control information or can discard the control information.

[0134] Exemplarily, the above indication information and control information may be carried in the same message. In some possible embodiments, the indication information and control information may also be carried by different messages, in which case the indication information and control information are outputted independently.

[0135] It can be seen that, by implementing the embodiment of the present application, the steering state of the vehicle is determined by the difference between the expected yaw rate and the actual yaw rate and the direction of the steering wheel torque (or the direction of the hand force signal), thereby determining the direction of the requested torque for controlling the steering of the vehicle, so as to ensure the accuracy of the steering power direction of the vehicle under any steering condition. In addition, when determining the requested torque, the throttle opening information, the brake opening information and other information are also considered, so that even if the vehicle is accelerating or braking when driving on a separated road boundary or a road with a low adhesion coefficient, the posture of the vehicle body can be quickly corrected through the correct steering power direction, which is conducive to improving the stability of the vehicle body and improving the yaw characteristics of the vehicle.

[0136] See also Figure 3 , Figure 3 This is a flow chart of another vehicle steering control method provided by an embodiment of the present application. The method can be applied to a communication system, which includes a control device and an electronically controlled steering system. The control device is a domain controller in a vehicle or a component in the domain controller (such as a chip, an integrated circuit, etc.). The electronically controlled steering system can be, for example, an electric power steering EPS system. The method includes but is not limited to the following steps:

[0137] S301: The control device obtains reference information of the vehicle, which includes steering wheel torque, yaw rate, throttle opening information and brake opening information. Figure 2 The description of S201 in the embodiment will not be repeated here.

[0138] S302: The control device determines a first requested torque based on the reference information. The first requested torque is an additional required torque for controlling the steering of the vehicle. The direction of the first requested torque is associated with the steering state of the vehicle. Figure 2 The description of S202 in the embodiment is not repeated here.

[0139] S303: The control device sends control information to the electronically controlled steering system, where the control information is used to indicate a first requested torque.

[0140] In another implementation, when the first requested torque is corrected in S302, the control information is used to indicate the first requested torque, including: the control information is used to indicate the corrected first requested torque.

[0141] In another implementation, when the vehicle is in a special scenario, the control information may further include indication information, wherein the indication information is used to indicate that the control information is invalid. Figure 2 The description of the corresponding contents in S203 in the embodiment will not be repeated here.

[0142] Accordingly, the electric steering system receives the control information.

[0143] S304: The electronically controlled steering system sends feedback information to the control device, where the feedback information is used to indicate a working state of the electronically controlled steering system.

[0144] In the embodiment of the present application, after the electronically controlled steering system receives the control information sent by the control device, the electronically controlled steering system arbitrates the torque requests of multiple parties based on the control information to obtain the arbitrated steering request torque, and the electronically controlled steering system evaluates its current working state based on the arbitrated steering request torque and generates feedback information. It can be understood that the feedback information is a response to the control information.

[0145] The working state of the electronic steering system is normal or faulty, and the fault can be further divided into temporary fault and permanent fault. It can be understood that when the feedback information indicates that the working state of the electronic steering system is normal, the feedback information also includes the above-mentioned arbitrated steering request torque, where the arbitrated steering request torque is the steering torque responded by the electronic steering system, that is, the additional torque actually superimposed on the steering wheel.

[0146] In some possible embodiments, when the electronically controlled steering system receives the above instruction information, the electronically controlled steering system may not respond to the control information, that is, may not execute S304. For example, the instruction information may be included in the control information or may be independent of the control information, which is not specifically limited here.

[0147] It can be seen that by implementing the embodiments of the present application, through the interaction between the control device and the electronic steering system, it is possible to quickly correct the posture of the vehicle body through the correct steering assist direction, which is beneficial to improving the stability of the vehicle body and improving the yaw characteristics of the vehicle.

[0148] In some possible embodiments, the vehicle steering control method provided in the embodiment of the present application can also be deployed on the vehicle as a function or service, for example, a steering assist function is added, and the steering assist function can implement the vehicle steering control method provided in the embodiment of the present application. In this case, the process of enabling the function mode of the vehicle can be referred to, for example, Figure 4 , Figure 4 This is another flow chart of a method for vehicle steering control provided by an embodiment of the present application. The method includes but is not limited to the following steps:

[0149] A11: When the vehicle is powered on and the power steering function is turned on, obtain the vehicle's reference information.

[0150] Here, before the power steering function is turned on, the status of each component of the vehicle must be fault-free. In addition, the reference information of the vehicle can be referred to Figure 2 The description of the corresponding contents in Example S201 will not be repeated here.

[0151] It is understandable that in order to improve the safety of vehicle driving, the power steering function is turned on by default. Exemplarily, after the vehicle is powered on, if the power steering function is turned on, the driver can also be prompted that the power steering function is turned on.

[0152] In some possible embodiments, if the driver wants to drive the vehicle completely based on his own will and does not want the power steering function to interfere, the driver can turn off the power steering function through the human-computer interaction interface.

[0153] A12: When the absolute value of the difference between the desired yaw rate and the yaw rate of the vehicle is not less than a preset threshold value one and the steering wheel torque is not greater than a preset threshold value two, determine a first requested torque based on reference information of the vehicle.

[0154] Here, the expected yaw rate and actual yaw rate of the vehicle can be referred to as Figure 2 The description of the corresponding contents in Examples S201-S202 will not be repeated here.

[0155] A13: Determine whether the vehicle is currently in a special scenario.

[0156] For example, when the vehicle is in a special scenario, A14 is executed; when the vehicle is not in a special scenario, A15 is executed. A14: The first requested torque is corrected according to the scenario constraint condition. For details of this step, please refer to Figure 2 The description of the corresponding contents in Example S202 will not be repeated here.

[0157] A15: Correct the first requested torque according to the functional constraints. For details of this step, please refer to Figure 2 The description of the corresponding contents in S202 in the embodiment will not be repeated here.

[0158] A16: Output control information, where the control information is used to indicate the corrected first requested torque.

[0159] In some possible embodiments, the above-mentioned A15 may be an optional step. For example, A15 may not be executed. In this case, in A13, if the vehicle is not currently in a special scenario, control information may be output but the control information is used to indicate a first requested torque. Here, the first requested torque is the first requested torque obtained in A12.

[0160] In some possible embodiments, the power steering function may be turned off when any of the following conditions is met:

[0161] (1) During the operation of the power steering function, a function with a higher priority than the power steering function is activated;

[0162] (2) There is a hardware failure in the vehicle; or,

[0163] (3) receiving invalid indication information sent by the torque sensor, where the invalid indication information is used to indicate that the steering wheel torque is invalid.

[0164] Exemplarily, after the power-steering function is turned off, when the power-steering function is turned on again, in addition to the requirement that the status of each component of the vehicle is not fault-free, it is also required that the time interval from the last time the power-steering function was turned off is not less than a preset interval threshold. In this way, the power-steering function can be prevented from being frequently turned on or off.

[0165] The following uses some specific scenarios as examples to illustrate the application of the above method.

[0166] For example, in a driving scenario, a vehicle is driving on an icy surface. Assuming that the driver turns the steering wheel to the left, due to the small adhesion coefficient of the ice surface, the control device detects that the current state of the vehicle does not meet the driver's intention and the vehicle is about to drift. In this case, the control device requests the electronic steering system to add an additional steering torque (i.e., a first requested torque) on the steering wheel side that is opposite to the direction of the steering wheel torque based on the vehicle steering control method provided above to ensure the stability of the vehicle body.

[0167] For another example, in a driving scenario, when the vehicle is turning at a low speed, assuming that the vehicle enters a steering-holding scenario, and the electronic steering system has previously applied a superimposed torque on the steering wheel side in response to the first requested torque, when the driver currently takes both hands off the steering wheel, it will be observed that the steering wheel does not return to the center position immediately, but is maintained for a period of time before gradually returning to the center position.

[0168] In another driving scenario, in the absence of a hand force signal, when the steering wheel is returning to the center, when the first requested torque is determined based on the vehicle steering control method provided above, if the steering wheel torque is 0 or there is a signal indicating that the steering wheel torque is invalid (that is, the steering wheel sensor is faulty), then the direction of the first requested torque is determined by the difference between the desired yaw angular velocity and the yaw angular velocity of the vehicle, and the direction of the first requested torque is opposite to the direction of the torque desired when the steering wheel is returning to the center. Therefore, when the driver controls the steering wheel, he will feel a jam or feel the opposite of the expected power assistance.

[0169] In the implementation of this application, Figure 1 The control device shown can be implemented by hardware, software or a combination of hardware and software. Figure 1 The control device shown can be used to perform the above Figure 2 , Figure 3 or Figure 4 The method described in the embodiment.

[0170] For example, Figure 1 The control device shown can be used to implement Figure 2 The method described in the embodiment. Figure 2 In the embodiment, the receiving module may be used to execute S201, the processing module may be used to execute S202, and the output module may be used to execute S203.

[0171] For example, Figure 1 The control device shown can also be used to implement Figure 3 The method described in the embodiment. Figure 3 In the embodiment, the receiving module may be used to execute S301 and S304, the processing module may be used to execute S302, and the output module may be used to execute S303.

[0172] It should be understood that the above Figure 1The division of the modules in the control device shown is only a division of logical functions. In actual implementation, they can be fully or partially integrated into one physical entity, or they can be physically separated. In addition, the modules in the device can be implemented in the form of a processor calling software; for example, the device includes a processor, the processor is connected to a memory, the memory stores instructions, and the processor calls the instructions stored in the memory to implement any of the above methods or realize the functions of the modules of the device, wherein the processor is, for example, a general-purpose processor, such as a central processing unit (CPU) or a microprocessor, and the memory is a memory inside the device or a memory outside the device. Alternatively, the modules in the device can be implemented in the form of hardware circuits, and the functions of some or all modules can be realized by designing the hardware circuits, and the hardware circuits can be understood as one or more processors; for example, in one implementation, the hardware circuit is an application-specific integrated circuit (ASIC), and the functions of some or all modules above are realized by designing the logical relationship of the components in the circuit; for another example, in another implementation, the hardware circuit can be realized by a programmable logic device (PLD), taking a field programmable gate array (FPGA) as an example, which can include a large number of logic gate circuits, and the connection relationship between the logic gate circuits is configured by configuring the configuration file, so as to realize the functions of some or all modules above. All modules of the above devices can be realized in the form of a processor calling software, or in the form of hardware circuits, or in part by a processor calling software, and the rest by hardware circuits.

[0173] In the embodiment of the present application, the processor is a circuit with signal processing capability. In one implementation, the processor can be a circuit with instruction reading and running capability, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which can be understood as a microprocessor), or a digital signal processor (DSP), etc.; in another implementation, the processor can realize certain functions through the logical relationship of the hardware circuit, and the logical relationship of the hardware circuit is fixed or reconfigurable, such as a hardware circuit implemented by a processor as an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as an FPGA. In a reconfigurable hardware circuit, the processor loads a configuration document to implement the process of hardware circuit configuration, which can be understood as the process of the processor loading instructions to implement the functions of some or all of the above modules. In addition, it can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), etc.

[0174] It can be seen that each module in the above device can be one or more processors (or processing circuits) configured to implement the above method, such as: CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, FPGA, or a combination of at least two of these processor forms.

[0175] In addition, the modules in the above device can be fully or partially integrated together, or can be implemented independently. In one implementation, these modules are integrated together and implemented in the form of a system-on-a-chip (SOC). The SOC may include at least one processor for implementing any of the above methods or implementing the functions of the modules of the device. The type of the at least one processor may be different, for example, including a CPU and an FPGA, a CPU and an artificial intelligence processor, a CPU and a GPU, etc.

[0176] See also Figure 5 , Figure 5 Schematic diagram of a computing device provided in an embodiment of the present application. Figure 5As shown, the computing device 40 includes: a processor 401, a communication interface 402, a memory 403 and a bus 404. The processor 401, the memory 403 and the communication interface 402 communicate with each other via the bus 404. It should be understood that the present application does not limit the number of processors and memories in the computing device 40.

[0177] In one implementation, the computing device 40 may be a domain controller of the vehicle or a component within the domain controller of the vehicle, and the component may be, for example, a chip, an integrated circuit, etc. Among them, the domain controller may be a hardware and software integrated platform for supporting body control and chassis control or a controller that provides body control functions, such as a vehicle domain controller (VDC), or a hardware and software integrated platform for supporting chassis control, such as a chassis domain controller. In some possible embodiments, the domain controller may also be a controller that is obtained by integrating the VDC and the mobile data center (MDC) and is capable of providing body control functions and autonomous driving control functions, or may be a controller (or central computing unit) that is obtained by integrating the VDC, MDC, and the cockpit domain controller (CDC) and is capable of providing body control functions, autonomous driving control functions, and cockpit control functions.

[0178] In another implementation, the computing device 40 may be an electronic steering system of a vehicle or a component in the electronic steering system, and the component may be, for example, a chip, an integrated circuit, etc. The electronic steering system may be, for example, an electric power steering (EPS) system.

[0179] The bus 404 may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 5 The bus 404 is represented by only one line, but it does not mean that there is only one bus or one type of bus. The bus 404 may include a path for transmitting information between various components of the computing device 40 (eg, the memory 403, the processor 401, and the communication interface 402).

[0180] The processor 401 can refer to the related description of the processor in the above embodiment, which will not be repeated here.

[0181] The memory 403 is used to provide a storage space, and the storage space can store data such as an operating system and a computer program. The memory 403 can be a random access memory (RAM), an erasable programmable read only memory (EPROM), a read-only memory (ROM), or a portable read-only memory (CD-ROM), etc., or a combination of multiple types. The memory 403 can exist alone or be integrated into the processor 401.

[0182] The communication interface 402 may be used to provide information input or output for the processor 401. Alternatively, the communication interface 402 may be used to receive data sent externally and / or send data externally, and may be a wired link interface such as an Ethernet cable, or a wireless link interface (such as Wi-Fi, Bluetooth, general wireless transmission, etc.). Alternatively, the communication interface 402 may also include a transmitter (such as a radio frequency transmitter, an antenna, etc.) coupled to the interface, or a receiver, etc.

[0183] The processor 401 in the computing device 40 is used to read the computer program stored in the memory 403 to execute the aforementioned method, for example Figure 2 , Figure 3 or Figure 4 The method described.

[0184] In one possible design, the computing device 40 may be a processor for executing Figure 2 The processor 401 may be used to read one or more computer programs stored in the memory to perform the following operations:

[0185] Acquire reference information of the vehicle through a receiving module, the reference information including steering wheel torque, yaw angular velocity, throttle opening information and brake opening information;

[0186] Control information is outputted through an output module, where the control information is used to indicate a first requested torque, wherein the first requested torque is determined by a processing module based on reference information of the vehicle, and the first requested torque is an additional required torque required to control the steering of the vehicle; a direction of the first requested torque is associated with a steering state of the vehicle, and the steering state of the vehicle is determined based on a desired yaw angular velocity, a yaw angular velocity and a steering wheel torque of the vehicle.

[0187] In the above-mentioned embodiments of this invention, the description of each embodiment has its own emphasis. For the part that is not described in detail in a certain embodiment, please refer to the relevant description of other embodiments. In addition, in the various embodiments of this application, if there is no special explanation and logical conflict, the terms and / or descriptions between the various embodiments are consistent and can be referenced to each other. The technical features in different embodiments can be combined to form a new embodiment according to their internal logical relationship.

[0188] It should be noted that, a person skilled in the art can see that all or part of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium, and the storage medium includes a read-only memory (ROM), a random access memory (RAM), a programmable read-only memory (PROM), an erasable programmable read only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electrically-erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, magnetic disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0189] The essence of the technical solution of the present application or the part that makes the contribution or all or part of the technical solution can be embodied in the form of a software product. The computer program product is stored in a storage medium and includes a number of instructions for enabling a device (which can be a personal computer, a server, or a network device, a robot, a single-chip microcomputer, a chip, a robot, etc.) to execute all or part of the steps of the method described in each embodiment of the present application.

Claims

1. A vehicle steering control method, characterized in that: The method is applied to a control device, and the method comprises: Acquiring reference information of the vehicle, the reference information including steering wheel torque, yaw rate, throttle opening information and brake opening information; outputting control information, wherein the control information is used to indicate a first requested torque; Among them, the first requested torque is determined based on the reference information, and the first requested torque is an additional required torque required to control the steering of the vehicle; the direction of the first requested torque is associated with the steering state of the vehicle, and the steering state of the vehicle is determined based on the desired yaw angular velocity of the vehicle, the yaw angular velocity and the steering wheel torque.

2. The method according to claim 1, characterized in that When the steering state of the vehicle is understeering, the direction of the first requested torque is the same as the direction of the steering wheel torque; or, When the steering state of the vehicle is oversteering, the direction of the first requested torque is opposite to the direction of the steering wheel torque.

3. The method according to claim 1 or 2, characterized in that: When the following conditions are met, the steering state of the vehicle is understeering: The product of the difference between the desired yaw rate of the vehicle and the yaw rate and the steering wheel torque is greater than 0; When the following conditions are met, the steering state of the vehicle is oversteering: A product of a difference between a desired yaw rate of the vehicle and the yaw rate and the steering wheel torque is less than zero.

4. The method according to any one of claims 1 to 3, characterized in that: The control information is used to indicate the first requested torque, including: the control information is used to indicate the corrected first requested torque; The corrected first requested torque is obtained by correcting the first requested torque based on the scenario constraint condition.

5. The method according to claim 4, characterized in that The scenario constraint condition is that the steering wheel speed of the vehicle is less than a first preset threshold and lasts for a first time period, and the corrected first requested torque satisfies the requirement of decreasing from the first requested torque toward 0 within the preset time period.

6. The method according to claim 4, characterized in that The scenario constraint condition is that a direction of the first requested torque is opposite to a direction of the steering wheel torque and the steering wheel torque is greater than a second preset threshold and lasts for a second time period, and the corrected first requested torque is 0.

7. The method according to any one of claims 1 to 6, characterized in that: When the following conditions are met, the first requested torque is determined based on the reference information: An absolute value of a difference between a desired yaw rate of the vehicle and the yaw rate is not less than a second preset threshold and a steering wheel torque of the vehicle is not greater than a third preset threshold.

8. The method according to any one of claims 1 to 7, characterized in that: The control device is deployed in a domain controller of the vehicle, The outputting control information includes: sending the control information to an electronic steering system of the vehicle.

9. The method according to claim 8, characterized in that The method further comprises: Feedback information is received from the electronically controlled steering system, wherein the feedback information indicates an operating state of the electronically controlled steering system, and the feedback information is a response to the control information.

10. The method according to any one of claims 1 to 7, characterized in that: The control device is deployed in the electric steering system of the vehicle.

11. A device for vehicle steering control, characterized in that: The device is a control device or is included in the control device, and the device comprises: A receiving module for vehicle reference information, wherein the reference information includes steering wheel torque, yaw rate, throttle opening information and brake opening information; An output module, configured to output control information, wherein the control information is used to indicate a first requested torque; Among them, the first requested torque is determined by the processing module based on the reference information, and the first requested torque is the additional required torque required to control the steering of the vehicle; the direction of the first requested torque is associated with the steering state of the vehicle, and the steering state of the vehicle is determined based on the desired yaw angular velocity of the vehicle, the yaw angular velocity and the steering wheel torque.

12. The device according to claim 11, characterized in that When the steering state of the vehicle is understeering, the direction of the first requested torque is the same as the direction of the steering wheel torque; or, When the steering state of the vehicle is oversteering, the direction of the first requested torque is opposite to the direction of the steering wheel torque.

13. The device according to claim 11 or 12, characterized in that When the following conditions are met, the steering state of the vehicle is understeering: The product of the difference between the desired yaw rate of the vehicle and the yaw rate and the steering wheel torque is greater than 0; When the following conditions are met, the steering state of the vehicle is oversteering: A product of a difference between a desired yaw rate of the vehicle and the yaw rate and the steering wheel torque is less than zero.

14. The device according to any one of claims 11 to 13, characterized in that: The control information is used to indicate the first requested torque, including: the control information is used to indicate the corrected first requested torque; The corrected first requested torque is obtained by correcting the first requested torque based on the scenario constraint condition.

15. The device according to claim 14, characterized in that The scenario constraint condition is that the steering wheel speed of the vehicle is less than a first preset threshold and lasts for a first time period, and the corrected first requested torque satisfies the requirement of decreasing from the first requested torque toward 0 within the preset time period.

16. The device according to claim 14, characterized in that The scenario constraint condition is that a direction of the first requested torque is opposite to a direction of the steering wheel torque and the steering wheel torque is greater than a second preset threshold and lasts for a second time period, and the corrected first requested torque is 0.

17. The device according to any one of claims 11 to 16, characterized in that: When the following conditions are met, the first requested torque is determined by the processing module based on the reference information: An absolute value of a difference between a desired yaw rate of the vehicle and the yaw rate is not less than a second preset threshold and a steering wheel torque of the vehicle is not greater than a third preset threshold.

18. The device according to any one of claims 11 to 17, characterized in that: The control device is deployed in a domain controller of the vehicle, The output module is specifically used to send the control information to the electronic steering system of the vehicle.

19. The device according to claim 18, characterized in that The receiving module is also used for: Feedback information is received from the electronically controlled steering system, wherein the feedback information indicates an operating state of the electronically controlled steering system, and the feedback information is a response to the control information.

20. The device according to any one of claims 11 to 17, characterized in that The control device is deployed in the electric steering system of the vehicle.

21. A chip, characterized in that: The chip includes at least one processor and a communication interface; the communication interface is used to receive and / or send data, and / or, the communication interface is used to provide input and / or output for the processor; the at least one processor is used to implement the method described in any one of claims 1-10.

22. A vehicle, characterized in that: The vehicle comprises a device as claimed in any one of claims 11-21.

23. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores program instructions, and the program instructions are used to implement the method according to any one of claims 1 to 10.

Images